Vibration reduction structure and shooting equipment

Abstract

The utility model relates to a vibration reduction structure and shooting equipment. The vibration reduction structure comprises at least two first connecting pieces, a vibration reduction piece and a second connecting piece, wherein the first connecting pieces are detachably connected to the bearing mechanism, the second connecting pieces are detachably connected to the load, the at least two first connecting pieces and the second connecting pieces are formed into a whole through the vibration reduction pieces, and the vibration reduction pieces are at least partially flexible. According to the vibration reduction structure provided by the invention, at least part of the vibration reduction part is flexible, so that when the load generates vibration, the vibration reduction part deforms to absorb the vibration generated by the load, and then the vibration of the load is reduced; the connecting stability and reliability of the load on the bearing mechanism can be improved through the multiple first connecting pieces, the first connecting pieces and the second connecting pieces are integrally formed through the vibration reduction pieces, the vibration reduction structure is high in overall strength and small in size, and the requirement for the layout installation space of the load can be reduced through the vibration reduction structure; and the vibration reduction structure has a large vibration reduction design freedom degree through deformation of the vibration reduction piece.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of damping devices, in particular to a damping structure and a shooting device. BACKGROUND

[0002] With the development of science and technology, more and more objects will be accompanied by movement actions. Generally, an object (load) is connected to a movable platform, and the movable platform drives the load to move. For example, a shooting device is mounted on a movable platform such as a drone or an automated guided vehicle (AGV), and the movable platform drives the shooting device to perform aerial photography work.

[0003] At present, in order to ensure the stability of the shooting device, a damping mechanism is configured on the movable platform. Generally, the damping mechanism is a plurality of damping balls, which absorb or isolate the vibration received by the shooting device to improve the stability of the shooting device during shooting. Generally, the plurality of damping balls have different projection stiffnesses in XYZ three-dimensional space, and the energy decoupling rate is improved by adjusting the span of the plurality of damping balls and the positional relationship between the damping balls and the center of mass of the load, so that the energy coupling degree of each order modal shape is lower. However, the distance between the layout centers of the plurality of damping balls is far, which requires a large installation space, and has high requirements for the installation position of the damping balls, resulting in that the overall structure of the damping mechanism is large, which is not conducive to the layout and installation of the damping mechanism. SUMMARY

[0004] Therefore, it is necessary to provide a damping structure and a shooting device to solve the problem that the overall structure of the existing damping mechanism is large and has high requirements for the installation space.

[0005] A damping structure can be configured between a bearing mechanism and a load, and the damping structure comprises at least two first connecting members, a damping member, and a second connecting member.

[0006] The first connecting member is detachably connected to the bearing mechanism, the second connecting member is detachably connected to the load, and the at least two first connecting members and the second connecting member are formed into one body through the damping member, and the damping member is at least partially flexible.

[0007] In one embodiment, the damping member is one of a rod structure or a sheet structure.

[0008] The cross-sectional area of the damping member perpendicular to the extension direction of the damping member is equal; or

[0009] The cross-sectional area of the damping member perpendicular to the extension direction of the damping member is not equal.

[0010] In one embodiment, the damping member includes a body and at least one bent portion, the bent portion being bent into shape at the end of the body.

[0011] In one embodiment, there are multiple first connectors and multiple vibration dampers, with the multiple first connectors spaced apart on the outside of the second connector and correspondingly formed on the second connector by the vibration dampers.

[0012] In one embodiment, the first connector includes a first connecting portion and a second connecting portion, and the second connector includes a third connecting portion and a fourth connecting portion;

[0013] The first connecting portion and the third connecting portion are respectively formed on opposite ends of the vibration damper, the second connecting portion is detachably connected to the bearing mechanism, and the fourth connecting portion is detachably connected to the load.

[0014] In one embodiment, the second connecting part is connected to the bearing mechanism by one of screwing or mounting, and the load is connected to the fourth connecting part by one of screwing, gluing, or inserting.

[0015] In one embodiment, the fourth connecting portion is annular, and the load is inserted into the second connecting portion.

[0016] In one embodiment, at least a portion of the first connector is flexible, and at least a portion of the second connector is flexible.

[0017] A shooting device, the shooting device comprising:

[0018] Supporting mechanism and camera;

[0019] As described in any of the above technical solutions, the vibration damping structure is detachably connected to the bearing mechanism and detachably connected to the camera.

[0020] In one embodiment, there are two vibration damping structures, and the two vibration damping structures can be connected to opposite sides of the camera.

[0021] The damping structure and the photographing device are connected to the bearing mechanism through the first connecting piece, and the second connecting piece is connected with the load, that is, the load is connected to the bearing mechanism through the damping structure. The damping structure provided in the application has flexibility at least partially, and the damping piece can isolate the vibration from being transmitted to the load. When the load generates vibration, the damping piece deforms to absorb the vibration generated by the load, thereby reducing the vibration of the load. The first connecting piece is at least two, and the connection stability and reliability of the load to the bearing mechanism can be improved through the plurality of first connecting pieces, the shaking of the load during movement is reduced, the vibration of the load is further reduced, the first connecting piece and the second connecting piece are formed into one through the damping piece, the overall strength of the damping structure is large, the volume is small, the layout and installation space requirement of the load can be reduced through the damping structure, and the damping structure has a large damping design freedom through the deformation of the damping piece, and excellent damping performance can be obtained. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 The structure diagram of the damping structure and the load module provided in some embodiments.

[0023] Figure 2 The structure diagram of the damping structure provided in some embodiments.

[0024] Reference signs:

[0025] 100, damping structure;

[0026] 110, first connecting piece; 111, first connecting part; 112, second connecting part;

[0027] 120, damping piece; 121, body; 122, bending part;

[0028] 130, second connecting piece; 131, third connecting part; 132, fourth connecting part; 133, plug hole;

[0029] 200, load. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the specific embodiments of the application will be described in detail below. In the following description, a large number of specific details are set forth in order to facilitate a full understanding of the application. However, the application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the application, therefore the application is not limited by the specific embodiments disclosed below.

[0031] In the description of the application, it should be understood that, if there are these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0032] In addition, if there are these terms "first", "second", these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, if the term "multiple" appears, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise explicitly specified.

[0033] In this application, unless otherwise explicitly specified and limited, if there are terms such as "mounting", "connecting", "connecting", "fixing" and the like, these terms should be broadly understood. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0034] In this application, unless otherwise explicitly specified and limited, if there are similar descriptions such as "first feature on or under second feature", the meaning can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" of the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" of the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0035] It is to be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. The terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar terms as used herein only express intended orientations for purposes of illustration and description and are not a limitation on the positioning of the embodiments.

[0036] The technical solutions provided by the embodiments of the present application are described below with reference to the accompanying drawings.

[0037] Referring to Figure 1 and Figure 2 When the load 200 is connected to a bearing mechanism (not shown in the figure) through the damping structure 100, the damping system is simplified as the vibration of a multi-degree-of-freedom load 200 supported by multiple damping structures 100 for the convenience of discussion, the damping effect is ignored, and the free vibration differential equation of the module composed of the damping structure 100, the bearing mechanism, and the load 200 is:

[0038]

[0039] Taking the 6-degree-of-freedom load 200 as an example, the matrix M of the load 200 can be expressed as:

[0040]

[0041] The matrix M is a symmetric matrix composed of a mass diagonal matrix and an inertia tensor. The inertia tensor can be diagonalized, and the three linearly independent eigenvectors thereof correspond to three direction vectors, which express the directions of three principal axes of inertia of the load 200.

[0042] The matrix K is the stiffness matrix of the damping system, and the matrix K can be expressed as:

[0043] wherein, K i represents the stiffness characteristics of the i th damping structure 100 of the damping system, K i is a diagonal matrix composed of the stiffness in the elastic principal axis direction of the damping structure 100, T i represents the cosine matrix of the elastic principal axis direction of the damping structure 100 and the xyz direction. The matrix K i and the matrix T i can be expressed as:

[0044]

[0045] The design of the vibration damping structure 100, the load-bearing mechanism, and the load 200 module mainly involves adjusting the relationship between the M matrix and the K matrix, so that the eigenvalues ​​(modal angular frequencies) and eigenvectors (modal patterns) of the free vibration differential equation of the vibration damping structure 100, the load-bearing mechanism, and the load 200 module reach the expected design goals.

[0046] Generally, for a specific load of 200, the M matrix of load 200 is predetermined or has little room for optimization. Therefore, the design of the vibration damping system mainly focuses on the design and adjustment of the K matrix. Traditionally, a vibration damping system consists of multiple damping spheres of the same type, due to the K matrix of each damping sphere... i They are exactly the same, and can only be adjusted by changing T. i To adjust the K matrix, it is necessary to adjust the spatial arrangement position, angle and other parameters of each vibration damping unit to achieve the adjustment purpose.

[0047] To address the aforementioned problems, this application provides a vibration damping structure 100. If this vibration damping structure is considered as a traditional vibration damping sphere model, the structural design of the vibration damping structure 100 can make K... i T i Simultaneous adjustments increase the freedom of vibration reduction design, which is beneficial for the layout and installation of the vibration reduction structure 100, especially suitable for the layout and installation of the vibration reduction structure 100 in small spaces.

[0048] Specifically, see Figure 1 and Figure 2 As shown, the vibration damping structure 100 includes at least two first connecting members 110, a vibration damping member 120, and a second connecting member 130. The vibration damping structure 100 can be configured between the load-bearing mechanism and the load 200 so that when the load 200 is connected to the load-bearing mechanism through the vibration damping structure 100, the vibration damping structure 100 can reduce the vibration of the load 200, thereby improving the stability of the load 200. The load-bearing mechanism can be an Automated Guided Vehicle (AGV), a robot, a drone, etc., and the load 200 can be various single-degree-of-freedom or multi-degree-of-freedom objects that require vibration in their working environment, such as optical instruments, gimbals and their loads, and cameras.

[0049] The first connecting member 110 is detachably connected to the bearing mechanism, and the second connecting member 130 is detachably connected to the load 200, that is, the load 200 is connected to the bearing mechanism through the damping structure 100, and when the damping structure 100 is damaged due to long-term use, the connection between the first connecting member 110 and the bearing mechanism and the connection between the second connecting member 130 and the load 200 can be released, that is, the damping structure 100 can be replaced. The at least two first connecting members 110 and the second connecting member 130 are formed integrally through the damping member 120. For example, the first connecting member 110, the second connecting member 130, and the damping member 120 are integrally formed by injection molding, extrusion, or the like, so as to simplify the molding process of the damping structure 100. The damping structure 100 has high overall strength and small size, and can reduce the layout and installation space requirement of the load 200 through the damping structure 100, so as to adapt to the connection of the load 200 to the bearing mechanism in a small space. The damping member 120 is at least partially flexible, can isolate vibration from being transmitted to the load 200, and can deform when the load 200 vibrates, so as to absorb the vibration generated by the load 200, thereby reducing the vibration of the load 200. By setting the damping member 120 to be at least partially flexible, the coupling effect of the energy generated by the load 200 during vibration is reduced, thereby reducing the vibration of the load 200. i The internal numerical ratio is adjusted, and when the load 200 vibrates and transmits vibration to the damping member 120, the damping member 120 generates desired deformation in different directions, so as to adjust the resonance frequency point of the damping structure 100, and at the same time, the coupling effect of the energy generated by the load 200 during vibration is reduced, thereby reducing the vibration of the load 200. Moreover, the damping structure 100 has a large damping design freedom through the deformation of the damping member 120, and can obtain excellent damping performance. In addition, the first connecting member 110 is at least two, and the connection stability and reliability of the load 200 to the bearing mechanism can be improved through the plurality of first connecting members 110, the shaking of the load 200 during movement is reduced, and the vibration of the load 200 is further reduced.

[0050] Traditionally, the damping structure is generally formed by a damping pad or a damping ball. Generally, a damping pad or a damping ball with a designed shape is used as a damping design, or two symmetrically arranged damping pads with a radial uniform three-piece structure are used as a damping design. Among them, the damping pad or the damping ball does not have a design for T i The damping design freedom of the damping pad or the damping ball is low, and the performance is not easy to reach the optimum.

[0051] In an embodiment, referring to Figure 1 and Figure 2As shown, the damping member 120 is one of a rod structure or a sheet structure. When the damping member 120 is a rod structure, the damping member 120 can be a round rod, a square rod or a similar rod structure. When the damping member 120 is a sheet structure, the damping member 120 can be a sheet, a plate or a similar sheet structure. In one embodiment, the damping member 120 has a uniform cross section, i.e., the cross section of the damping member 120 is equal in any cross section perpendicular to the extending direction of the damping member 120. When the load 200 generates vibration and transmits the vibration to the damping member 120, the deformation of the damping member 120 tends to be consistent, thereby absorbing the vibration generated by the load 200 and reducing the vibration of the load 200. In another embodiment, the damping member 120 has a variable cross section, i.e., the cross section of the damping member 120 is not equal in at least two cross sections perpendicular to the extending direction of the damping member 120. When the load 200 generates vibration and transmits the vibration to the damping member 120, the deformation direction of the damping member 120 is not consistent, so that the damping member 120 generates desired deformation in different directions, thereby adjusting the resonance frequency of the damping structure 100 and reducing the coupling effect of the energy generated by the load 200 during vibration, and further reducing the vibration of the load 200. In addition, the first connecting member 110 and the damping member 120 can have a certain angle, the damping member 120 can form a specific spatial orientation with the load 200, and the first connecting member 110 can be connected to the bearing mechanism at a desired angle and in a desired manner. When the spatial orientation of the damping member 120 is different, the T i The damping design freedom of the damping structure 100 is high, and the damping performance of the damping structure 100 can be further improved.

[0052] Further, as shown in Figure 1 and Figure 2 The damping member 120 includes a body 121 and at least one bending portion 122. The bending portion 122 is bent at an end of the body 121, i.e., the bending portion 122 and the body 121 form an acute angle, a right angle or an obtuse angle. In this way, the cross-sectional shape and the pose of the damping structure 100 have a high design freedom, without too harsh process restrictions, and the demolding process after the forming of the damping structure 100 is facilitated.

[0053] In one embodiment, as shown in Figure 1 and Figure 2As shown, the first connecting members 110 and the damping members 120 are both multiple, the multiple first connecting members 110 are arranged at intervals on the outside of the second connecting member 130, and are correspondingly formed on the second connecting member 130 by the damping members 120. Exemplarily, the first connecting members 110 and the damping members 120 are both two, the two first connecting members 110 are arranged at intervals on the outside of the second connecting member 130, and the two first connecting members 110 are respectively formed on the second connecting member 130 by the two damping members 120. In other feasible embodiments, the number of the first connecting members 110 and the damping members 120 can also be three, four or other, and the specific number of the first connecting members 110 and the damping members 120 is not limited in the present application.

[0054] The damping structure 100 described above can improve the connection stability and reliability of the load 200 on the bearing mechanism through the multiple first connecting members 110 arranged at intervals, and after the load 200 is connected to the bearing mechanism, the shaking of the load 200 during movement is reduced due to the high connection stability of the load 200, and the vibration of the load 200 during movement can be further reduced.

[0055] In an embodiment, referring to Figure 1 and Figure 2 As shown, the first connecting member 110 includes a first connecting part 111 and a second connecting part 112, and the second connecting member 130 includes a third connecting part 131 and a fourth connecting part 132. The first connecting part 111 and the third connecting part 131 are respectively formed on opposite ends of the damping member 120, for example, the first connecting part 111 is formed on one end of the damping member 120 by injection molding, extrusion or the like, and the third connecting part 131 is formed on the other end of the damping member 120 by injection molding, extrusion or the like. The second connecting part 112 is detachably connected to the bearing mechanism, so as to detachably connect the damping structure 100 to the bearing mechanism, and the fourth connecting part 132 is detachably connected to the load 200, so as to enable the damping structure 100 to be detachably connected with the load 200, that is, the load 200 can be detachably connected to the bearing mechanism by the damping structure 100.

[0056] Specifically, referring to Figure 1 and Figure 2As shown, the second connecting part 112 is connected to the bearing mechanism by one of screwing or mounting. For example, when the second connecting part 112 is connected to the bearing mechanism by screwing, a threaded hole can be provided on the second connecting part 112, and the vibration damping structure 100 can be screwed onto the bearing mechanism by a screw fastener. Alternatively, when the second connecting part 112 is connected to the bearing mechanism by mounting, a hanging lug structure can be provided on the second connecting part 112, and the vibration damping structure 100 can be mounted onto the bearing mechanism by the hanging lug structure of the second connecting part 112. The load 200 is connected to the fourth connecting part 132 by one of screwing, adhesive bonding, or insertion. For example, when the load 200 is connected to the vibration damping structure 100 by screwing, a threaded hole can be provided on the fourth connecting part 132, and the load 200 can be screwed onto the vibration damping structure 100 by a screw fastener. When the load 200 is connected to the vibration damping structure 100 by adhesive bonding, adhesive can be applied to the connection area between the fourth connecting part 132 and the load 200 to bond the load 200 to the vibration damping structure 100. When the load 200 is connected to the fourth connecting part 132 by insertion, the load 200 is inserted into the second connecting part 112. In this embodiment, the fourth connecting part 132 is annular. If the fourth connecting part 132 is provided with an insertion hole 133, the end of the load 200 is inserted into the insertion hole 133 to connect the load 200 to the vibration damping structure 100 by insertion.

[0057] Of course, the connection method between the vibration damping structure 100 and the load-bearing mechanism is not limited to the screw connection and mounting provided above, but can also be glued or other connection methods. The connection method between the load 200 and the vibration damping structure 100 is not limited to the screw connection, glued connection and insertion provided above, but can also be riveted or other connection methods. This application does not limit the specific connection method between the vibration damping structure 100 and the load-bearing mechanism and the load 200.

[0058] In one embodiment, see Figure 1 and Figure 2 As shown, at least a portion of the first connector 110 is flexible, and at least a portion of the second connector 130 is flexible. By making at least a portion of the first connector 110 and the second connector 130 flexible, for K... i The internal numerical ratio is further adjusted so that when the load 200 vibrates and transmits the vibration to the first connector 110 and the second connector 130, the first connector 110 and the second connector 130 will produce the desired deformation in different directions, further adjusting the resonant frequency of the vibration reduction structure 100, and at the same time reducing the energy coupling effect generated by the load 200 during vibration, further reducing the vibration of the load 200.

[0059] Additionally, see Figure 1 and Figure 2As shown, the application also provides a shooting device (not shown in the figure). The shooting device includes a bearing mechanism, a shooting device and a damping structure 100 as described above. Wherein the bearing mechanism can be an automated guided vehicle (AGV), a robot, a drone and other mobile bearing platforms. The bearing mechanism can drive the shooting device to perform dynamic shooting operations such as aerial photography.

[0060] The damping structure 100 is detachably connected to the bearing mechanism, and the damping structure 100 is detachably connected to the shooting device. Since the damping member 120 is at least partially flexible, the damping member 120 can isolate the vibration from being transmitted to the shooting device, and when the shooting device vibrates, the damping member 120 deforms to absorb the vibration generated by the shooting device, thereby reducing the vibration of the shooting device.

[0061] In an embodiment, referring to Figure 1 and Figure 2 As shown, the damping structure 100 is two, and the two damping structures 100 can be connected to the opposite sides of the shooting device. The two damping structures 100 can stably connect the shooting device to the bearing mechanism to improve the connection stability and reliability of the shooting device to the bearing mechanism, thereby improving the dynamic shooting stability of the shooting device during movement and improving the shooting quality of the shooting device.

[0062] The technical features of the above-described embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0063] The above-described embodiments only express several embodiments of the application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent application. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of variations and improvements can be made, which are within the scope of the present application. Therefore, the scope of the patent protection of the present application should be subject to the appended claims.

Claims

1. A vibration damping structure, which can be configured between a load-bearing mechanism and a load, characterized in that, The vibration damping structure includes at least two first connecting members, a vibration damping member, and a second connecting member; wherein: The first connector is detachably connected to the load-bearing mechanism, and the second connector is detachably connected to the load. At least two of the first connectors and the second connectors are integrally formed by the vibration damper, which is at least partially flexible.

2. The vibration reduction structure according to claim 1, characterized in that, The vibration damping component is either a rod structure or a sheet structure; The cross-sectional area of ​​the damping element is equal in any direction perpendicular to its extension; or, The vibration damper has at least two cross-sectional areas that are not equal in the direction perpendicular to its extension.

3. The vibration reduction structure according to claim 1, characterized in that, The vibration damping component includes a body and at least one bent portion, the bent portion being bent into shape at the end of the body.

4. The vibration reduction structure according to claim 1, characterized in that, There are multiple first connectors and multiple vibration dampers. The multiple first connectors are spaced apart on the outside of the second connector and are correspondingly formed on the second connector by the vibration dampers.

5. The vibration reduction structure according to any one of claims 1 or 4, characterized in that, The first connector includes a first connecting portion and a second connecting portion, and the second connector includes a third connecting portion and a fourth connecting portion; The first connecting portion and the third connecting portion are respectively formed on opposite ends of the vibration damper, the second connecting portion is detachably connected to the bearing mechanism, and the fourth connecting portion is detachably connected to the load.

6. The vibration reduction structure according to claim 5, characterized in that, The second connecting part is connected to the bearing mechanism by one of screwing or mounting, and the load is connected to the fourth connecting part by one of screwing, gluing, or insertion.

7. The vibration reduction structure according to claim 5, characterized in that, The fourth connecting part is annular, and the load is inserted into the second connecting part.

8. The vibration reduction structure according to claim 1, characterized in that, At least a portion of the first connector is flexible, and at least a portion of the second connector is flexible.

9. A shooting device, characterized in that, The imaging device includes: Supporting mechanism and camera; The vibration damping structure as described in any one of claims 1-8 is detachably connected to the bearing mechanism and detachably connected to the camera.

10. The shooting device according to claim 9, characterized in that, There are two vibration damping structures, and the two vibration damping structures can be connected to opposite sides of the camera.

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