Anti-shake damping pan-tilt camera

Abstract

The invention discloses an anti-shake damping pan-tilt camera, and relates to the technical field of pan-tilt cameras, the anti-shake damping pan-tilt camera structurally comprises a top plate and a bottom plate: a counterweight column is hinged to the middle of the top surface of the top plate in multiple directions, a U-shaped plate is fixedly arranged at the top end of the counterweight column, and a camera body is fixed in the U-shaped plate; a first swing arm is hinged to the bottom face of the top plate, a second swing arm is hinged to the top face of the bottom plate, and the top end of the second swing arm is multidirectionally hinged to the bottom end of the first swing arm; a connecting shaft is fixedly arranged at the top end of the hinge seat, and a hydraulic damping mechanism is installed between the top end of the connecting shaft and the bottom end of the balance weight column. A basic anti-shake system is constructed through a cross hinge structure and a hydraulic damping mechanism, so that the stability of a shot picture is effectively guaranteed; an active swing arm adjusting mechanism is additionally arranged, so that the adaptability of the equipment to complex shaking scenes is improved; meanwhile, a damping guide design and a protection structure are optimized, the buffering accuracy is enhanced, the service life of equipment is prolonged, and stable and reliable shooting is guaranteed in all directions.

Description

Technical Field

[0001] This invention relates to the field of gimbal camera technology, and more particularly to a damped gimbal camera with image stabilization. Background Technology

[0002] In recent years, with the development of technology, gimbal cameras have been widely used in various fields, especially in video surveillance, film and television shooting, and drone aerial photography. A gimbal camera is a device that stabilizes the camera through mechanical adjustments to ensure stable, shake-free footage when the camera is moving or shooting from different angles. However, traditional gimbal cameras are still prone to shaking when dealing with rapid or large-scale movements, especially at high speeds or when encountering external interference such as wind, failing to provide sufficient stability and affecting shooting quality.

[0003] It has three major problems: First, the anti-shake mechanism is simple and has poor adaptability to complex shaking scenarios, making it difficult to maintain image stability under large shaking; second, it lacks active attitude adjustment capability and relies solely on passive buffering to attenuate shaking, resulting in slow response speed and limited balance correction effect; third, the core damping component has insufficient swing guidance, low buffering accuracy, and lacks effective protection, making it susceptible to damage from external interference, affecting the service life and operational reliability of the equipment. Summary of the Invention

[0004] The purpose of this invention is to solve the problems existing in the prior art, and to propose a shake-stabilized damping gimbal camera.

[0005] To address the problems existing in the prior art, the present invention adopts the following technical solution: A gimbal camera with anti-shake damping includes a top plate, a circular through hole in the center of the top surface of the top plate, a counterweight column hinged in multiple directions inside the circular through hole, a U-shaped plate fixed at the top of the counterweight column, and a camera body fixedly engaged in the opening of the U-shaped plate. The top plate is provided with parallel bottom plates directly below it. Three evenly distributed first swing arms are hinged to the bottom surface of the top plate, and three evenly distributed second swing arms are hinged to the top surface of the bottom plate. The top of each second swing arm is hinged to the bottom of the corresponding first swing arm in multiple directions. A hemisphere is fixed in the center of the top surface of the base plate. A circular hinge seat is hinged to the top surface of the hemisphere. A connecting shaft is fixed at the top of the circular hinge seat. A hydraulic damping mechanism is installed between the top of the connecting shaft and the bottom of the counterweight column.

[0006] Preferably, a hollow ring is fitted between the counterweight column and the circular through hole. A pair of first pins are fixed on the left and right sides of the hollow ring, and the outer end of each first pin is hinged and inserted into the inner wall of the circular through hole. A pair of second pins are fixed on the front and rear sides of the counterweight column, and the outer end of each second pin is hinged and inserted into the inner wall of the hollow ring.

[0007] Preferably, positioning grooves are provided at the four corners of the inner bottom wall of the U-shaped plate, and positioning pins are fixed at the four corners of the bottom surface of the camera body. The bottom end of each positioning pin is inserted into the corresponding positioning groove, and bolts are inserted at the two corners of the U-shaped plate. The inner end of each bolt abuts against the side wall of the camera body.

[0008] Preferably, the bottom surface of the top plate is fixed with three evenly distributed first U-shaped lugs, and the top end of each first swing arm is hinged to the first U-shaped lug on the corresponding side. The top surface of the bottom plate is fixed with three evenly distributed second U-shaped lugs, and the bottom end of each second swing arm is hinged to the second U-shaped lug on the corresponding side.

[0009] Preferably, a single ear seat is rotatably mounted at the bottom end of each of the first swing arms, and a double ear seat is rotatably mounted at the top end of each of the second swing arms, with the open end of each double ear seat being movably hinged to the bottom end of the corresponding single ear seat.

[0010] Preferably, the top surface of the base plate is fixed with three evenly distributed fixed frames, each fixed frame is corresponding to the adjacent second U-shaped lug, and a motor is fixedly installed inside each fixed frame.

[0011] Preferably, a notched worm gear is fixed at the bottom end of each of the second swing arms, and a worm is fixed at the end of the motor shaft of each motor. Each worm extends into the second U-shaped lug on the corresponding side, and each worm meshes with the notched worm gear on the corresponding side.

[0012] Preferably, a perforated cover is fixedly provided on the top surface of the base plate, the top of the perforated cover is open, and the perforated cover and the hemisphere are concentrically distributed. An arc-shaped disk is fixedly provided in the middle of the connecting shaft, and the outer surface of the arc-shaped disk slides against the inner wall of the perforated cover.

[0013] Preferably, the hydraulic damping mechanism includes a hydraulic damping cylinder, a hydraulic damping rod, and a damping piston. The top end of the connecting shaft is fixedly provided with a hydraulic damping cylinder, the top port of the hydraulic damping cylinder is slidably inserted with a hydraulic damping rod, the top end of the hydraulic damping rod is fixedly provided with a connecting block, the connecting block is fixedly installed at the bottom end of the counterweight column, and the bottom end of the hydraulic damping rod is fixedly provided with a damping piston, which is slidably engaged in the hydraulic damping cylinder.

[0014] Preferably, the damping piston and the bottom of the hydraulic damping cylinder form a hydraulic cavity, a first spring is fixed inside the hydraulic cavity, and the hydraulic cavity is filled with hydraulic oil. The lower half of the hydraulic damping rod is fitted with a second spring, which is located inside the hydraulic damping cylinder. The upper half of the hydraulic damping rod is fitted with a third spring, which is located between the connecting block and the top of the hydraulic damping cylinder.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. In this invention, a basic dual image stabilization system is constructed. The shaking is flexibly decomposed through a cross-shaped hinge structure, and the kinetic energy is attenuated by a hydraulic damping mechanism. A triangular support stabilization structure is added to effectively reduce the camera shake amplitude, ensure clear and stable shooting in shaky environments, and at the same time achieve rapid and accurate camera assembly. 2. In this invention, the swing arm is driven by a motor, worm gear, and worm wheel transmission, which causes the camera to tilt in the opposite direction of the shaking. This compensates for the shortcomings of passive damping in adapting to large shaking. Together with the basic image stabilization structure, it forms a dual system, which significantly improves the image stabilization stability and balance performance in complex shaking scenarios. 3. In this invention, the hydraulic damping mechanism is optimized and a protective structure is added. The arc-shaped disc and the hollowed-out protective cover precisely guide the swing of the connecting shaft. Multiple springs work together with hydraulic damping to enhance the buffering stability. The hollowed-out protective cover protects the core components, further improving the accuracy of damping and buffering, extending the equipment life, and ensuring the reliable operation of the anti-shake system in complex environments. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the present invention from another perspective; Figure 3 This is an exploded view of the U-shaped plate and camera body structure of the present invention; Figure 4 This is a schematic diagram of the bottom plate and top plate structure of the present invention; Figure 5 This is an exploded view of the connection between the bottom plate and the top plate structure of the present invention; Figure 6 This is a schematic diagram of the hydraulic damping mechanism of the present invention; Figure 7 For the present invention Figure 6 A schematic cross-sectional view of the structure; Figure 8 For the present invention Figure 7 Explosion-proof diagram of the structure; Figure 9 This is a schematic diagram of the top plate and counterweight column structure of the present invention; Figure 10 For the present invention Figure 9 Explosion-proof diagram of the structure; In the diagram, the following are the serial numbers: 100, Top Plate; 101, Hollow Ring; 102, First Pin; 103, Counterweight Column; 104, Second Pin; 105, U-Shaped Plate; 106, Positioning Slot; 107, Camera Body; 108, Positioning Pin; 109, Bolt; 200, Base Plate; 201, First U-Shaped Ear; 202, First Swing Arm; 203, Single Ear; 204, Second U-Shaped Ear; 205, Second Swing Arm; 206, Double Ear. ; 207. Notched worm gear; 208. Fixed frame; 209. Motor; 210. Worm; 300. Hemisphere; 301. Hollowed-out protective cover; 302. Circular hinge seat; 303. Connecting shaft; 304. Arc-shaped disc; 305. Hydraulic damping cylinder; 306. Damping piston; 307. Hydraulic damping rod; 308. Connecting block; 309. First spring; 310. Second spring; 311. Third spring; 312. Hydraulic cavity. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0018] Example 1: This example provides a stabilized damped gimbal camera. See [link / reference]. Figures 1 to 10 Specifically, it includes a top plate 100, a circular through hole in the middle of the top surface of the top plate 100, a counterweight column 103 is installed in the interior of the circular through hole in multiple directions, a U-shaped plate 105 is fixedly installed at the top of the counterweight column 103, and a camera body 107 is fixedly installed in the opening of the U-shaped plate 105. A bottom plate 200 is provided directly below the top plate 100. Three evenly distributed first swing arms 202 are hinged to the bottom surface of the top plate 100, and three evenly distributed second swing arms 205 are hinged to the top surface of the bottom plate 200. The top of each second swing arm 205 is hinged to the bottom of the corresponding first swing arm 202 in multiple directions. A hemisphere 300 is fixedly mounted in the middle of the top surface of the base plate 200. A circular hinge seat 302 is hinged to the top surface of the hemisphere 300. A connecting shaft 303 is fixedly mounted at the top of the circular hinge seat 302. A hydraulic damping mechanism is installed between the top of the connecting shaft 303 and the bottom of the counterweight column 103. The circular hinge seat 302 enables the flexible hinge between the connecting shaft 303 and the hemisphere 300, ensuring that the connecting shaft 303 drives the hydraulic damping mechanism to swing smoothly.

[0019] It should be noted that: such as Figure 3 and Figure 10 As shown, a hollow ring 101 is fitted between the counterweight column 103 and the circular through hole. A pair of first pins 102 are fixed on the left and right sides of the hollow ring 101. The outer end of each first pin 102 is hinged and inserted into the inner wall of the circular through hole. A pair of second pins 104 are fixed on the front and rear sides of the counterweight column 103. The outer end of each second pin 104 is hinged and inserted into the inner wall of the hollow ring 101. The hollow ring 101 is hinged to the top plate 100 through the first pins 102 on the left and right sides, and is also hinged to the second pins 104 of the counterweight column 103 through the inner wall, forming an intermediate connecting piece with a cross-shaped hinge structure. Positioning grooves 106 are provided at the four corners of the inner bottom wall of the U-shaped plate 105. Positioning pins 108 are fixed at the four corners of the bottom surface of the camera body 107. The bottom end of each positioning pin 108 is inserted into the corresponding positioning groove 106. Bolts 109 are inserted at the two corners of the U-shaped plate 105. The inner end of each bolt 109 abuts against the side wall of the camera body 107.

[0020] The working principle of this embodiment is as follows: The camera body 107 is placed stably in the opening of the U-shaped plate 105, ensuring that the positioning pins 108 at the four corners of the bottom surface of the camera body 107 are accurately aligned and inserted into the positioning grooves 106 at the corresponding positions on the bottom wall of the U-shaped plate 105. Through the engagement of the positioning pins 108 and the positioning grooves 106, the initial positioning of the camera body 107 is achieved, avoiding horizontal displacement within the U-shaped plate 105. Subsequently, bolts 109 are inserted at the two corners of the U-shaped plate 105, and the bolts 109 are tightened one by one until the inner end of each bolt 109 is tightly against the side wall of the camera body 107. The tightening force of the bolts 109 further strengthens the camera body 107, ensuring that it forms a stable integrated structure with the U-shaped plate 105 and the counterweight column 103, laying the assembly foundation for subsequent image stabilization operations. After assembly, the camera body 107 can be started and camera operation can be carried out. When the environment in which the equipment is located vibrates, causing the camera body 107 to shake, the force of the shaking is first transmitted to the U-shaped plate 105 fixedly connected to the camera body 107, which in turn drives the counterweight column 103 fixedly connected to the top of the U-shaped plate 105 to shake synchronously. When the counterweight column 103 sways, the pair of second pins 104 fixed on its front and rear sides will tend to deflect. Since the outer end of the second pin 104 is hinged and inserted into the inner wall of the hollow ring 101, the second pin 104 will drive the hollow ring 101 to rotate in the front and rear direction along the hinge point of the second pin 104. At the same time, the pair of first pins 102 fixed on the left and right sides of the hollow ring 101, because their outer ends are hinged and inserted into the inner wall of the circular through hole of the top plate 100, will drive the hollow ring 101 to rotate left and right along the hinge point of the first pins 102. Through the cross-shaped hinge of the first pin 102 and the hollow ring 101, and the second pin 104 and the counterweight column 103, the counterweight column 103 can achieve flexible deflection in multiple directions within the circular through hole, effectively decomposing and transmitting the shaking force of the camera body 107, and avoiding the shaking directly affecting the stability of the camera image. During the transmission of the shaking force, the hydraulic damping mechanism connected to the bottom end of the counterweight column 103 via the connecting shaft 303 and the circular hinge seat 302 will simultaneously play a core buffering role; the shaking of the counterweight column 103 will be transmitted to the connecting shaft 303 through the bottom end, and the connecting shaft 303 will drive the circular hinge seat 302 to make an adaptive deflection on the top surface of the hemisphere 300, thereby transmitting the kinetic energy of the shaking to the hydraulic damping mechanism; The hydraulic damping mechanism gradually attenuates and absorbs the transmitted vibration kinetic energy through the viscous resistance and pressure adjustment of the internal damping medium. At the same time, it works in conjunction with the auxiliary stabilizing effect of the triangular support hinge structure formed by the first swing arm 202 and the second swing arm 205 between the top plate 100 and the bottom plate 200, further reducing the transmission efficiency of vibration. Ultimately, through a dual image stabilization mechanism, the shaking amplitude of the camera body 107 is effectively reduced, ensuring that it can still capture clear and stable images in shaky environments.

[0021] Example 2: Based on Example 1, this example, through a specific design of the swing arm transmission structure, solves the problem of Example 1's reliance on passive damping for image stabilization and its limited adaptability to large-amplitude shaking. It achieves active adjustment of the attitude of the top plate 100 and the camera body 107, further improving image stabilization stability and balance performance in complex shaking scenarios. It also includes: In the specific implementation process, such as Figure 4 and Figure 5 As shown, the bottom surface of the top plate 100 is fixed with three evenly distributed first U-shaped ear seats 201, and the top end of each first swing arm 202 is hinged and installed in the first U-shaped ear seat 201 on the corresponding side. The top surface of the bottom plate 200 is fixed with three evenly distributed second U-shaped ear seats 204, and the bottom end of each second swing arm 205 is hinged and installed in the second U-shaped ear seat 204 on the corresponding side. Each first swing arm 202 has a single ear seat 203 rotatably mounted at its bottom end, and each second swing arm 205 has a double ear seat 206 rotatably mounted at its top end. The open end of each double ear seat 206 is movably hinged to the bottom end of the corresponding single ear seat 203. The double ear seat 206 cooperates with the single ear seat 203 to realize the flexible hinge between the first swing arm 202 and the second swing arm 205, ensuring the smoothness of the swing arm transmission. Three evenly distributed fixed frames 208 are fixed on the top surface of the base plate 200. Each fixed frame 208 is correspondingly set with the adjacent second U-shaped ear seat 204, and a motor 209 is fixedly installed inside each fixed frame 208. Each second swing arm 205 has a notched worm gear 207 fixed at its bottom end, and each motor shaft end of each motor 209 has a worm 210 fixed at its end. Each worm 210 extends into the second U-shaped lug 204 on the corresponding side, and each worm 210 meshes with the notched worm gear 207 on the corresponding side, so as to transmit the rotational power of the motor 209 to the notched worm gear 207, thereby realizing power conversion and transmission.

[0022] The working principle of this embodiment is as follows: When the camera body 107 is performing a camera operation, if the device encounters a large amount of shaking and the passive damping mechanism of Embodiment 1 is unable to maintain balance quickly, the corresponding motor 209 is driven to start according to the attitude detection signal of the camera body 107, and the motor shaft of the motor 209 drives the worm gear 210 fixed to it to rotate synchronously. Since the worm 210 is meshed with the notched worm wheel 207 at the bottom of the second swing arm 205, the rotational motion of the worm 210 is converted into the swinging motion of the notched worm wheel 207, which in turn drives the second swing arm 205 to swing around its hinge point with the second U-shaped ear seat 204 as the axis. When the second swing arm 205 swings, the double ear seat 206 at its top tip synchronously drives the single ear seat 203 hinged to it to move, thereby driving the first swing arm 202 to swing in coordination with the hinge point between it and the first U-shaped ear seat 201 as the axis; through the linkage between the first swing arm 202 and the second swing arm 205, the top plate 100 and the camera body 107 fixed to the top plate 100 are driven to tilt to the side opposite to the direction of the swing. This active tilt adjustment action can quickly offset some of the attitude deviation caused by shaking, helping to maintain the horizontal balance of the camera body 107. At the same time, in conjunction with the multi-directional hinged deflection structure composed of the counterweight column 103, hollow ring 101, first pin 102, and second pin 104 in Embodiment 1, and the passive damping buffer structure composed of the connecting shaft 303, circular hinge seat 302, and hydraulic damping mechanism, a dual anti-shake system is formed, which greatly improves the stability of the camera body 107 in large and complex shaking scenarios, ensuring that the captured image is always clear and stable.

[0023] Example 3: Based on Example 2, this example solves the problems of insufficient buffering stability and poor oscillation guidance of the connecting shaft 303 in Example 2 through the structural design of the hydraulic damping mechanism. This further improves the accuracy and stability of the damping buffer, while enhancing the protection of core components, ensuring reliable operation of the anti-shake system in complex shaking scenarios. It also includes: In the specific implementation process, such as Figure 6 , Figure 7 and Figure 8 As shown, a perforated cover 301 is fixed on the top surface of the base plate 200. The top of the perforated cover 301 is open, and the perforated cover 301 and the hemisphere 300 are concentrically distributed. An arc-shaped disk 304 is fixed in the middle of the connecting shaft 303. The outer surface of the arc-shaped disk 304 slides against the inner wall of the perforated cover 301. The arc-shaped disk 304, together with the perforated cover 301, guides the swing of the connecting shaft 303 and prevents the connecting shaft 303 from deviating and swinging. The hydraulic damping mechanism includes a hydraulic damping cylinder 305, a hydraulic damping rod 307, and a damping piston 306. The hydraulic damping cylinder 305 is fixed at the top of the connecting shaft 303. The hydraulic damping rod 307 is slidably inserted into the top port of the hydraulic damping cylinder 305. A connecting block 308 is fixed at the top of the hydraulic damping rod 307. The connecting block 308 is fixedly installed at the bottom of the counterweight column 103. The damping piston 306 is fixed at the bottom of the hydraulic damping rod 307. The damping piston 306 is slidably engaged in the hydraulic damping cylinder 305 and slides under the action of the hydraulic damping rod 307, squeezing the hydraulic oil in the hydraulic cavity 312. The damping force is generated by the viscous resistance of the hydraulic oil, which attenuates the swaying kinetic energy. The damping piston 306 and the bottom of the hydraulic damping cylinder 305 form a hydraulic cavity 312, which is used to accommodate the first spring 309 and hydraulic oil, providing working space for the damping effect of the hydraulic damping mechanism. The first spring 309 is fixed inside the hydraulic cavity 312, and the hydraulic cavity 312 is filled with hydraulic oil. The lower half of the hydraulic damping rod 307 is fitted with a second spring 310, which is located inside the hydraulic damping cylinder 305. The upper half of the hydraulic damping rod 307 is fitted with a third spring 311, which is located between the connecting block 308 and the top of the hydraulic damping cylinder 305. When the hydraulic damping rod 307 and the hydraulic damping cylinder 305 slide relative to each other, the third spring 311 undergoes elastic deformation, providing elastic buffering force from the axial direction to assist in buffering swaying.

[0024] The working principle of this embodiment is as follows: When the camera body 107 is performing a camera operation, when it encounters shaking interference, firstly, the shaking force is transmitted to the camera body 107 and drives the U-shaped plate 105 and the counterweight column 103 to shake synchronously. The counterweight column 103 is deflected and unloaded in multiple directions through the cross-hinged connection of the second pin 104, the hollow ring 101, and the first pin 102. This process is the same as in Embodiments 1 and 2. At the same time, the swaying of the counterweight column 103 drives the hydraulic damping rod 307 to move synchronously through the connecting block 308, and the hydraulic damping rod 307 in turn drives the hydraulic damping cylinder 305 and the connecting shaft 303 to tilt and swing. During this swinging process, the arc-shaped disk 304 on the connecting shaft 303 always slides and abuts against the inner wall of the hollowed-out protective cover 301. Since the hollowed-out protective cover 301 and the hemisphere 300 are concentrically distributed, the swinging trajectory of the connecting shaft 303 can be precisely limited and guided, preventing the connecting shaft 303 from deviating and ensuring the accurate transmission of the damping and buffering effect. At the same time, the connecting shaft 303 drives the circular hinge seat 302 to slide and rotate smoothly along the top surface of the hemisphere 300, further improving the stability of the swing. When the swaying force is large, causing a relative sliding tendency between the hydraulic damping rod 307 and the hydraulic damping cylinder 305, the hydraulic damping mechanism and the multiple springs work together to buffer the movement. The hydraulic damping rod 307 drives the damping piston 306 to slide along the inner wall of the hydraulic damping cylinder 305. The damping piston 306 exerts a squeezing effect on the hydraulic oil in the hydraulic cavity 312. The hydraulic oil generates a damping force on the sliding of the damping piston 306 through viscous resistance, thus achieving the initial attenuation of the swaying kinetic energy. Simultaneously, during the sliding process of the damping piston 306, the first spring 309 in the hydraulic cavity 312 is compressed, and the first spring 309 undergoes elastic deformation and generates a reverse elastic restoring force, which offsets part of the axial impact force; when the hydraulic damping rod 307 slides relative to the hydraulic damping cylinder 305, the third spring 311 between the top of the hydraulic damping cylinder 305 and the connecting block 308 and the second spring 310 in the hydraulic damping cylinder 305 also undergo elastic deformation simultaneously, generating elastic buffering forces from different axes, further attenuating the swaying amplitude; In addition, if the swaying amplitude is large, the motor 209 drives the worm gear 210 to rotate. The worm gear 210 meshes and drives the notched worm wheel 207 and the second swing arm 205 to swing. Through the hinged cooperation between the double ear seat 206 and the single ear seat 203, the first swing arm 202 swings, thereby causing the top plate 100 and the camera body 107 to tilt in the opposite direction of the swaying, actively correcting the posture balance. Ultimately, through multiple collaborative anti-shake mechanisms, the interference of shaking is reduced in all aspects, ensuring that the camera body 107 always maintains a stable shooting posture and ensuring clear and stable shooting images. At the same time, the hollow protective cover 301 can protect the core components such as the internal hemispherical 300, connecting shaft 303, and hydraulic damping mechanism, avoiding external impurities or collision damage, and improving the service life and reliability of the equipment.

[0025] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A stabilized damping gimbal camera, comprising a top plate (100), characterized in that: A circular through hole is provided in the middle of the top surface of the top plate (100). A counterweight column (103) is installed in the interior of the circular through hole through multiple hinges. A U-shaped plate (105) is fixedly provided at the top of the counterweight column (103). A camera body (107) is fixedly installed in the opening of the U-shaped plate (105). A bottom plate (200) is provided directly below the top plate (100). Three first swing arms (202) are hinged to the bottom surface of the top plate (100), and three second swing arms (205) are hinged to the top surface of the bottom plate (200). The top of the second swing arm (205) is hinged to the bottom of the first swing arm (202) on the corresponding side in multiple directions. A hemisphere (300) is fixedly provided in the middle of the top surface of the base plate (200). A circular hinge seat (302) is hingedly installed on the top surface of the hemisphere (300). A connecting shaft (303) is fixedly provided at the top of the circular hinge seat (302). A hydraulic damping mechanism is installed between the top of the connecting shaft (303) and the bottom of the counterweight column (103).

2. The anti-shake damping gimbal camera according to claim 1, characterized in that: A hollow ring (101) is fitted between the counterweight column (103) and the circular through hole. A pair of first pins (102) are fixed on the left and right sides of the hollow ring (101). The outer ends of the first pins (102) are hinged and inserted into the inner wall of the circular through hole. A pair of second pins (104) are fixed on the front and rear sides of the counterweight column (103). The outer ends of the second pins (104) are hinged and inserted into the inner wall of the hollow ring (101).

3. The anti-shake damping gimbal camera according to claim 1, characterized in that: Positioning grooves (106) are provided at the four corners of the inner bottom wall of the U-shaped plate (105), and positioning pins (108) are fixed at the four corners of the bottom surface of the camera body (107). The bottom end of the positioning pin (108) is inserted into the corresponding positioning groove (106), and bolts (109) are inserted at the two corners of the U-shaped plate (105). The inner end of the bolt (109) abuts against the side wall of the camera body (107).

4. The anti-shake damping gimbal camera according to claim 1, characterized in that: The bottom surface of the top plate (100) is fixedly provided with three first U-shaped ear seats (201), and the top end of the first swing arm (202) is hingedly installed in the first U-shaped ear seat (201) on the corresponding side. The top surface of the bottom plate (200) is fixedly provided with three second U-shaped ear seats (204), and the bottom end of the second swing arm (205) is hingedly installed in the second U-shaped ear seat (204) on the corresponding side.

5. The anti-shake damping gimbal camera according to claim 1, characterized in that: Each of the first swing arms (202) has a single ear seat (203) rotatably mounted at its bottom end, and each of the second swing arms (205) has a double ear seat (206) rotatably mounted at its top end. The open end of the double ear seat (206) is movably hinged to the bottom end of the single ear seat (203) on the corresponding side.

6. The anti-shake damping gimbal camera according to claim 1, characterized in that: The top surface of the base plate (200) is fixed with three fixed frames (208), each fixed frame (208) is corresponding to the adjacent second U-shaped ear seat (204), and a motor (209) is fixedly installed inside the fixed frame (208).

7. The anti-shake damping gimbal camera according to claim 6, characterized in that: The bottom end of the second swing arm (205) is fixed with a notched worm gear (207), and the end of the motor shaft of the motor (209) is fixed with a worm (210). The worm (210) extends into the second U-shaped lug (204) on the corresponding side, and the worm (210) meshes with the notched worm gear (207) on the corresponding side.

8. The anti-shake damping gimbal camera according to claim 1, characterized in that: The top surface of the base plate (200) is fixedly provided with a hollow cover (301). The top of the hollow cover (301) is open, and the hollow cover (301) and the hemisphere (300) are concentrically distributed. The middle part of the connecting shaft (303) is fixedly provided with an arc-shaped disk (304). The outer surface of the arc-shaped disk (304) slides against the inner wall of the hollow cover (301).

9. A gimbal camera with anti-shake damping according to claim 1, characterized in that: The hydraulic damping mechanism includes a hydraulic damping cylinder (305), a hydraulic damping rod (307), and a damping piston (306). The top end of the connecting shaft (303) is fixedly provided with the hydraulic damping cylinder (305). The top port of the hydraulic damping cylinder (305) is slidably inserted with the hydraulic damping rod (307). The top end of the hydraulic damping rod (307) is fixedly provided with a connecting block (308). The connecting block (308) is fixedly installed at the bottom end of the counterweight column (103). The bottom end of the hydraulic damping rod (307) is fixedly provided with a damping piston (306). The damping piston (306) is slidably engaged in the hydraulic damping cylinder (305).

10. A gimbal camera with anti-shake damping according to claim 9, characterized in that: The damping piston (306) and the bottom of the hydraulic damping cylinder (305) form a hydraulic cavity (312). A first spring (309) is fixed inside the hydraulic cavity (312), and the hydraulic cavity (312) is filled with hydraulic oil. A second spring (310) is sleeved on the lower half of the hydraulic damping rod (307). The second spring (310) is located inside the hydraulic damping cylinder (305). A third spring (311) is sleeved on the upper half of the hydraulic damping rod (307). The third spring (311) is located between the connecting block (308) and the top of the hydraulic damping cylinder (305).

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