A damping mechanism, a damping control method, and a damping control method

Abstract

The application discloses a damping mechanism, a damping control method and a damping control method, and belongs to the technical field of damping of vehicle-mounted shooting equipment. The damping mechanism comprises a connecting piece, a damping assembly and a supporting piece, the connecting piece is movably connected with the damping assembly, the supporting piece is drivingly connected with the damping assembly, and the connecting piece is movably connected with the supporting piece. The damping mechanism has the advantages that: compared with the prior art, when the supporting piece tends to swing, the damping assembly of the damping mechanism can drive the supporting piece to swing forward and backward or left and right through the rotation cooperation of the damping assembly, so that the centrifugal force of the camera swinging is buffered, the camera is prevented from falling off the damping arm, the camera is prevented from shaking, and the stability of a shooting picture is ensured.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of shock absorption of vehicle-mounted shooting equipment, and particularly relates to a shock absorption mechanism, a shock absorption control method and a shock absorption control method thereof. BACKGROUND

[0002] When a vehicle-mounted shooting device moves a lens for shooting indoors or outdoors, for example, when shooting a vehicle driving, in order to keep the camera up with the shooting picture, some auxiliary tools such as a vehicle are usually used to connect the camera to a vehicle shooting support, and the vehicle shooting support is fixed to the vehicle, so as to keep up with the shooting picture. However, during the shooting process, the road conditions for shooting will affect the camera and the vehicle shooting support, and the lens will shake during movement. In order to avoid large shaking and stabilize the shooting picture, a shock absorbing arm or the like is usually used to install the camera. The conventional shock absorbing arm usually uses a shock absorbing spring to be installed on the shock absorbing arm body, and a camera connecting assembly for connecting the camera is connected to the head of the shock absorbing arm body. The overall structure is buffered by the shock absorbing spring.

[0003] As disclosed in the existing patent with application number CN202110273411.8, a shock absorbing head, a vehicle-mounted shock absorbing arm and a vehicle-mounted shooting device, the shock absorbing head includes an external structure, a buffer assembly and a connecting assembly. The buffer assembly includes at least one first sliding rod and a second sliding rod arranged in parallel and spaced apart. The first sliding rod and the second sliding rod are arranged vertically, and each is sleeved with two elastic members. The external structure is slidably sleeved on the second sliding rod and clamped between the two elastic members of the second sliding rod. The second sliding rod is slidably sleeved on the first sliding rod and clamped between the two elastic members of the first sliding rod. The connecting assembly is fixedly connected with the buffer assembly and is used for connecting a photographic accessory. In the patent, the elastic members are springs. When the gimbal moves forward and backward along a direction parallel to the first sliding rod or the second sliding rod, the springs are compressed or stretched, thereby slowing down the left-right or forward-backward movement of the camera installed on the gimbal, and shock absorption is achieved.

[0004] As known from the above, the shock absorbing arm structure disclosed in the above patent buffers the overall structure by a shock absorbing spring. However, during the shooting process, due to the inevitable shaking and lateral inertia of the camera, the camera and the head of the shock absorbing arm body are easily out of control, and it is difficult to balance the stability loss caused by the shaking or lateral inertia of the camera. SUMMARY

[0005] To solve the above problems, the primary purpose of the present application is to provide a shock absorption mechanism, a shock absorption control method and a shock absorption control method, which can drive the support to swing forward and backward or left and right by its own rotation when the support tends to swing, thereby buffering the centrifugal force of the camera swinging, avoiding the camera from falling off between the shock absorbing arm, and also avoiding the camera from shaking, and ensuring the stability of the shooting picture.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows:

[0007] This invention provides a shock absorption mechanism, including

[0008] Connectors;

[0009] The support member is movably connected relative to the connecting member;

[0010] A shock-absorbing assembly, one end of which is rotatably connected to the connector and the other end of which is drively connected to the support member to drive the support member to move.

[0011] In this application, the support member is used to mount equipment requiring vibration damping, such as cameras, and the connector is used to connect mounting structures such as pan-tilt heads. The vibration damping component can drive the support member to swing back and forth or left and right, providing rotational buffering and vibration damping functions. During filming, when the camera experiences horizontal shaking and inertial movement, causing it to tend to swing, the support member will also swing under the influence of the camera. At this time, the vibration damping component detects the tendency of the support member to swing and, based on the detection result, rotates autonomously in advance, causing the support member and camera to swing back and forth or left and right in the corresponding direction, moving relative to the connector to buffer the centrifugal force of the camera's swing, preventing the camera from detaching from the vibration damping arm, and also preventing camera shaking, thus ensuring the stability of the filmed footage.

[0012] Furthermore, the connector includes a connecting body, the connecting body is provided with multiple connecting arms, and the shock absorption components include multiple components, each of which is movably connected to the connecting arms on both sides of the corresponding multiple connecting bodies.

[0013] Furthermore, a movable shaft is provided between the two connecting arms, the movable shaft being rotatably connected to the two connecting arms and movably connected to the support member. In this application, multiple sets of shock-absorbing components are provided, respectively located on the left and right sides of the first connecting part. These components can drive the support member to move freely through their own rotation. When the shock-absorbing components rotate backward, they provide tension; when they rotate forward, they provide thrust. When the rotation speed and direction of the shock-absorbing components on both sides are the same, they can cause the support member to swing back and forth, buffering the centrifugal force caused by the camera's back-and-forth movement. When the rotation speeds of the shock-absorbing components on both sides are the same but their directions of rotation are different, they can work together to cause the support member to flip, buffering the centrifugal force caused by the camera's shaking. Thus, through the coordination of different tension or thrust forces, the support member can swing horizontally left and right, buffering the camera's swing at any angle, thereby ensuring the stability of the camera's captured footage.

[0014] Further, the damping assembly comprises a damping member and a transmission member, the damping member is rotationally connected with the connecting arm and transmissionally connected with the transmission member, the transmission member is movably connected with the supporting member at a distal end thereof to transmit the movement of the damping member to the supporting member.

[0015] Further, the damping member comprises a rotating member and a fixing member, the fixing member is fixedly connected with the connecting arm and rotationally connected with the rotating member to rotationally connect the rotating member with the connecting arm, the rotating member is transmissionally connected with the transmission member, and the rotating member drives the transmission member to move when the rotating member rotates.

[0016] Further, the damping mechanism further comprises a plurality of transmission shafts, two of which are movably connected with two ends of the transmission member respectively and with the damping member and the supporting member respectively to transmissionally connect the two ends of the transmission member with the damping member and the supporting member respectively.

[0017] Further, the damping member is provided with a first transmission shaft seat at an outer periphery thereof, the supporting member is provided with a second transmission shaft seat, and the two ends of the transmission member are movably connected with the first transmission shaft seat and the second transmission shaft seat respectively.

[0018] Further, the movable shaft has a first shaft portion and a second shaft portion, the supporting member is provided with a supporting hinge seat, the first shaft portion is rotationally connected between the two connecting arms, and the second shaft portion is rotationally connected with the supporting hinge seat to movably connect the connecting arms with the supporting member.

[0019] Further, the second transmission shaft seat comprises a plurality of which two are located at two ends of the supporting member respectively, the supporting hinge seat is located on a center line of the two second transmission shaft seats and movably connected with the connecting arms. In the present application, the lower end of the first connecting portion is movably connected with the supporting member through the movable shaft, and in the working process, the supporting member can be moved relative to the second connecting portion under the driving of the rotating member to realize the buffering function. Secondly, the movable shaft of the present application is located above the supporting member, which can reduce the influence of the push-pull force generated during the movement of the connecting member on the supporting member, and the movement or rotation of the connecting member will not produce structural interference, which can provide the stability of the structure.

[0020] Further, the middle portion of the fixing member is provided with a through hole, the rotating member is provided with a protrusion, the protrusion is protruded in the through hole of the fixing member to form a rotating shaft, the rotating member is further provided with a bearing, and the rotating shaft is rotationally connected with the fixing member through the bearing.

[0021] Further, the rotating part further comprises a magnetic encoder and an encoding magnet, a coil is fixedly connected to the fixed part, a magnet matched with the coil is fixed in the rotating part, the magnet surrounds the outer side of the coil, the magnetic encoder is fixed to one side of the fixed part, the encoding magnet is fixedly connected with the rotating part, and the magnetic encoder is matched with the encoding magnet, the fixed part is further provided with an anti-falling part on the side away from the rotating part, the encoding magnet is fixed in the anti-falling part, and the anti-falling part is fixedly connected with the rotating shaft. In this application, the coil and the magnet are matched through the principle of the brushless motor, the rotating part is driven to rotate through electromagnetic induction, the rotating part drives the supporting part to move through the transmission assembly, the relative movement between the supporting part and the first connecting part is realized, the shaking trend of the supporting part is buffered, and the damping effect is achieved. Secondly, when the camera shakes and drives the supporting part to deviate during operation, the supporting part drives the rotating part to have a deviation trend, at this time, the magnetic encoder can detect the shaking angular velocity of the rotating part through the encoding magnet and send it to the single-chip microcomputer, the single-chip microcomputer calculates the voltage corresponding to the torque generated by the motor through the PID algorithm, and controls the coil to generate the corresponding torque according to the voltage, drives the rotating part to move, and buffers the shaking of the camera. The anti-falling part is connected to the left end of the rotating shaft through a screw, can prevent the encoding magnet from falling off the rotating shaft, ensures that the encoding magnet rotates synchronously with the rotating shaft, and further realizes the rotation angular velocity monitoring of the rotating part by the magnetic encoder.

[0022] Further, the rotating part is provided with a rotating shaft, and bearings are further arranged on the left and right sides of the rotating part, and the rotating shaft is rotatably connected with the fixed part and the connecting arm through the bearings on the left and right sides.

[0023] Further, the outer side of the end of the connecting arm is further provided with a mounting groove matched with the rotating part, and the rotating part is limitingly arranged in the mounting groove.

[0024] Further, the movable shaft and the lower transmission rotating shaft are cross pivots, have functions of rotating forward and backward and rotating left and right, and can realize flexible transmission functions of the structure.

[0025] Further, the connecting arm is arranged in a triangular structure, can make the camera bear more evenly, and the structure is more stable.

[0026] The application further provides a damping control method applied to the damping mechanism.

[0027] The parameter to be modified is received.

[0028] According to the parameter, the damping of the rotating of the damping assembly is controlled.

[0029] The parameter is a voltage.

[0030] The application also provides a damping control method applied to the damping mechanism.

[0031] Receiving the angular velocity of the shaking of the supporting member;

[0032] Calculating the corresponding torsion under the angular velocity, and controlling the damping assembly to generate the corresponding rotating torsion to drive the rotating member to rotate according to the torsion.

[0033] Further, the PID algorithm is used to calculate the voltage value.

[0034] Further, in the application, the rotating assembly generates rotation through the principle of the brushless motor, the voltage is taken as a parameter, the magnetic force between the coil and the magnet is increased or decreased by increasing or decreasing the voltage, the damping adjustment of the damping mechanism is realized, and the shaking of the camera is buffered in real time.

[0035] The damping assembly of the damping mechanism can drive the supporting member to swing freely through the rotation cooperation when the supporting member appears the swinging trend, the centrifugal force of the camera swinging is buffered, the camera is prevented from falling off the damping arm, the camera is prevented from shaking, and the stability of the shooting picture is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is the isometric view of the embodiment.

[0037] Figure 2 is the structural schematic view of the assembled state of the supporting member, the damping assembly and the movable shaft.

[0038] Figure 3 is the structural schematic view of the connecting member.

[0039] Figure 4 is the exploded view of the damping assembly.

[0040] Figure 5 is the structural schematic view of the supporting member.

[0041] Figure 6 is the flowchart of the damping control method.

[0042] Figure 7 is the flowchart of the damping control method.

[0043] In the drawings:

[0044] 1, connecting member, 11, connecting body, 12, first connecting arm, 13, second connecting arm, 14, mounting groove.

[0045] 2, supporting member, 21, first lower transmission shaft seat, 22, second lower transmission shaft seat, 23, supporting hinged seat.

[0046] 3, damping assembly, 31, first damping assembly, 311, first rotating assembly, 3111, first rotating piece, 3112, first fixed piece, 3113, first magnetic encoder, 3114, first encoding magnet, 3115, first coil, 3116, first magnet, 3117, first upper transmission shaft seat, 3118, first rotating shaft, 3119, first anti-off piece, 312, first transmission assembly, 3121, first upper transmission rotating shaft, 3122, first transmission bar, 3123, first lower transmission rotating shaft, 32, second damping assembly, 321, second rotating assembly, 3211, second rotating piece, 3212, second fixed piece, 3213, second magnetic encoder, 3214, second encoding magnet, 3215, second coil, 3216, second magnet, 3217, second upper transmission shaft seat, 3218, second rotating shaft, 3219, second anti-off piece, 322, second transmission assembly, 3221, second upper transmission rotating shaft, 3222, second transmission bar, 3223, second lower transmission rotating shaft.

[0047] 4, camera.

[0048] 5, movable shaft. DETAILED DESCRIPTION

[0049] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0050] In order to achieve the above-mentioned object, the technical solutions of the embodiments are as follows:

[0051] Referring to Figures 1-5 The present embodiment provides a damping mechanism, which comprises

[0052] A connecting piece 1;

[0053] A supporting piece 2 movably connected to the connecting piece;

[0054] A damping assembly 3, one end of the damping assembly 3 being rotatably connected to the connecting piece 1, and the other end being drivingly connected to the supporting piece 2 to drive the supporting piece 2 to move.

[0055] In the embodiment, the support 2 is used to load the camera 4, the connecting member 1 is used to connect the mounting structure such as a tripod head, and the damping assembly 3 has the rotating buffering and damping function and can drive the support 2 to swing forward and backward or left and right. During the shooting process, when the camera appears horizontal shaking and inertial movement, and the camera tends to swing, the support 2 also swings under the driving of the camera. At this time, the damping assembly 3 detects that the support 2 tends to swing, and the damping assembly 3 drives the support 2 and the camera to swing in the corresponding direction according to the detection result, so as to buffer the centrifugal force of the swinging camera 4, thereby avoiding the shaking of the camera 4 and ensuring the stability of the shooting picture. It can be understood that the support 2 can include a support plate, a support rod or a support column.

[0056] Further, the connecting member 1 includes a connecting body 11, the same end of the connecting body 11 is fixedly connected with a first connecting arm 12 and a second connecting arm 13, the damping assembly 3 includes a first damping assembly 31 and a second damping assembly 32, the first damping assembly 31 and the second damping assembly 32 are separately arranged on the left and right sides of the connecting body 11, the upper end of the first damping assembly 31 is movably connected with the first connecting arm 12, and the lower end is drivingly connected with the support 2, the upper end of the second damping assembly 32 is movably connected with the second connecting arm 13, and the lower end is drivingly connected with the support 2. In the embodiment, the first damping assembly 31 and the second damping assembly 32 are separately arranged on the left and right sides of the connecting body 11, and can drive the support 2 to move freely by rotating, provide pulling force when rotating backward, and provide pushing force when rotating forward. When the rotating speed and the rotating direction of the first damping assembly 31 and the second damping assembly 32 are the same, the support 2 can be driven to swing forward and backward, and the centrifugal force caused by the forward and backward movement of the camera 4 can be buffered; when the rotating speed of the first damping assembly 31 and the second damping assembly 32 is the same and the rotating direction is different, the support 2 can be driven to swing left and right, and the centrifugal force caused by the shaking of the camera 4 can be buffered. In this way, the automatic movement of the support 2 in space is realized by the cooperation of different pulling force and pushing force, so as to buffer the swinging of the camera 4 at any angle, thereby ensuring the stability of the shooting picture of the camera 4.

[0057] Further, the first damping assembly 31 comprises a first rotating assembly 311, a first transmission assembly 312, the first rotating assembly 311 comprises a first rotating part 3111, a first fixing part 3112, a first magnetic encoder 3113, a first encoding magnet 3114, the first fixing part 3112 is fixedly connected with the first connecting arm 12, the first fixing part 3112 is rotationally connected with the first rotating part 3111, the first fixing part 3112 is fixedly connected with a first coil 3115, the first rotating part 3111 is fixedly connected with a first magnet 3116 matched with the first coil 3115, the first magnet 3116 surrounds the outside of the first coil 3115, the first magnetic encoder 3113 is fixed on one side of the first fixing part 3112, the first encoding magnet 3114 is fixedly connected with the first rotating part 3111 and matched with the first magnetic encoder 3113, the outside of the first rotating part 3111 is further provided with a first upper transmission shaft seat 3117, the supporting part 2 is further provided with a first lower transmission shaft seat 21 directly below the first upper transmission shaft seat 3117, the first transmission assembly 312 comprises a first upper transmission rotating shaft 3121, a first transmission bar 3122, a first lower transmission rotating shaft 3123, the first upper transmission rotating shaft 3121 is rotationally connected with the first upper transmission shaft seat 3117 and fixedly connected with the upper end of the first transmission bar 3122, the first lower transmission rotating shaft 3123 is rotationally connected with the lower end of the first transmission bar 3122 and the first lower transmission shaft seat 21. In this embodiment, the first coil 3115 and the first magnet 3116 are matched by the principle of brushless motor, the first rotating part 3111 is driven to rotate by electromagnetic induction, the supporting part 2 is driven to move by the first transmission assembly 312, the relative movement between the supporting part 2 and the first connecting arm 12 is realized, the shaking trend of the supporting part 2 is buffered, and the damping effect is achieved. Secondly, during the operation, when the camera 4 shakes and drives the supporting part 2 to deviate, the supporting part 2 drives the rotating part to deviate, at this time, the first magnetic encoder 3113 can detect the shaking angular velocity of the first rotating part 3111 through the first encoding magnet 3114 and send it to the single-chip microcomputer, the single-chip microcomputer calculates the voltage corresponding to the torque generated by the motor through the PID algorithm, and controls the coil to generate the corresponding torque according to the voltage, drives the rotating part to move, and buffers the shaking of the camera 4.

[0058] Further, the first rotating part 3111 is provided with a first rotating shaft 3118, and the first rotating assembly 311 is further provided with bearings on the left and right sides, and the first rotating shaft 3118 is rotationally connected with the first fixing part 3112 and the first connecting arm 12 through the bearings on the left and right sides. The bearings can make the first rotating shaft 3118 rotate relative to the first fixing part 3112 and the first connecting arm 12.

[0059] Further, the first fixing member 3112 is further provided with a first anti-falling member 3119 on the side away from the first rotating member 3111, the first encoding magnet 3114 is fixed in the first anti-falling member 3119, and the first anti-falling member 3119 is fixedly connected with the first rotating shaft 3118. The first anti-falling member 3119 is connected with the left end of the first rotating shaft 3118 through a screw, can prevent the first encoding magnet 3114 from falling off the first rotating shaft 3118, ensures that the first encoding magnet 3114 rotates synchronously with the first rotating shaft 3118, and further realizes the rotation angular velocity monitoring of the first magnetic encoder 3113 on the first rotating member 3111.

[0060] Further, the second damping assembly 32 comprises a second rotating assembly 321 and a second transmission assembly 322. The second rotating assembly 321 comprises a second rotating part 3211, a second fixing part 3212, a second magnetic encoder 3213, and a second encoding magnet 3214. The second fixing part 3212 is fixedly connected with the second connecting arm 13, and rotationally connected with the second rotating part 3211. The second fixing part 3212 is fixedly connected with a second coil 3215. The second rotating part 3211 is fixedly connected with a second magnet 3216 which is matched with the second coil 3215. The second magnet 3216 is arranged outside the second coil 3215. The second magnetic encoder 3213 is fixed on one side of the second fixing part 3212. The second encoding magnet 3214 is fixedly connected with the second rotating part 3211 and matched with the second magnetic encoder 3213. The second rotating part 3211 is further provided with a second upper transmission shaft seat 3217. The supporting part 2 is further provided with a second lower transmission shaft seat 22 below the second upper transmission shaft seat 3217. The second transmission assembly 322 comprises a second upper transmission rotating shaft 3221, a second transmission bar 3222, and a second lower transmission rotating shaft 3223. The second upper transmission rotating shaft 3221 is rotationally connected with the second upper transmission shaft seat 3217 and fixedly connected with the upper end of the second transmission bar 3222. The second lower transmission rotating shaft 3223 is rotationally connected with the lower end of the second transmission bar 3222 and the second lower transmission shaft seat 22. In this embodiment, the second coil 3215 and the second magnet 3216 are matched by the principle of the brushless motor, and the second rotating part 3211 is driven to rotate by electromagnetic induction. The second rotating part 3211 drives the supporting part 2 to move through the second transmission assembly 322, so as to realize the relative movement between the supporting part 2 and the second connecting arm 13, buffer the shaking trend of the supporting part 2, and have the damping effect. The upper and lower ends of the transmission bar are both movably connected, so as to have a large degree of freedom and facilitate the movement adjustment of the supporting part 2. Secondly, when the camera 4 shakes and drives the supporting part 2 to deviate during the operation process, the supporting part 2 drives the rotating part to deviate. At this time, the second magnetic encoder 3213 can detect the shaking angular velocity of the second rotating part 3211 through the second encoding magnet 3214 and send it to the single-chip microcomputer. The single-chip microcomputer calculates the voltage of the motor to generate the corresponding torque by the PID algorithm, controls the coil to generate the corresponding torque according to the voltage, drives the rotating part to move, and buffers the shaking of the camera 4.

[0061] Further, the second rotating part 3211 is provided with a second rotating shaft 3218. The second rotating assembly 321 is further provided with bearings on the left and right sides. The second rotating shaft 3218 is rotationally connected with the second fixing part 3212 and the second connecting arm 13 through the bearings on the left and right sides. The bearings can make the second rotating shaft 3218 rotate relative to the second fixing part 3212 and the second connecting arm 13, so as to improve the stability of the structure.

[0062] Further, the second fixing member 3212 is further provided with a second anti-falling member 3219 on the side far away from the second rotating member 3211, the second encoding magnet 3214 is fixed in the second anti-falling member 3219, and the second anti-falling member 3219 is fixedly connected with the second rotating shaft 3218. The second anti-falling member 3219 is connected with the left end of the second rotating shaft 3218 through a screw, which can prevent the second encoding magnet 3214 from falling off the second rotating shaft 3218, and ensure that the second encoding magnet 3214 rotates synchronously with the second rotating shaft 3218, thereby realizing the monitoring of the rotational angular velocity of the second rotating member 3211 by the second magnetic encoder 3213.

[0063] Further, the first lower transmission shaft seat 21 and the second lower transmission shaft seat 22 are arranged on the left and right sides of the supporting member 2, and the supporting member 2 is further provided with a supporting hinged seat 23 between the first lower transmission shaft seat 21 and the second lower transmission shaft seat 22. The damping mechanism further comprises an active shaft 5, which is clamped between the first connecting arm 12 and the second connecting arm 13, and the first shaft part of the active shaft 5 is rotatably connected to the supporting hinged seat 23. The left end of the second shaft part of the active shaft 5 is connected to the first rotating member 3111, and the right end of the second shaft part of the active shaft 5 is connected to the second rotating member 3211. In this embodiment, the first connecting arm 12 and the second connecting arm 13 are movably connected to the supporting member 2 through the active shaft 5. During operation, the supporting member 2 can move relative to the first connecting arm 12 and the second connecting arm 13 under the drive of the first rotating member 3111 and the second rotating member 3211, thereby achieving the buffering function. Secondly, the active shaft 5 of the present application is located above the supporting member 2, which can reduce the influence of the push-pull force generated during the movement of the connecting member 1 on the supporting member 2. Moreover, the movement or rotation of the connecting member 1 will not cause structural interference, thereby providing structural stability.

[0064] Further, the outer side of the end part of the first connecting arm 12 and the second connecting arm 13 is further provided with a mounting groove 14 matched with the first rotating member 3111 and the second rotating member 3211, and the first rotating member and the second rotating member are limitingly arranged in the mounting groove 14.

[0065] Further, the active shaft 5, the first lower transmission rotating shaft 3123 and the second lower transmission rotating shaft 3223 all adopt cross pivots, which comprise a first pivot and a second pivot perpendicular to each other, and have functions of forward and backward rotation and left and right rotation, thereby achieving flexible transmission function of the structure.

[0066] The present embodiment also provides a damping control method applied to the damping mechanism, which will be described below with reference to Figure 6 , comprising:

[0067] receiving a parameter to be modified; specifically, the parameter can be a voltage.

[0068] controlling the damping of the damping component according to the voltage.

[0069] It can be understood that the damping assembly mainly adopts a brushless motor for damping. According to the brushless motor, the fixed part and the rotating part are mainly rotated through the magnetic force between the coil of the fixed part and the magnet of the rotating part. When the voltage is adjusted, the magnetic force between the coil and the magnet can be changed. For example, when the voltage is increased, the magnetic force between the coil and the magnet is increased. In other words, in the present application, the damping between the fixed part and the rotating part can be adjusted by adjusting the voltage. Thus, the load of the motor of each weight can be adapted.

[0070] The present embodiment also provides a damping control method applied to the damping mechanism. Please refer to Figure 7 , which comprises the following steps:

[0071] The single-chip microcomputer receives the angular velocity of the shaking of the supporting part. It can be understood that the supporting part is connected with the damping assembly. When the supporting part shakes with the camera as the load, the damping mechanism as a whole has a tendency to shake. At this time, the single-chip microcomputer receives the angular velocity of the shaking through the magnetic encoder. Further, the angular velocity can be calculated, and the corresponding stroke of the damping assembly can be controlled according to the calculation result.

[0072] The single-chip microcomputer controls the rotation of the damping assembly according to the angular velocity to buffer the shaking of the supporting part.

[0073] Specifically, the single-chip microcomputer calculates the corresponding torsion under the angular velocity, and controls the damping assembly 3 to generate a corresponding rotating torsion according to the electric value.

[0074] Further, the PID algorithm is used to calculate the voltage value. The single-chip microcomputer polls the first magnetic encoder 3113 and the second magnetic encoder 3114 to obtain the angular velocity of the shaking of the supporting part 2, and calculates the desired control voltage through the PID. According to the desired control voltage, the damping assembly 3 generates a corresponding torsion value, so as to balance and buffer the shaking of the supporting part 2, and finally ensure the shooting stability of the camera. It can be understood that in the present embodiment, the single-chip microcomputer can query the data of the first magnetic encoder 3113 and the second magnetic encoder 3114 once every preset time, for example, once every 10 seconds.

[0075] Further, in the present application, the rotating assembly generates rotation through the principle of the brushless motor. The voltage is taken as a parameter. By increasing or decreasing the voltage, the magnetic force between the coil and the magnet is increased or decreased, the damping adjustment of the damping mechanism is realized, and the shaking of the camera is buffered in real time. Specifically, during operation, the encoder is installed on the rotating part. When the camera shakes and drives the supporting part to deviate, the supporting part drives the rotating part to have a deviation tendency. At this time, the encoder detects the angular velocity of the shaking and sends it to the single-chip microcomputer. The single-chip microcomputer calculates the voltage of the motor generating the corresponding torsion through the PID algorithm, and controls the coil to generate the corresponding torsion according to the voltage, so as to buffer the shaking of the camera in real time.

[0076] The above merely provides the preferred embodiments of the application, and is not used to limit the present application. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall fall in the protected scope of the present application.

Claims

1. A shock absorbing mechanism, characterized by, The utility model relates to a damping mechanism and a damping control method thereof. A connecting piece; A supporting piece movably connected to the connecting piece; A damping assembly rotatably connected to the connecting piece at one end and movably connected to the supporting piece at the other end to drive the supporting piece to move; The connecting piece comprises a connecting body provided with a plurality of connecting arms, and the damping assembly comprises a plurality of damping assemblies movably connected to the corresponding connecting arms respectively; The damping assembly comprises a damping piece and a transmission piece, the damping piece is rotatably connected to the connecting arm and movably connected to the transmission piece, and the end of the transmission piece away from the damping piece is movably connected to the supporting piece to transmit the movement of the damping piece to the supporting piece; The damping piece comprises a rotating piece and a fixed piece, the fixed piece is fixedly connected to the connecting arm and rotatably connected to the rotating piece, the rotating piece is movably connected to the connecting arm, and the rotating piece is movably connected to the transmission piece, so that the transmission piece moves when the rotating piece rotates; The rotating piece further comprises a magnetic encoder, an encoding magnet, a coil fixedly connected to the fixed piece, and a magnet fixedly arranged in the rotating piece and matched with the coil, the magnet surrounds the outside of the coil, the magnetic encoder is fixed to one side of the fixed piece, and the encoding magnet is fixedly connected to the rotating piece and matched with the magnetic encoder.

2. A shock absorbing mechanism as claimed in claim 1, characterized in that An active shaft is arranged between two of the connecting arms, the active shaft is rotatably connected to the two connecting arms, and the active shaft is movably connected to the supporting piece.

3. A shock absorbing mechanism according to claim 1, wherein The damping mechanism further comprises a plurality of transmission shafts, two of the transmission shafts are movably connected to the two ends of the transmission piece respectively and movably connected to the damping piece and the supporting piece respectively, so that the two ends of the transmission piece are movably connected to the damping piece and the supporting piece respectively.

4. A shock absorbing mechanism according to claim 1, wherein The damping piece is provided with a first transmission shaft seat, the supporting piece is provided with a second transmission shaft seat, and the two ends of the transmission piece are movably connected to the first transmission shaft seat and the second transmission shaft seat respectively.

5. The shock absorbing mechanism of claim 4, wherein, The supporting piece is provided with a supporting hinge seat movably connected to the connecting arm to movably connect the connecting arm to the supporting piece; the second transmission shaft seat comprises a plurality of second transmission shaft seats, two of which are located at the two ends of the supporting piece, the supporting hinge seat is located on the center line of the two second transmission shaft seats and movably connected to the connecting arm.

6. A method of shock modulation, comprising, The damping control method is applied to the damping mechanism of any one of claims 1-5, comprising: Receiving a parameter to be modified; Controlling the damping assembly to rotate according to the damping corresponding to the parameter.

7. A damping control method applied to the damping mechanism of any one of claims 1-5, comprising: Receiving the angular velocity of the supporting piece; Calculating the corresponding torque under the angular velocity and controlling the damping assembly to rotate according to the corresponding torque.

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