Vibration isolation platform, control method thereof and camera device

Abstract

The invention relates to the technical field of image acquisition equipment, in particular to a vibration isolation platform, a control method thereof and a camera device. The vibration isolation platform comprises a bearing seat, a supporting base and a vibration reduction mechanism, the bearing seat and the supporting base are opposite in the vertical direction and arranged in a spaced mode, and the vibration reduction mechanism is connected and supported between the bearing seat and the supporting base and comprises a first rigidity assembly and a second rigidity assembly. The first rigidity assembly comprises a first floating part, a second floating part and a first elastic part, the first floating part and the second floating part are opposite in the first direction and arranged in a spaced mode, the first elastic part is connected between the first floating part and the second floating part, and the second rigidity assembly at least comprises a second elastic part and a second elastic part which are connected between the first floating part and the second floating part. The first elastic piece and the second elastic piece are arranged in the first direction and arranged at intervals in the vertical direction, and the first elastic piece and the second elastic piece deform reversely. According to the vibration isolation platform, on the basis that vibration reduction and shake prevention are met, the dynamic stability of the structure is guaranteed, and the initial posture can be better restored.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of image acquisition equipment, in particular to a vibration isolation platform and a control method thereof, and a camera device. BACKGROUND

[0002] The anti-shake technology of the camera mainly includes optical anti-shake and electronic anti-shake, which is specifically embodied by detecting displacement through a sensor or compensating and inhibiting shaking through an algorithm. However, the effect is limited under low-frequency vibration, and even the image resolution is reduced. The quasi-zero stiffness vibration reduction technology provides a breakthrough solution by designing a nonlinear structure to maintain high static stiffness while achieving low-frequency dynamic vibration isolation. However, due to the preset point function of the camera relying on the motor-driven gimbal to quickly turn to a specified angle, it is a great challenge to restore the preset point of the camera after the quasi-zero stiffness mechanism is reduced. SUMMARY

[0003] Therefore, it is necessary to provide a vibration isolation platform that can ensure dynamic stability while meeting the requirements of vibration reduction and anti-shake, and facilitate the restoration of the initial attitude.

[0004] A vibration isolation platform includes a bearing seat and a support base arranged opposite and spaced apart in a vertical direction, and a vibration reduction mechanism connected and supported between the bearing seat and the support base. The vibration reduction mechanism includes: A first stiffness component includes a first floating part and a second floating part arranged opposite and spaced apart in a first direction, and a first elastic member connected between the first floating part and the second floating part. The first floating part and the second floating part are movably connected to the bearing seat and the support base. A second stiffness component includes at least a second elastic member connected between the first floating part and the second floating part. The first elastic member and the second elastic member are arranged in the first direction and spaced apart in the vertical direction, and oppositely deformed. The first direction is arranged at an angle to the vertical direction.

[0005] It can be understood that the first stiffness component is connected between the bearing seat and the support base, which supports the bearing seat and plays a buffering role in the force of the bearing seat. Since the deformation directions of the corresponding elastic members in the first stiffness component and the second stiffness component are opposite, when the elastic members are compressed under stress, the elastic members in the second stiffness component are stretched, thereby generating a force in the opposite direction on the first stiffness component. The opposite direction force can be transmitted to the bearing seat through the first stiffness component, thereby facilitating the recovery of the bearing seat. In this way, dynamic stability can be achieved on the basis of vibration reduction and anti-shake, which facilitates the restoration of the initial attitude of the camera installed on the bearing seat.

[0006] In some embodiments, the first floating part and the second floating part each have a hinged middle part and a connecting end part hinged with the bearing seat or the support base, and the two ends of the first elastic member are connected to the corresponding connecting end parts, and the two ends of the second elastic member are connected to the corresponding connecting end parts.

[0007] In some embodiments, the first floating part and the second floating part each include at least two connecting rods, any two adjacent connecting rods are hinged, the ends of the first elastic member are connected to the hinged positions of the connecting rods, and the second elastic member is connected to the ends of the connecting rods close to the bearing seat or the support base.

[0008] In some embodiments, the length of the connecting rod is a, the initial included angle of the connecting rod with the bearing seat is θ0, and a and θ0 satisfy: .

[0009] In some embodiments, the bearing seat and the support base each have an assembly hinge point for hinging the corresponding connecting rod, and the distance between the two assembly hinge points in the vertical direction is L c , L c and a satisfy: .

[0010] In some embodiments, the second stiffness assembly further includes a connecting rod, the two ends of the second elastic member in the axial direction are respectively connected with the connecting rod, and the connecting rod is arranged at an angle with the connecting rod and is movably connected.

[0011] In some embodiments, in the vertical direction, the projection lengths of the connecting rod and the connecting rod are the same and coincide.

[0012] In some embodiments, the length of the connecting rod is greater than the length of the connecting rod.

[0013] In some embodiments, the vibration isolation platform further includes a transmission unit connected between the connecting rod and the connecting rod, the transmission unit is configured to drive the connecting rod to synchronously transmit in response to the rotation of the connecting rod; wherein the rotation angle of the rotation of the connecting rod and the rotation angle of the rotation of the connecting rod are the same.

[0014] In some embodiments, the vibration isolation platform further includes a power source and an angle sensor, the power source is in transmission connection with the transmission unit, the power source is in signal connection with the angle sensor, and the power source is configured to drive the connecting rod and the connecting rod to rotate through the transmission unit in response to the detection signal of the angle sensor.

[0015] The application further provides a control method of the vibration isolation platform, comprising the following steps: determining the rotation angle of the connecting rod in the second stiffness component; determining the equivalent stiffness to the vibration isolation platform according to the rotation angle; if the equivalent stiffness is not 0, determining the compensation force according to the equivalent stiffness.

[0016] In some embodiments, the control method further comprises: determining the actual position of the bearing seat after the vibration reduction is completed; if the actual position deviates from the preset point, determining the equivalent stiffness according to the rotation angle corresponding to the actual position.

[0017] The application further provides a camera device, comprising a camera and the vibration isolation platform, wherein the camera is arranged on the bearing seat of the vibration isolation platform. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0019] Figure 1 a schematic diagram of the vibration isolation platform provided by an embodiment of the application; Figure 2 for Figure 1 a local enlarged view of A in FIG. 4; Figure 3 a local schematic diagram of the transmission unit in the vibration isolation platform provided by an embodiment of the application; Figure 4 a simple diagram of the vibration isolation platform provided by an embodiment of the application; Figure 5 a schematic diagram of the camera device provided by an embodiment of the application; Figure 6 a flow chart of the control method of the vibration isolation platform provided by an embodiment of the application; Figure 7 a logic diagram of the control method of the vibration isolation platform provided by an embodiment of the application; Figure 8 a logic diagram of the control method of the vibration isolation platform provided by another embodiment of the application.

[0020] 10, bearing seat; 20, support base; 30, damping mechanism; 31, first rigidity component; 32, second rigidity component; 40, transmission unit; 41, first gear; 42, second gear; 43, assembly rod; 50, power source; 60, angle sensor; 100, vibration isolation platform; 101, assembly hole; 200, camera; 300, assembly support; 301, connecting rod; 311, first floating part; 312, second floating part; 313, first elastic member; 314, support rod; 321, second elastic member; 322, connecting rod; 1001, assembly hinge point; 3001, hinged middle part; 3002, connecting end part; 3011, first connecting rod; 3012, second connecting rod. DETAILED DESCRIPTION

[0021] To make the above objectives, features and advantages of the present application more clear and easily understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. In the following description, a lot of specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many different ways other than the ways described herein, and one of ordinary skill in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0022] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or there can be a middle component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or there can be a middle component. The terms "vertical", "horizontal", "up", "down", "left", "right", and similar expressions used in the description of the present application are for the purpose of illustration only and do not indicate the only implementation.

[0023] In addition, the terms "first", "second", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or an indicated number of technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0024] In the present application, unless specifically defined and limited otherwise, the first feature is "on", "under", "above" or "over" the second feature can be that the first feature is in direct contact with the second feature, or the first feature and the second feature are indirectly in contact through an intermediate medium. Moreover, the first feature is "on", "above" and "over" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature is "under", "below" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0025] Unless otherwise defined, all technical and scientific terms used in the specification of the present application have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used in the specification of the present application includes any and all combinations of one or more related listed items.

[0026] Please refer to Figure 1 and Figure 5 , an embodiment of the present application provides a vibration isolation platform 100, which can ensure structural dynamic stability on the basis of meeting vibration reduction and anti-shake, and is more beneficial to restoring the initial attitude. When the vibration isolation platform 100 is matched with a camera 200, the camera 200 is also beneficial to restoring the preset point. The vibration isolation platform 100 is described in detail below.

[0027] For example, the vibration isolation platform 100 includes a bearing seat 10, a support base 20 and a vibration reduction mechanism 30. The bearing seat 10 and the support base 20 are arranged in a vertical direction relative to and spaced apart from each other, and the vibration reduction mechanism 30 is connected and supported between the bearing seat 10 and the support base 20. The support base 20 can be installed at a target position where the vibration isolation platform 100 needs to be installed. When the vibration isolation platform 100 is used for camera 200 assembly, the support base 20 is installed at a target position where the camera 200 needs to be assembled, and the bearing seat 10 and the camera 200 can be fixed by screws to ensure connection reliability and stability. After the bearing seat 10 is subjected to external force, the setting of the vibration reduction mechanism 30 can promote the bearing seat 10 to float in the vertical direction, dynamically and stably support the bearing seat 10, and thus achieve the effect of vibration reduction and anti-shake.

[0028] The damping mechanism 30 comprises a first stiffness component 31 and a second stiffness component 32. The first stiffness component 31 is connected between the bearing seat 10 and the support base 20 to provide floating support for the bearing seat 10. The second stiffness component 32 is connected to the first stiffness component 31. Specifically, the first stiffness component 31 comprises a first floating part 311, a second floating part 312, and a first elastic member 313. The first floating part 311 and the second floating part 312 are oppositely and spacedly arranged along a first direction. The first floating part 311 and the second floating part 312 are both movably connected between the bearing seat 10 and the support base 20. The first elastic member 313 is connected between the first floating part 311 and the second floating part 312. Meanwhile, the second stiffness component 32 comprises at least a second elastic member 321. The second elastic member 321 is connected between the first floating part 311 and the second floating part 312. The second elastic member 321 and the first elastic member 313 are both arranged along the first direction and are oppositely deformed along a vertical direction. The first direction is arranged at an angle with respect to the vertical direction.

[0029] The vertical direction can be the up-down direction in Figure 1 and Figure 5 . The first direction can be the left-right direction in Figure 1 and Figure 5 .

[0030] It should be noted that the first elastic member 313 and the second elastic member 321 are oppositely deformed, which means that the deformation direction of the first elastic member 313 after being stressed is opposite to the deformation direction of the second elastic member 321 after being stressed. For example, when the first elastic member 313 is compressed after being stressed, the second elastic member 321 is stretched after being stressed. When the first elastic member 313 and the second elastic member 321 are both horizontally arranged, such as the left-right direction in Figure 1 , the central axis direction of the first elastic member 313 and the second elastic member 321 is the left-right direction. The two ends of the first elastic member 313 along the left-right direction are close to each other after being compressed, and the two ends of the second elastic member 321 along the left-right direction are away from each other after being stretched.

[0031] It can be understood that the cooperation of the first floating part 311, the second floating part 312 and the first elastic member 313 is used to dynamically support the bearing seat 10, so that the bearing seat 10 can float in the vertical direction after being stressed, and vibration damping and anti-shake are realized. When the bearing seat 10 is stressed downward, the first floating part 311 and the second floating part 312 are pressed to move to extrude the first elastic member 313, so that the first elastic member 313 is compressed, and then the first elastic member 313 generates an opposite force on the first floating part 311 and the second floating part 312 to maintain the balance of the first floating part 311 and the second floating part 312, thereby satisfying stress buffering. At the same time, the second elastic member 321 is stretched due to the movement of the first floating part 311 and the second floating part 312. Since the second elastic member 321 and the first elastic member 313 are arranged in the vertical direction, it means that the first floating part 311 and the second floating part 312 have at least two stress points in the vertical direction, and the stress directions of the two stress points are opposite. In other words, through the cooperation of the first elastic member 313 and the second elastic member 321, multi-point support is formed on the first floating part 311 and the second floating part 312, and the double action of the first elastic member 313 and the second elastic member 321 is used to maintain the stability of the first floating part 311 and the second floating part 312 and restore the initial posture. When the vibration isolation platform 100 is used for assembling the camera 200, the camera 200 mounted on the bearing seat 10 can restore the initial posture on the basis of satisfying the vibration damping and anti-shake of the camera 200.

[0032] Alternatively, the first floating part 311 and the second floating part 312 can be stretched when moving the bearing seat 10, and the first elastic member 313 is stretched at this time, and the second elastic member 321 is compressed. As long as the first elastic member 313 and the second elastic member 321 can cooperate with each other to facilitate the bearing seat 10 to restore the initial posture.

[0033] Please refer to Figure 1 In some embodiments, the first floating part 311 and the second floating part 312 each have a hinged middle part 3001 and a connecting end part 3002, the connecting end part 3002 is hinged with the bearing seat 10 or the support base 20, and the two ends of the first elastic member 313 are connected to the corresponding hinged middle part 3001, and the two ends of the second elastic member 321 are connected to the corresponding connecting end part 3002.

[0034] The hinged middle part 3001 is the position where the first floating part 311 and the second floating part 312 are deformed or adaptively deformed under stress, and thus one end of the first elastic member 313 can be connected to the hinged middle part 3001 of the first floating part 311, and the other end can be connected to the hinged middle part 3001 of the second floating part 312. When the two hinged middle parts 3001 are synchronously deformed, the first elastic member 313 is acted on to maintain dynamic stability. Meanwhile, the first floating part 311 and the second floating part 312 each have two connecting end parts 3002, one of which is located at the top and hinged to the bearing seat 10, and the other of which is located at the bottom and hinged to the support base 20, thereby facilitating the adaptive movement of the first floating part 311 and the second floating part 312 relative to the bearing seat 10 and the support base 20, and reducing the problem of jamming. A set of second stiffness components 32 is connected between the two connecting end parts 3002 located at the top, and another set of second stiffness components 32 is connected between the two connecting end parts 3002 located at the bottom. In this way, it is equivalent to connecting a set of second stiffness components 32 at the top and bottom of the first floating part 311 and the second floating part 312 respectively, and applying a force in the opposite direction of the hinged middle part 3001 through the two connecting end parts 3002.

[0035] As mentioned above, when the first floating part 311 and the second floating part 312 are stressed and moved, the first elastic member 313 connected to the hinged middle part 3001 is compressed, and the second elastic member 321 connected to the connecting end part 3002 is stretched, thereby applying a force to the hinged middle part 3001 and the connecting end part 3002 to facilitate the first floating part 311 and the second floating part 312 to return to the initial posture.

[0036] The distance between the hinged middle part 3001 of the first floating part 311 and the hinged middle part 3001 of the second floating part 312 in the first direction is less than the distance between the connecting end part 3002 of the first floating part 311 and the connecting end part 3002 of the second floating part 312 in the first direction. That is, the first floating part 311 and the second floating part 312 are arranged to approach each other along the first direction from the connecting end part 3002 to the hinged middle part 3001, thereby reducing the occupied space in the first direction.

[0037] Please refer to Figure 1In some specific embodiments, the first floating part 311 and the second floating part 312 each include at least two connecting rods 301, and any two adjacent connecting rods 301 are crossed and hinged. Taking the example of two connecting rods 301, i.e., the first connecting rod 3011 and the second connecting rod 3012, the two are arranged at an angle and hinged, and thus the crossing position of the first connecting rod 3011 and the second connecting rod 3012 is the aforementioned hinged middle part 3001. The end of the first connecting rod 3011 away from the second connecting rod 3012 and the end of the second connecting rod 3012 away from the first connecting rod 3011 each serve as the aforementioned connecting end 3002. For example, the connecting end 3002 of the first connecting rod 3011 is hinged with the bearing seat 10, and the connecting end 3002 of the second connecting rod 3012 is hinged with the support base 20.

[0038] As shown in Figure 1 and Figure 2 , further, the hinged middle part 3001 of the first floating part 311 and the hinged middle part 3001 of the second floating part 312 are each further connected with a support rod 314, the support rod 314 is a telescopic rod, and the first elastic member 313 is sleeved outside the support rod 314 and connected with the two hinged middle parts 3001 respectively. The support rod 314 supports the first elastic member 313 and avoids the first elastic member 313 from being skewed under force. The support rod 314 includes a first rod body and a second rod body, one of which is provided with an insertion hole, and the other end of the other is inserted into the insertion hole to form telescopic movement.

[0039] As shown in Figure 1 , in some embodiments, the second rigidity assembly 32 further includes a connecting rod 322, and the second elastic member 321 is connected with one connecting rod 322 at each end along the axial direction of the second elastic member 321, and the connecting rod 322 is arranged at an angle with the connecting rod 301 and is movably connected. The cooperation of the two connecting rods 322 is used to maintain the posture of the second elastic member 321 arranged in the first direction at all times, so as to promote the deformation direction of the second elastic member 321 to be kept in the first direction, reduce the influence of the component force in other directions, and further maintain stable dynamic support. Each connecting rod 322 is arranged at an angle with the corresponding second elastic member 321 to maintain the horizontal arrangement of the second elastic member 321.

[0040] As shown in Figure 1 and Figure 3 , further, the connecting rod 322 and the connecting rod 301 can rotate synchronously and have the same rotation angle. Such an arrangement can avoid trajectory deviation caused by a slight angle deviation between the connecting rod 322 and the connecting rod 301 as much as possible, ensure that no other parameters are added during design to affect the performance of quasi-zero rigidity, and reduce friction loss caused by non-uniform stress of the connecting rod 322 and the connecting rod 301.

[0041] Specifically, the vibration isolation platform 100 further comprises a transmission unit 40 connected to the connecting rod 301 and the connecting rod 322, for synchronous rotation of the connecting rod 322 and the connecting rod 301. The transmission unit 40 comprises a first gear 41, a second gear 42 and an assembly rod 43 hinged between the wheel shaft of the first gear 41 and the wheel shaft of the second gear 42, the first gear 41 is fixedly arranged on the connecting rod 301, the second gear 42 is fixedly arranged on the connecting rod 322, and the first gear 41 is in meshing transmission with the second gear 42. Taking the first connecting rod 3011 as an example, when the first connecting rod 3011 rotates counterclockwise around the hinge point relative to the bearing seat 10 to compress the first elastic member 313, the first gear 41 moves synchronously with the first connecting rod 3011, the first gear 41 meshes with the second gear 42, thereby driving the second gear 42 to rotate clockwise to stretch the second elastic member 321. Conversely, the connecting rod 301 rotates clockwise around the hinge point on the bearing seat 10 under the action of the first elastic member 313, and the connecting rod 322 rotates counterclockwise under the action of the second elastic member 321 through the cooperation of the aforementioned transmission unit 40. Wherein, when the connecting rod 301 rotates counterclockwise, the connecting rod 322 will not rotate clockwise beyond the connecting rod 301, avoiding interference between the first elastic member 313 and the second elastic member 321. Such a setting not only enhances the overall stability of the vibration isolation platform 100, but also improves the dynamic support effect.

[0042] In actual use, the first gear is fixedly arranged at the connecting end portion 3002 of the first connecting rod 3011 and is spaced from the hinge point on the connecting end portion 3002 hinged to the bearing seat 10. The second gear is fixedly arranged at the end portion of the second connecting rod 3012 away from the second elastic member 321.

[0043] Please refer to Figure 1 In some embodiments, the vibration isolation platform 100 further comprises a power source 50 in transmission connection with the aforementioned second gear 42, the power source 50 can drive the second gear 42 to rotate reversely, thereby driving the connecting rod 301 to rotate reversely through the first gear 41, which is more conducive to the bearing seat 10 to return to the initial posture.

[0044] Further, the vibration isolation platform 100 further comprises an angle sensor 60 which can be connected to the connecting rod 322 for detecting the rotation angle of the connecting rod 322, and then transmitting the detection signal to the control center of the vibration isolation platform 100. The control center can control the power source 50 to drive the connecting rod 322 to rotate reversely to balance the fluctuation, which is conducive to the bearing seat 10 to return to the initial posture after analysis and processing of the detection signal. The specific control method will be described later.

[0045] Please refer to Figure 1 and Figure 4In some embodiments, the length a of the connecting rod 301 is greater than the length b of the connecting rod 322. Since the first connecting rod 3011 and the second connecting rod 3012 cooperate to form the aforementioned floating part (the first floating part 311 and the second floating part 312), the lengths of the two connecting rods need to be the same to maintain the same stress and displacement, improve the stability of the structural support, and also need to be relatively long to better support the bearing seat 10, meet the assembly spacing requirements between the bearing seat 10 and the support base 20, and avoid the risk of the bearing seat 10 colliding with the support base 20 under stress. At the same time, the length of the connecting rod 322 is relatively small, on the one hand, it can ensure that there is enough space between the first elastic member 313 and the second elastic member 321, avoiding interference between the two elastic members; on the other hand, it can ensure that the second elastic member 321 has enough length, so that the second elastic member 321 has enough margin when the vibration isolation platform 100 changes, avoiding failure due to excessive stretching of the second elastic member 321.

[0046] Please refer to Figure 1 and Figure 4 In some embodiments, the connecting rod 301 that is hinged to the bearing seat 10 is the first connecting rod 3011, the initial included angle between the first connecting rod 3011 and the bearing seat 10 is θ0, and the length of the connecting rod 301 is a, then a and θ0 satisfy: .

[0047] Wherein the initial included angle is an acute angle, so the value of sinθ0 is between 0 and 1, not including 0 and 1. By limiting the minimum length of the connecting rod 301, it can be ensured that the vibration isolation platform 100 can meet the quasi-zero stiffness requirement.

[0048] Further, the bearing seat 10 and the support base 20 both have an assembly hinge point 1001 for hinging the corresponding connecting rod 301, and the distance between the two assembly hinge points 1001 in the vertical direction is L c , then L c and a satisfy: .

[0049] It can be understood that, taking two connecting rods 301 as an example, when the distance between the two assembly hinge points 1001 is L c , then the maximum length of a single connecting rod 301 can be half of the distance, at this time, the two connecting rods 301 are arranged in the vertical direction to support the bearing seat 10. Therefore, when the length of the connecting rod 301 is less than half of the distance, the camera housing will interfere with the camera image capture and other problems.

[0050] Please refer to Figure 1 and Figure 4In some embodiments, the projection of the connecting rod 301 and the corresponding connecting rod 322 along the vertical direction coincide. That is, the projection of the connecting rod 301 and the connecting rod 322 along the vertical direction are both straight lines with lengths, and the lengths of the two straight lines are the same. Among them, the bearing seat 10 can be used as the projection surface of the connecting rod 301 and the connecting rod 322. The angle between the connecting rod 301 and the bearing seat 10 is θ0, the angle between the connecting rod 322 and the connecting rod 301 is α, and the angle between the connecting rod 322 and the bearing seat 10 is β = θ0-α. The length of the connecting rod 301 is a, and the length of the connecting rod 322 is b, which satisfies the following expression: .

[0051] Therefore, the expression of a and b is obtained as follows: .

[0052] Therefore, when θ0 and α are determined, the proportional relationship between the length a of the connecting rod 301 and the length b of the connecting rod 322 is also determined.

[0053] Such a setting, on the one hand, based on the case that the rotation angles of the connecting rod 301 and the connecting rod 322 are the same, when the projections of the connecting rod 301 and the connecting rod 322 coincide, it is convenient to predict the motion trajectory of the connecting rod 301 and the connecting rod 322, without the need for additional compensation algorithm; on the other hand, it is convenient for assembly, which only needs to be adjusted to the initial projection of the connecting rod 301 and the connecting rod 322, without the need for other angle fine-tuning, simplifying the assembly process. In addition, the setting of the projection of the connecting rod 301 and the connecting rod 322 coincides can maximize the use of space.

[0054] Please refer to Figure 1 and Figure 4 In some specific embodiments, the original length of the first elastic member 313 is L a0 , and the original length of the second elastic member 321 is L b0 . The initial angle between the connecting rod 301 and the bearing seat 10 is θ0, the angle between the connecting rod 322 and the connecting rod 301 is α, and the hinge point spacing between the hinge point of the bearing plate and the two connecting rods 301 is L. The rotation angle of the connecting rod 301 after being stressed is φ, the vertical displacement of the bearing plate along the vertical direction after being stressed is y d , and after the bearing plate is stressed to make the first connecting rod 3011 and the second connecting rod 3012 move, the horizontal displacement of the hinged middle part 3001 of the two connecting rods 301 along the first direction is x d . After the bearing plate is stressed, the angle between the connecting rod 301 and the bearing plate is θ1, the length of the first elastic member 313 is L a1 , and the length of the second elastic member 321 is L b1 .

[0055] Please refer to Figure 4The horizontal displacement x d and the rotation angle φ are related to the vertical displacement y d as follows: (1) (2) The original length L a0 of the first elastic member 313 and the original length L b0 of the second elastic member 321 are related to the hinge distance L as follows: (3) (4) When the carrier 10 is forced to rotate the connecting rod 301 by an angle, the first elastic member 313 and the second elastic member 321 will be deformed, and the length L a1 of the first elastic member 313 and the length L b1 of the second elastic member 321 after deformation are related as follows: (5) (6) Therefore, the deformation length dL a1 of the first elastic member 313 and the deformation length dL b1 of the second elastic member 321 are related as follows: (7) (8) Therefore, the force F a exerted on the first elastic member 313 and the force F b exerted on the second elastic member 321 after the carrier 10 is forced are related as follows: (9) (10) where k a is the stiffness of the first elastic member 313, and k b is the stiffness of the second elastic member 321.

[0056] Based on the principle of virtual work, we have: (11) where F is the force on the carrier 10, and δ represents the virtual displacement. The work done by the carrier 10 after being forced is the same as the work done by the first elastic member 313 and the second elastic member 321, thereby maintaining the dynamic stability of the carrier 10.

[0057] According to the foregoing expression (2) and the foregoing expressions (7)-(11), a relationship expression of the vertical load borne by the bearing seat 10 along the vertical direction and the vertical displacement can be obtained as follows: (12) Based on the expression (12), derivation is performed on both ends to obtain an expression of the total stiffness k d : (13) wherein: (14) (15) (16) In actual use, when the vertical displacement y d of the bearing seat 10 is small, the foregoing expression (2) can be simplified by retaining the first-order term of y d , and the simplified expression is as follows: (17) Further, the arctan function is further subjected to Taylor expansion to only take the first order, and a first-order approximation formula of the arctan function is obtained as follows: (18) Simplification is performed on the foregoing expression (17) to obtain an expression of the simplified rotation angle: (19) Meanwhile, D is used to represent in the foregoing expression. Therefore, the D can be calculated by neglecting the second-order term of y d , and the following is obtained: (20) The foregoing expression (19) is substituted into the formulas and sin , and Taylor expansion is performed to the first order, and the following expression is further obtained: (21) (22) The expressions (19), (20), (21) and (22) are substituted into the foregoing expressions (14), (15) and (16), and the expressions of the simplified A, B and C are further obtained as follows: (23) (24) (25) Substituting the simplified expressions (23), (24), and (25) into the aforementioned expression (13), the total stiffness k is obtained. d The final expression: (26) When the total stiffness k d When k is 0, we can obtain k. a and k b Relational expression: (27) Because of k a and k b All are greater than 0, therefore we get: .

[0058] This leads to the expressions for a and θ0 mentioned above: .

[0059] like Figure 1 and Figure 4 As shown, in some embodiments, the initial angle between the connecting rod 301 and the bearing seat 10 satisfies: 11.54° < θ0 ≤ 60°. By limiting the initial angle θ0, it is possible to avoid the vibration isolation platform 100 failing to meet the quasi-zero stiffness requirement due to an excessively small initial angle between the connecting rod 301 and the bearing seat 10, and also to avoid the first elastic element 313 and the second elastic element 321 becoming too stiff due to an excessively large initial angle, thus weakening the buffering effect. In some specific embodiments, the initial angle θ0 = 12°, 25°, 45°, 50°, 55°, or 60°.

[0060] Furthermore, to avoid interference during operation, the range of the angle α between link 301 and connecting link 322 can be limited to: 5° < α < θ0 - 5°. For example, α = 5°, 20°, 35°, 45°, or 55°.

[0061] like Figure 1 and Figure 4 As shown, in some specific embodiments, when the vertical distance L between the aforementioned two assembly hinge points 1001 is... c When the length 'a' of the connecting rod 301 is 20mm, the range of values ​​for 'a' is as follows: .

[0062] If we take the maximum limit value of 'a' to be 10mm, then the length 'b' of connecting rod 322 satisfies: .

[0063] Since 2 / sinθ0<10, we have: θ0>arcsin(0.2)≈11.54°.

[0064] The expression of a=10mm and the length b of the connecting rod 322 can be substituted into the aforementioned expression (26), and when the vibration damping mechanism 30 satisfies the quasi-zero stiffness requirement, k d =0, and the total stiffness k d is obtained as follows: (28) where m is the stiffness k a corresponding coefficient of the first elastic member 313, and n is the stiffness k b corresponding coefficient of the second elastic member 321. Thus, we have: (29) (30) Since the first stiffness component 31 corresponds to a negative stiffness, and the second stiffness component 32 corresponds to a positive stiffness, when the initial included angle between the connecting rod 301 and the bearing seat 10 gradually increases, the stiffness k a corresponding coefficient m of the first elastic member 313 will be smaller, and in order to satisfy the requirement k d =0, it will result in k a increasing; and k a m is negative, so the smaller k a m is, the larger k b n is. For example, when the initial included angle is 60°, and the included angle between the connecting rod 322 and the connecting rod 301 is 10°, the absolute value of m is 1.65 times that of n; when the included angle α between the connecting rod 322 and the connecting rod 301 is 20°, the absolute value of m is 3.77 times that of n; and when the included angle α between the connecting rod 322 and the connecting rod 301 is 30°, the absolute value of m is 7.93 times that of n. Therefore, the larger m is, the larger k b will be, so it can be determined that the initial angle θ0is not greater than 60°. Thus, when the spacing between the two assembled hinge points 1001 in the vertical direction is 20mm, the value range of the initial angle θ0is: 11.54°<θ0≤60°.

[0065] Therefore, the length a of the connecting rod 301 is in the range of 2.31<a≤10, and the length b of the connecting rod 322 is in the range of 1.33<b≤8.97. For example, a=3mm, 5mm, 8mm or 10mm, and b=2mm, 4mm, 6mm or 8.97mm.

[0066] Please refer to Figure 1 and Figure 5An embodiment of the present application further provides a camera device, which comprises the camera 200 and the vibration isolation platform 100 described above, and the camera 200 is arranged on the bearing seat 10 of the vibration isolation platform 100. The bearing seat 10 is provided with the assembly hole 101, and the camera 200 can be fixed on the bearing seat 10 by using bolts or screws. In actual use, the bottom of the camera 200 can be mounted with at least two vibration isolation platforms 100 arranged at intervals, so as to improve the supporting effect of the camera 200 and maintain uniform stress.

[0067] Further, the camera device further comprises the assembly support 300, the support base 20 in the vibration isolation platform 100 is fixed on the assembly support 300, and the camera device is mounted on the target position through the assembly support 300, so as to further improve the assembly reliability.

[0068] Please refer to Figure 1 、 Figure 5 、 Figure 6 and Figure 7 , another embodiment of the present application further provides a control method of the vibration isolation platform 100, which comprises the following steps: determining the rotation angle of the connecting rod 322 in the second stiffness component 32; determining the equivalent stiffness of the vibration isolation platform 100 according to the rotation angle; if the equivalent stiffness is not 0, determining the compensation force according to the equivalent stiffness.

[0069] That is to say, the actual rotation angle of the connecting rod 322 after the bearing seat 10 is stressed, that is, the aforementioned rotation angle φ, can be detected by the angle sensor 60. The rotation angle φ is substituted into the aforementioned expression (2) to obtain the vertical displacement y d , and then the initial angle θ0, the vertical displacement y d and the rotation angle φ are substituted into expressions (14), (15) and (16) to respectively calculate the values of A, B and C, and the values are substituted into expression (13) to calculate the equivalent stiffness k d . If the equivalent stiffness k d is 0, it indicates that the damping mechanism 30 can reach a balanced state with the vertical bearing force borne by the bearing seat 10. However, if the equivalent stiffness k d is not 0, the vertical bearing force can be calculated by using the aforementioned expression (2) and expression (12), the compensation force to be compensated is the same as the vertical bearing force, so the compensation force can be determined.

[0070] After the compensation force is determined, the power source 50 can be controlled to start to drive the connecting rod 322 to rotate reversely, the connecting rod 322 drives the connecting rod 301 to rotate reversely, which is beneficial to the recovery of the original posture of the bearing seat 10, ensures the recovery of the preset point position of the camera 200 arranged on the bearing seat 10, captures the originally captured picture, and reduces the captured picture deviation.

[0071] Please refer to Figure 1 , Figure 5 and Figure 8 , further, the actual position of the bearing seat 10 is determined after the vibration is reduced, if the actual position deviates from the preset point, the equivalent stiffness is determined according to the rotation angle of the connecting rod 322 at the actual position, and the compensation force is determined according to the equivalent stiffness. That is to say, after the damping mechanism 30 receives the force acting on the bearing seat 10, if it is found that the actual position of the bearing seat 10 does not reach the preset point (i.e. deviates from the preset point), that is, the bearing seat 10 does not completely recover the initial posture, the vertical bearing force is calculated according to the rotation angle of the connecting rod 322 relative to the initial posture at this time according to the above-mentioned expression (2) and expression (12), and then the power source 50 is driven to compensate, so that the damping mechanism 30 can recover in the quasi-zero stiffness interval. If it is found that the actual position of the bearing seat 10 does not deviate from the preset point, that is, the bearing seat 10 recovers the initial posture, the rotation angle monitoring is continued and the above-mentioned process is run.

[0072] The technical features of the above-mentioned embodiments can be combined in any way. In order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0073] The above-mentioned embodiments only express several embodiments of the present application, the description is more specific and detailed, but it should not be understood as the limitation of the patent application scope. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A vibration isolation platform, characterized in that, It includes a bearing seat (10) and a support base (20) arranged vertically opposite to each other and spaced apart, and a vibration damping mechanism (30) connecting and supporting the bearing seat (10) and the support base (20), the vibration damping mechanism (30) including: The first stiffness component (31) includes a first floating part (311) and a second floating part (312) that are arranged opposite to each other and spaced apart along a first direction, and a first elastic member (313) connected between the first floating part (311) and the second floating part (312). The first floating part (311) and the second floating part (312) are both movably connected to the bearing seat (10) and the support base (20). The second stiffness component (32) includes at least a second elastic element (321), which is connected between the first floating part (311) and the second floating part (312); The first elastic element (313) and the second elastic element (321) are both arranged along the first direction and are spaced apart along the vertical direction, and they deform in opposite directions. The first direction is set at an angle to the vertical direction.

2. The vibration isolation platform according to claim 1, characterized in that, Both the first floating part (311) and the second floating part (312) have a hinged middle part (3001) and a connecting end part (3002). The connecting end part (3002) is hinged to the bearing seat (10) or the support base (20). The two ends of the first elastic member (313) are respectively connected to the corresponding hinged middle part (3001), and the two ends of the second elastic member (321) are respectively connected to the corresponding connecting end part (3002).

3. The vibration isolation platform according to claim 1, characterized in that, Both the first floating part (311) and the second floating part (312) include at least two connecting rods (301), any two adjacent connecting rods (301) are hinged, the end of the first elastic member (313) is connected to the hinge of the connecting rod (301), and the second elastic member (321) is connected to the end of the connecting rod (301) near the bearing seat (10) or the support base (20).

4. The vibration isolation platform according to claim 3, characterized in that, The length of the connecting rod (301) is a, and the initial angle between the connecting rod (301) and the bearing seat (10) is θ0, where a and θ0 satisfy: 。 5. The vibration isolation platform according to claim 4, characterized in that, Both the bearing seat (10) and the support base (20) have mounting hinge points (1001) for hinged connection of the corresponding connecting rod (301), and the vertical distance between the two mounting hinge points (1001) is L. c L c And a satisfy: 。 6. The vibration isolation platform according to claim 3, characterized in that, The second stiffness component (32) further includes a connecting rod (322), and the second elastic element (321) is connected to the connecting rod (322) at both ends along its own axial direction. The connecting rod (322) is set at an angle to the connecting rod (301) and is movably connected.

7. The vibration isolation platform according to claim 6, characterized in that, In the vertical direction, the projected lengths of the connecting rod (301) and the connecting rod (322) are the same and coincide.

8. The vibration isolation platform according to claim 6, characterized in that, The length of the connecting rod (301) is greater than the length of the connecting rod (322).

9. The vibration isolation platform according to claim 6, characterized in that, The vibration isolation platform (100) further includes a transmission unit (40) connected between the connecting rod (301) and the connecting rod (322), the transmission unit (40) being configured to drive the connecting rod (322) synchronously in response to the rotation of the connecting rod (301); The rotation angle of the connecting rod (301) is the same as that of the connecting rod (322).

10. The vibration isolation platform according to claim 9, characterized in that, The vibration isolation platform (100) further includes a power source (50) and an angle sensor (60). The power source (50) is connected to the transmission unit (40) and is connected to the angle sensor (60). The power source (50) is configured to drive the connecting rod (301) and the connecting rod (322) to rotate via the transmission unit (40) in response to the detection signal of the angle sensor (60).

11. A control method for a vibration isolation platform, characterized in that, Based on the vibration isolation platform according to any one of claims 1 to 10, the control method includes the following steps: Determine the rotation angle of the connecting rod in the second stiffness assembly; The equivalent stiffness of the vibration isolation platform is determined based on the rotation angle; If the equivalent stiffness is not zero, the compensation force is determined based on the equivalent stiffness.

12. The control method according to claim 11, characterized in that, The control method further includes: Determine the actual location of the bearing seat after vibration reduction is completed; If the actual position deviates from the preset point, the equivalent stiffness is determined based on the rotation angle corresponding to the actual position.

13. A camera device, characterized in that, include: The vibration isolation platform according to any one of claims 1 to 10, Camera (200), the camera (200) is mounted on the support (10) of the vibration isolation platform (100); The vibration isolation platform (100) is provided in at least two and is arranged at intervals at the bottom of the camera (200).

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