CN113063059A

CN113063059A - Handheld photographic equipment

Info

Publication number: CN113063059A
Application number: CN202110266647.9A
Authority: CN
Inventors: 苏晓; 唐昌辉; 徐紫阳
Original assignee: Guilin Zhishen Information Technology Co Ltd
Current assignee: Guilin Zhishen Information Technology Co Ltd
Priority date: 2021-03-11
Filing date: 2021-03-11
Publication date: 2021-07-02
Anticipated expiration: 2041-03-11
Also published as: CN113063059B

Abstract

The present invention relates to the field of photography and photography accessories, and more particularly to a handheld photography accessory configured to allow assistance with a supported load for photography, comprising: a first stability augmentation device configured to stabilize a posture of the load at least in a pitch direction by at least one first stability augmentation motor; a second stability augmentation device comprising: the box body is fixedly arranged on the first stability augmentation device in the course direction or the rolling direction of the first stability augmentation device; a gravity balance mechanism housed within the cartridge body and engaged with the cartridge body to generate a torque to balance a gravitational moment of the first stability augmentation device and/or the load; the vertical stability augmentation mechanism is at least partially jointed with the box body and drives the box body to rotate relative to the gravity balance mechanism when the box body rotates along with the vertical movement of the first stability augmentation device and/or the load so as to compensate the displacement generated by the vertical movement; and the control device is configured to drive the vertical stability augmentation mechanism to act based on the posture information of the displacement of the first stability augmentation device and/or the load measured by the posture sensor on the handheld photographic equipment.

Description

Handheld photographic equipment

Technical Field

The invention relates to the technical field of photography and shooting auxiliary equipment, in particular to handheld photography equipment.

Background

With the development of smart technology, photography (for example, photography using a mobile phone or a camera) is gradually becoming a preference of many people, and the requirement of a photographer (operator) on the photography effect is also increasing. In general, the operator can obtain a desired imaging effect in a stationary state. However, once the photographer is required to make a large amplitude exercise of walking, jumping, running, or the like in some occasions, the photographing effect is often unsatisfactory. The existing handheld photographic equipment for assisting the stability-increasing mobile phones, cameras and other shooting devices is mainly used for compensating the micro jitter in the shooting process. However, when the above-mentioned motion range is large, the desired stabilization effect cannot be obtained by using the stabilization camera equipment.

The existing stability-increasing handheld photographic equipment is usually designed to be small in size for the purposes of portable structure and convenience in use. However, this results in the existing handheld camera equipment being constrained in the range of stabilization and compensation motions due to its own volume limitations. Therefore, when the large displacement motion occurs, the handheld photographic equipment cannot be applied and meets the requirement that an operator shoots a stable and smooth picture.

Accordingly, the present invention is directed to a handheld camera device that improves the performance of the prior art stabilized camera devices and overcomes the shortcomings of the prior art.

Disclosure of Invention

It is therefore an object of the present invention to provide a handheld photographic apparatus, whereby the above-mentioned disadvantages of the prior art are overcome.

To accomplish the above task, the present invention provides a handheld photographic apparatus configured to allow photographing with assistance to a supported load, characterized by comprising: a first stability augmentation device configured to stabilize the attitude of the load at least in the pitch direction by at least one first stability augmentation motor; a second stability augmentation device, comprising: a box body fixedly mounted to the first stability augmentation device in a course or roll direction of the first stability augmentation device; a weight balancing mechanism housed within the cartridge and engaged with the cartridge to generate a torque to balance a gravitational moment of the first stability augmentation device and/or the load; a vertical stability enhancement mechanism at least partially engaging the cassette and driving rotation of the cassette relative to the gravity balance mechanism to compensate for displacement resulting from vertical movement as the cassette rotates with vertical movement of the first stability enhancement device and/or the load; a control device configured to drive the vertical stabilization mechanism to act based on the attitude information of the displacement of the first stabilization device and/or the load measured by the attitude sensor on the handheld photographic equipment.

In a preferred embodiment, the vertical stability augmentation mechanism comprises a second stability augmentation motor responsive to the control device to drive rotation of a motor rotor coupled to the cassette to compensate for vertical displacement.

In a preferred embodiment, the handheld photographic apparatus further comprises a handle assembly for receiving and supporting the weight-balancing mechanism and the vertical stabilization mechanism for gripping the second stabilization device.

In a preferred embodiment, the handle assembly comprises: a handle holder defining a receiving space to receive the case containing the coil spring and a motor rotor of the second stability augmentation motor, a motor stator of the second stability augmentation motor being located at one end of the handle holder adjacent to the motor rotor and fixed to the handle holder; and handles fixed to both ends of the handle holders.

In a preferred embodiment, the gravity balance mechanism comprises a coil spring coiled in the box body, one end of the coil spring is jointed to the box body, and the other end of the coil spring is jointed to a rotating shaft capable of adjusting the pretightening force of the coil spring relative to the box body, so that the coil spring can be wound or unwound along with the rotation of the rotating shaft relative to the box body.

In a preferred embodiment, the second stabilizing device further comprises an adjusting mechanism for adjusting the angular position of the rotating shaft relative to the box body so as to adjust the pre-tightening force of the coil spring.

In a preferred embodiment, the adjustment mechanism comprises: the worm wheel is fixedly connected to the rotating shaft; a worm fixed to the handle holder and engaging the worm gear; the worm rotates under the action of external force and drives the worm wheel and the rotating shaft to act so as to adjust the angle position of the coil spring relative to the box body.

In a preferred embodiment, the handheld photographic equipment further comprises a guide mechanism disposed between the first stabilization device and the case to guide a moving trajectory of the load.

In a preferred embodiment, the guide mechanism comprises: a first guide configured to define a predetermined trajectory of the first stability augmentation device in the vertical direction with respect to the box; a second guide configured to adjust a distance of the first stabilizer with respect to the case in a radial direction of the case according to the predetermined trajectory.

In a preferred embodiment, the first guide member includes a first guide rail and a first guide block that slides relative to the first guide rail; the second guide member includes a second guide rail and a second guide block that slides relative to the second guide rail; wherein the first guide rail is fixed to the handle holder, and the first guide block is rotatably connected to the second guide block to move the second guide block relative to the second guide rail fixed to the case in accordance with the predetermined trajectory when the first guide block moves along the first guide rail.

In a preferred embodiment, the first guide rail is designed such that a movement locus of the load is substantially constant in a vertical direction when the first guide block moves relative to the first guide rail.

In a preferred embodiment, the first guide rail is designed such that upon movement of the first guide block relative to the first guide rail, the torque of the load is substantially equal to the torque of the coil spring.

In a preferred embodiment, at least two rotating members are disposed on a side of the first guide block facing the first guide rail, and the rotating members are respectively disposed on a side of the first guide block close to the first stability augmentation device and a side of the first guide block close to the box body so that the first guide block can move along the first guide rail.

In a preferred embodiment, the first guide rail is configured as a guide groove, cam or linkage.

In a preferred embodiment, a positioning seat is arranged on the second guide block, and the first guide block is designed to be capable of rotating relative to the positioning seat based on the contact between the first guide block and the first guide rail.

In a preferred embodiment, the first guide member includes a first rail block having a guide groove and a first guide block sliding along the guide groove of the first rail block; the second guide member includes a second guide rail and a second guide block that slides relative to the second guide rail; wherein the first guide block is fixed to the handle fixing base, and the first guide block is fixed to the second guide block to move the second guide block relative to the second guide rail fixed to the case body according to the predetermined trajectory when the first guide block moves along the first guide groove of the first guide block.

In a preferred embodiment, the guide groove of the first rail block is configured as a stepped groove having different inner diameters; the first guide block includes a fixing portion connected to the second guide block and a stepped guide portion having different outer diameters, the outer diameters of the stepped guide portion and the inner diameter of the guide groove being designed such that the stepped guide portions are each contact-fitted to the stepped grooves having different inner diameters substantially without a gap.

In a preferred embodiment, the first guide block is designed such that a movement trajectory of the load is substantially constant in the vertical direction when the first guide block moves relative to the first guide block.

In a preferred embodiment, the first guide block is designed such that the torque of the load is substantially equal to the torque of the coil spring when the first guide block is moved relative to the first guide block.

In a preferred embodiment, the handheld photographic apparatus further comprises a head fixing base, and the first stabilizing device is fixed to the second guide rail by the head fixing base.

The handheld photographic equipment provided by the invention utilizes the second stability augmentation device to convert the rotation into the displacement so as to compensate the displacement of the first stability augmentation device and/or the load in the vertical direction. Compared with the condition that the vertical displacement is adjusted by adopting the toothed guide rail in the prior art, the handheld photographic equipment provided by the invention can avoid the limitation of the tooth width of the guide rail on the adjustment of the vertical displacement, thereby obtaining more accurate adjustment precision. In addition, the handheld photographic equipment provides a design with compact space, reasonable structure and small volume.

Additional features and advantages of the invention will be set forth in part in the description which follows, and in part will be apparent to those having ordinary skill in the art upon examination of the following, or may be learned from the practice of the invention.

Drawings

Embodiments of the invention are described in detail below with reference to the attached drawing figures, wherein:

FIG. 1 is a schematic perspective view of one embodiment of a handheld photographic device in accordance with the present invention;

FIG. 2 is an exploded view of FIG. 1;

FIG. 3 is a side view of FIG. 1;

FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;

FIG. 5 is a rear view of FIG. 1;

FIG. 6 is a functional schematic of FIG. 1;

FIG. 7 is a schematic perspective view of another embodiment of a handheld photographic device in accordance with the present invention;

FIG. 8 is a partial exploded view of FIG. 7;

FIG. 9 is an exploded perspective view of yet another embodiment of a handheld photographic device in accordance with the present invention;

FIG. 10 is a cross-sectional view of the first and second guides of FIG. 9 engaged;

FIG. 11 is a functional schematic diagram of the embodiment of FIG. 7;

fig. 12 is a schematic diagram of the operation of the embodiment of fig. 9.

Description of reference numerals:

1-handheld photographic equipment 10-first stability augmentation device 100-first stability augmentation motor 12-second stability augmentation device 120-box 122-gravity balance mechanism 122 a-coil spring 124-vertical stability augmentation mechanism 124 a-second stability augmentation motor 124 b-motor rotor 124 c-motor stator 126-adjusting mechanism 126 a-worm wheel 126 b-worm 126 c-knob 126 d-rotating shaft 14-handle assembly 140-handle fixing base 142-handle 16-guide mechanism 160-first guide 160 a-first guide rail 160a '-first guide block 1600-guide groove 1601-plane groove surface 1602-step groove surface 160 b-first guide block 160 b' -first guide block 1603-fixing part 1604-step guide part 1605-first guide part 1606-second guide part 1607-plate base 1608-core part 160b 160 c-rotating member 162-second guiding member 162 a-second guiding rail 162a '-second guiding rail 162 b-second guiding block 162 b' -second guiding block 162 c-positioning seat 18-handpiece fixing seat 2-load

Detailed Description

An exemplary aspect of a handheld photographic equipment in accordance with the present invention will now be described in detail with reference to the accompanying drawings. The drawings are provided to present embodiments of the invention, but the drawings are not necessarily to scale of the particular embodiments, and certain features may be exaggerated, removed, or partially sectioned to better illustrate and explain the present disclosure. The position of some components in the drawings can be adjusted according to actual requirements on the premise of not influencing the technical effect. The appearances of the phrase "in the drawings" or similar language in the specification are not necessarily referring to all of the drawings or the examples.

Certain directional terms used hereinafter to describe the drawings, such as "inner", "outer", "upper", "lower", and other directional terms, will be understood to have their normal meaning and refer to those directions as they relate to when the drawings are normally viewed. Unless otherwise indicated, the directional terms described herein are generally in accordance with conventional directions as understood by those skilled in the art.

The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another.

Fig. 1 is a perspective view of a handheld photographic device according to the present invention. Referring to fig. 1 and 3, the present invention provides a handheld photographic apparatus 1 including a first means for stabilizing 10, a second means for stabilizing 12, a control means, and optionally a handle assembly 14 and a guide mechanism 16. The handheld photographic equipment provided by the invention can realize vertical posture stabilization under the condition of supporting load or not supporting the load. Only the case where the load is supported by the photographic equipment held in the hand will be described below. It will be appreciated that the principles and conditions described below are equally applicable to situations where the handheld camera equipment is not supporting a load.

Referring again to fig. 1, the first stability augmentation device 10 is optionally a three-axis stabilizer or a two-axis stabilizer, which includes a first stability augmentation motor 100, and the number of the first stability augmentation motors 100 may be plural, for example, three or two, which correspond to the three-axis stabilizer and the two-axis stabilizer, respectively. Therefore, the first stabilizer 10 can maintain the attitude stabilization at least in the heading direction, the pitch direction, and the roll direction or in two of them (the pitch direction is required to be included in the two directions). The first stability-enhancing device 10 shown in fig. 1 is a triaxial stabilizer having three first stability-enhancing motors 100. Of course, the number of the first stability increasing motors 100 may be one, and in the present invention, such a stability increasing motor should be a stability increasing motor that controls the first stability increasing device 10 to keep the attitude stable in the pitch direction.

The second stabilizing device 12 is designed to balance the gravitational moment generated by the first stabilizing device 10 and the load 2 supported thereon and to balance the large shaking generated by the movement in the case of motion photography, so that the first stabilizing device 10 and the load 2 are kept in a stable posture in the direction of gravity in a stationary state or when large shaking occurs in the direction of gravity, thereby ensuring the smoothness and stability of the photographed picture.

The control device is responsible for controlling the second stability augmentation device 12 and simultaneously controlling the first stability augmentation device 10 to be linked. As for the second stabilizing device 12, the control device controls, in particular, a vertical stabilizing mechanism 124 in the second stabilizing device 12 to be mentioned later to achieve posture stabilization of the handheld photographic apparatus 1 in the vertical direction. Specifically, the control device drives the vertical stabilization mechanism 124 to operate based on the attitude information of the first stabilization device 10 and the load 2, particularly in the vertical direction, measured by the attitude sensor on the handheld photographic apparatus 1.

The specific structure of the above-mentioned handheld photographic apparatus 1 will be described in detail below.

Shaking of the handheld photographic apparatus 1 in the vertical direction may occur in a case where the operator is in a sport of walking, running, or the like, or in a case where the operator who holds the handheld photographic apparatus 1 performs travel shooting with the aid of a vehicle, causing a jerky state. The conventional stabilizer can provide a good stabilization effect in coping with the occurrence of a minute shake, while for a large-amplitude shake, the conventional stabilizer is limited in the range of stabilizing and compensating the motion due to its own volume constraint.

Referring to fig. 2 and 5, the above-mentioned second augmentation stabilizing device 12 includes: a box 120, a gravity balance mechanism 122, and a vertical stability augmentation mechanism 124. The cartridge 120 is secured to the first stabilizer 10 in the orientation shown in fig. 1 (which may be considered the roll direction of the first stabilizer 10) to effect the structural connection of the second stabilizer 12 to the first stabilizer 10. A gravity balance mechanism 122 is housed in the cassette 120 and is engaged with the cassette 120. In order to balance the gravity moment generated by the first stability increasing device 10 and the load 2 in the vertical direction, the gravity balance mechanism 122 provides a torque for counteracting the gravity moment by utilizing the matching relationship of the gravity balance mechanism and the box body 120. The vertical stabilizer 124 is structurally connected to the box 120, and when the box 120 rotates along with the vertical movement of the first stabilizer 10 and the load 2, the vertical stabilizer 124 is activated by obtaining a command from a control device, so as to drive the box 120 to rotate relative to the gravity balance 122 to compensate for the displacement caused by the vertical movement, wherein the command of the control device is based on the attitude information of the displacement of the first stabilizer 10 and the load 2 measured by an attitude sensor (e.g., IMU) disposed on the handheld camera apparatus 1. The attitude sensor may be disposed on the side of the first stability increasing device 10 (e.g., a triaxial stabilizer), and the separately added attitude stabilizer may reduce the control difficulty of the control device. Of course, it is understood that the position of the attitude sensor or the manner of providing the attitude information about the displacement may be appropriately adjusted as necessary by those skilled in the art.

Specifically, the gravity balance mechanism 122 includes a coil spring 122a accommodated in the case 120, and particularly, provided in the case 120 in a disc shape. Cassette body 120 may also be referred to as a wrap spring cassette. One end (outer end) of coil spring 122a is engaged to case 120, such as by providing a bayonet slot on the circumferential surface of case 120 to engage the outer end of coil spring 122 a. The other end (inner end) of the coil spring 122a is coupled to a rotating shaft 126d, and the rotating shaft 126d is connected to an adjusting mechanism 126 to be mentioned later, or the rotating shaft 126d belongs to a constituent structural member of the adjusting mechanism 126. The engagement of the rotating shaft 126d with the inner end of the coil spring 122a is mainly used for rotating the coil spring 122a relative to the box body 120 by means of the adjusting mechanism 126, particularly the rotating shaft 126d, so as to adjust the pre-tightening force of the coil spring 122a, so that the coil spring 122a can roll or unroll itself along with the rotation of the rotating shaft 126d relative to the box body 120, and the rotation of the box body 120 is mainly caused by the first stability augmentation device 10 and the load 2 deviating from the horizontal position in the vertical direction and returning to the horizontal position under the action of the gravity balance mechanism and the vertical stability augmentation device.

Referring to fig. 4 to 5, the vertical stability augmentation mechanism 124 includes a second stability augmentation motor 124a, and the second stability augmentation motor 124a is at least partially fixed on one side of the handle fixing base 140. Specifically, the second stability augmentation motor 124a includes a motor stator 124c and a motor rotor 124 b. Motor rotor 124b is coupled to one end of cassette 120 that houses coil spring 122a to enclose coil spring 122a within cassette 120. The motor stator 124c is coupled to the handle holder 140. The motor rotor 124b is rotatable relative to the motor stator 124c in response to the driving of the control means, and rotates the case 120 relative to the coil spring 122a accommodated therein by engagement with the case 120, thereby compensating for the displacement of the first stabilizer 10 and the load 2 from the horizontal position in the vertical direction.

The handle assembly 14 is connected to a second stability enhancing device 12 that includes a gravitational equilibrium mechanism 122 and a vertical stability enhancing mechanism 124. The handle assembly 14 thus provides for ease of handling and use of the handheld photographic device 1. The handle assembly 14 includes a handle mount 140 and a pair of handles 142 connected to the handle mount 140. The handle mount 140 can be used to house and support the gravity balance mechanism 122 and the vertical stability augmentation mechanism 124. The handle holder 140 includes a first seat and a second seat. The first seat is arranged at one side engaging the motor stator 124c, which has a base, an extension wall, and a stopper rod, while the second seat is arranged at the opposite side of the side, which includes only the base. The combination of the first and second seats defines a housing space that houses, in particular, the case 120 (with the coil spring 122a) and the motor rotor 124b and, optionally, the adjustment mechanism 126. Optionally, the two bases are arranged opposite and coaxial, so as to define a coaxial axis for the structural members housed therein, the extension wall providing a positional definition while also providing protection for these structures. The limiting rod serves to limit the distance or angle of movement of the first stability enhancing device 10 and/or the load 2 in the vertical direction. The handle 142 is fixed to the handle holder 140, particularly to the base, as shown in fig. 2, for example.

The adjustment mechanism 126 includes a worm gear 126a, a worm 126b, and an optional knob 126 c. Worm gear 126a is secured to a shaft 126d that engages the inner end of coil spring 122a, such engagement being achieved, for example, by providing a detent on shaft 126d to engage the bent inner end of coil spring 122 a. The worm 126b is for example vertically fixed to a base of the second seat of the handle holder 140, on which a worm seat is provided to position the worm 126b, on the side of the motor rotor 124b remote from the vertical stabilizing mechanism 124. The worm 126b vertically protrudes out of the receiving space defined by the handle holder 140, and one end of the protrusion may engage the knob 126c and the other end engages the worm wheel 126 a. The engagement of the knob 126c with the worm may be achieved by a gear drive mechanism. An operator can drive the worm 126b by rotating the knob 126c, the worm 126b rotates to drive the worm wheel 126a to rotate, then the worm wheel 126a drives the rotating shaft 126d to rotate, the rotating shaft 126d applies a rotating force to the coil spring 122a, and the angle of the coil spring 122a relative to the box body 120 is changed under the influence of the rotating force, so that the pretightening force of the coil spring 122a can be changed by using the adjusting mechanism 126, and the pretightening force of the coil spring 122a can be preset or timely adjusted by the operator according to needs.

Fig. 6 schematically shows an operational principle of the handheld photographing apparatus 1 according to the present invention when moving in a vertical direction. In fig. 6, P1, P2, P3 represent the highest point, the horizontal point and the lowest point of the vertical movement of the first stabilizer 10 and the load 2, respectively, and C represents the center of the second stabilizer 12. The angle of rotation of the first stabiliser 10 and the load 2 in the vertical direction is optionally ± 25 ° under the action of the second stabiliser 12.

FIG. 7 is another perspective view of a handheld photographic device in accordance with the present invention, showing a guide mechanism. As shown in fig. 7, a guide mechanism 16 is disposed between the first and

second stabilizers

10 and 12, and is used for guiding the moving trajectory of the first stabilizer 10 and the load 2 in the vertical direction, so that the first stabilizer 10 and the load 2 can move according to a predetermined trajectory, for example, to keep the first stabilizer 10 and the load 2 vertically straight, or to reduce the gravitational moment of the first stabilizer 10 and the load 2 so that they always coincide with the torque of the coil spring 122a during the vertical movement, thereby reducing the load of the second stabilizer motor. In other words, the guide mechanism 16 may be regarded as a mechanism that performs a function of defining the movement locus of the first stabilizer 10 and the load 2 in the vertical direction. The second stabilizer 12 is engaged with the first stabilizer 10 in the direction of the heading thereof by means of a guide mechanism 16 and a handpiece holder 18 attached to the guide mechanism 16, which will be mentioned later.

As shown in fig. 7 and 8, the guide mechanism 16 includes a first guide 160 and a second guide 162, which cooperate with each other to define the moving trajectory of the first stabilizer 10 and the load 2 in the vertical direction. The first guide 160 includes a first guide rail 160a and a first guide block 160b, and the second guide 162 includes a second guide rail 162a and a second guide block 162 b. The first guide rail 160a is fixed to a base of the handle holder 140 on the motor stator 124c side, and the first guide block 160b is rotatably connected thereto with respect to the second guide block 162 b. The second rail 162a is fixed to the case 120 of the second stabilizer 12, for example, in a horizontal direction of the case 120. The second guide block 162b can move along a track direction defined by the second guide rail 162a, thereby changing its distance with respect to the cassette body 120. The first augmentation instrument 10 achieves its connection to the guide mechanism 16 and to the second augmentation instrument 12 by engaging with the handpiece holder 18 positioned on the second guide block 162 b. The handpiece holder 18 is coupled to the first augmentation instrument 10. Specifically, as shown in fig. 8, the head fixing base 18 is provided with a through hole in the radial direction for the second guide block 162b to pass through, so as to position the head fixing base 18 relative to the second guide block 162 b. Herein, the upper and lower surfaces of the head holder 18 in the vertical direction are understood as "main surfaces". The head holder 18 positions the first stabilizer 10 with respect to the second guide block 162b by engaging the first stabilizer 10 on the main surface thereof. In the present invention, the first stabilization device is not limited to the configurations provided herein. Those skilled in the art can appropriately replace the first stabilizer having a different configuration according to the need. The head holder arranged on the second guide rail which moves synchronously with the second stabilizer can be engaged with the first stabilizer of a different configuration by, for example, clamping, catching or locking, so that the first stabilizer is detachably fixed relative to the second stabilizer.

It will be understood by those skilled in the art that the first guide rail 160a shown in fig. 8 can be correspondingly disposed on the handle holder 140 on the other side, while the remaining components of the guide mechanism 16 are correspondingly disposed in sequence in the aforementioned mating manner. And the positions of second guide rail 162a fixed with respect to cassette body 120 and second guide block 162b slidable with respect to second guide rail 162a may be interchanged. That is, the second guide block 162b is fixed to the case 120 such that the second guide rail 162a slides along the second guide block 162 b. The possible structural modifications mentioned above do not depart from the scope of protection of the invention.

The first guide block 160b includes a cover and a block base having an inner cavity in which the bearing is received, the cover engaging the block base to enclose the bearing in the inner cavity to form the first guide block 160 b. The second guide block 162b is provided with a columnar positioning seat (also referred to as a slider fixing seat) 162c, the first guide block 160b is provided with an engaging hole for engaging with the positioning seat 162c, the first guide block 160b is connected with the positioning seat 162c through the engaging hole, and the axial position of the first guide block 160b relative to the positioning seat 162c is realized through the engagement of a fastener (such as a screw) with an axial positioning hole on the positioning seat 162 c.

The side of the first guide block 160b facing the first guide rail 160a is provided with at least two or more rotating members 160c, and the rotating members 160c may be, for example, bearings. The rotating members 160c are generally distributed on the inner side and the outer side of the guide rail, i.e. the side near the first stabilizer 10 and the side near the box body 120, respectively, which are separated by the first guide rail. For example, as shown in fig. 8, four rotating members 160c are preferably provided, the four rotating members 160c are arranged in parallel in pairs, and the two rotating members 160c near the box 120 and the rotating members 160c far from the box 120 are spaced apart and form a space suitable for accommodating the first guide rail 160a, so that the first guide block 160b can rotate relative to the second guide block 162b in time to adapt to the shape change of the first guide rail 160a and simultaneously drive the second guide block 162b to move towards the box 120 or far from the box 120 along the second guide rail 162 a. The first guide rail 160a may be designed as a guide groove, a cam, or a multi-link structure. The shape of the first guide rail 160a is optionally designed to be C-shaped or S-shaped.

Referring to fig. 8 and 12, when the first guide rail 160a is C-shaped, the first guide rail 160a is disposed in a curved convex form toward the case 120, during the movement of the first stabilizer 10 and the load 2 in the vertical direction, the first guide block 160b moves along the first guide rail 160a of the C-shape, while under the action of the first guide rail 160a, the first guide block 160b is suitably rotated to match the changed shape of the first guide rail 160a (i.e., moves along the first guide rail), and the first guide block 160b also moves the second guide block 162b relative to the second guide rail 162a to adjust the distance of the second guide block 162b from the case 120. By the cooperation of the above structures, the moving tracks of the first stabilizer 10 and the load 2 in the vertical direction are linear (i.e. the moving tracks of the first stabilizer and the load in the vertical direction are kept unchanged). In the absence of the guide mechanism 16, as shown in fig. 6, the moving tracks of the first stability enhancing device 10 and the load 2 in the vertical direction are arc-shaped, and during shooting, the lens stretches back and forth, which may affect the shooting effect to a certain extent. The first guide rail 160a is designed to ensure that the distance between the load 2 and the subject is kept constant (i.e., the load 2 does not stretch forward or backward). When the first stability augmentation device 10 and the load 2 rotate relative to the box body 120, their gravitational torque remains unchanged, but the torque of the coil spring 122a changes due to the rotation of the box body 120, so that the second stability augmentation motor 124a needs to overcome the torque change of the coil spring 122a and drive the first stability augmentation device 10 and the load 2 to rotate.

Referring to fig. 8 and 11, when the first guide rail 160a has an S-shape, during the movement of the first stabilizer 10 and the load 2 in the vertical direction, the first guide block 160b moves along the first guide rail 160a having the S-shape, while the first guide block 160b is suitably rotated to match the changed shape of the first guide rail 160a by the first guide rail 160a, and the first guide block 160b also moves the second guide block 162b relative to the second guide rail 162a to adjust the distance from the second guide block 162b to the case 120. Through the cooperation of the above structures, the moving locus of the first stability augmentation device 10 and the load 2 in the vertical direction is approximately in an S-curve shape. In the absence of the guide mechanism 16, as shown in fig. 6, the moving trajectory of the first stabilizer 10 and the load 2 in the vertical direction is curved. Furthermore, compared to the C-shaped first guide rail 160a, the S-shaped structure of the first guide rail 160a can ensure that the gravitational moment of the first stabilizer 10 and the load 2 is substantially equal to the torque of the coil spring 122a during the rotation relative to the box body 120, i.e. under the condition of constant torque of the coil spring 122a, the second stabilizer motor 124a of the vertical stabilizer 124 only needs to provide power for the rotation of the load 2 without increasing the load of the second stabilizer motor 124a through the special shape design of the first guide rail 160a and the cooperation with other corresponding structures.

In addition to the foregoing structure capable of moving according to the working principle shown in fig. 12, there are other handheld photographic equipment (specifically modified in the structure of the guide and the guide rail) capable of achieving such a specific trajectory movement. Specifically, as shown in fig. 9, the second stabilizer 12 is engaged with the first stabilizer 10 in the rolling direction thereof by means of the guide mechanism 16. The guide mechanism 16 of the handheld photographic equipment includes a first guide 160 and a second guide 162, which cooperate to define the movement locus of the first stabilizer 10 and the load 2 in the vertical direction. Wherein the first guide member 160 includes a first guide block 160a 'and a first guide block 160 b', the first guide block 160a 'has a guide groove 160 d', and the first guide block 160b 'is slidable along the guide groove 1600 of the first guide block 160 a'. The second guide 162 includes a second guide rail 162a 'and a second guide block 162 b', and the second guide block 162b 'is slidable with respect to the second guide rail 162 a'. The first guide block 160b ' is fixed to the handle holder 140 (e.g., a side away from the second stability enhancing motor 124 a. of course, as mentioned above, it may be disposed at a side where the second stability enhancing motor 124a is provided), and the first guide block 160b ' (particularly, a fixing portion thereof) is fixed to the second guide block 162b '. The channel 1600 of the first block 160 a' is shown as being C-shaped, although those skilled in the art will appreciate that the channel 1600 could be S-shaped as well, given the benefit of the present disclosure.

When the guide groove 1600 of the first guide block 160a ' is C-shaped (i.e., the guide groove is arranged in a curved convex form toward the box body 120), during the movement of the first stability enhancement device 10 and the load 2 in the vertical direction, the first guide block 160b ' moves along the first guide block 160a ' having the C-shaped guide groove, while under the action of the guide groove 1600 of the first guide block 160a ', the first guide block 160b ' is suitably rotated to match the varied shape of the guide groove of the first guide block 160a ' (i.e., moves along the guide groove of the first guide block 160a '), and the first guide block 160b ' also moves the second guide block 162b ' relative to the second guide rail 162a ' to adjust the distance from the second guide block 162b ' to the box body 120 (away from or close to the box body 120). By the cooperation of the above structures, the moving tracks of the first stabilizer 10 and the load 2 in the vertical direction are linear (i.e. the moving tracks of the first stabilizer and the load in the vertical direction are kept unchanged). In the absence of the guide mechanism 16, as shown in fig. 6, the moving tracks of the first stability enhancing device 10 and the load 2 in the vertical direction are arc-shaped, and during shooting, the lens stretches back and forth, which may affect the shooting effect to a certain extent. The first rail block 160 a' shown in fig. 9 is configured to ensure that the distance between the load 2 and the subject is kept constant (i.e., the load 2 does not stretch back and forth). When the first stability augmentation device 10 and the load 2 rotate relative to the box body 120, their gravitational torque remains unchanged, but the torque of the coil spring 122a changes due to the rotation of the box body 120, so that the second stability augmentation motor 124a needs to overcome the torque change of the coil spring 122a and drive the first stability augmentation device 10 and the load 2 to rotate.

When the guide groove 1600 of the first rail block 160a 'is S-shaped, during the movement of the first stability augmentation device 10 and the load 2 in the vertical direction, the first guide block 160 b' moves along the guide groove of the S-shaped first rail block 160a ', and at the same time, under the action of the first rail block 160 a', the first guide block 160b 'rotates adaptively to match the changed shape of the guide groove 1600 of the first rail block 160 a', and the first guide block 160b 'also drives the second guide block 162 b' to move relative to the second rail 162a 'to adjust the distance (away from or close to the box body 120) of the second guide block 162 b' to the box body 120. Through the cooperation of the above structures, the moving locus of the first stability augmentation device 10 and the load 2 in the vertical direction is approximately in an S-curve shape. In the absence of the guide mechanism 16, as shown in fig. 6, the moving trajectory of the first stabilizer 10 and the load 2 in the vertical direction is curved. Furthermore, compared to the guiding groove of the C-shaped first guiding block 160 a', the structural design of the S-shaped guiding groove of the first guiding block 160a can ensure that the gravitational moment of the first stabilizer 10 and the load 2 is substantially equal to the torque of the coil spring 122a during the rotation relative to the box body 120, i.e. under the condition that the torque of the coil spring 122a is not changed, the second stabilizer motor 124a of the vertical stabilizer 124 only needs to provide power for the rotation of the load 2 without increasing the load of the second stabilizer motor 124a through the special shape design of the guiding groove 1600 of the first guiding block 160a and the matching with other corresponding structures.

The guide groove 1600 of the first rail block 160a 'is configured as a stepped groove having a non-uniform inner diameter, which may be formed such that it is formed in the thickness direction of the first rail block 160 a' and has a pair of opposed groove surfaces in the width direction, one of which is a planar groove surface 1601 and the other of which is a stepped groove surface 1602. As shown in fig. 9, the first guide block 160b 'includes a fixing portion 1603 and a stepped guide portion 1604, wherein the fixing portion 1603 is configured to fix the first guide block 160 b' to the second guide block 162b ', and the stepped guide portion 1604 fits into (specifically inserts into) the guide groove 1600 of the first guide block 160 a', and the stepped guide portion 1604 has a first guide portion 1605 and a second guide portion 1606 having different outer diameters, and the first guide portion 1605 and the second guide portion 1606 may be configured as bearings fixed to the fixing portion 1603 (particularly, a core 1608 to be mentioned later), and the two bearings are positioned with a screw engaging the core 1608, and a bushing is provided between the adjacent two bearings to compress them. As shown, securing portion 1603 has a plate-like base 1607 and a core 1608, where plate-like base 1607 is configured for securing to second guide block 162 b' and core 1608 extends substantially perpendicular to plate-like base 1607. When the fixing portion 1603 of the first guide block 160 b' is engaged with the stepped groove, the core 1608 is inserted into the stepped groove, and the core 1608 may have a stepped columnar shape or a columnar shape. First guide 1605 and second guide 1606 are provided on core 1608 with different outer diameters, which, as described above, may be bearings having different outer diameters, so that the axial (axial of core 1608) cross sections of first guide 1605 and second guide 1606 are also stepped. Specifically, as shown in fig. 10, when the first guide block 160b ' and the first guide block 160a ' are mated, the first guide part 1605 of the first guide block 160a ' engages one of the step groove surfaces 1602 of the step groove without engaging with the flat groove surface 1601, and the second guide part 1606 engages the flat groove surface 1601 of the step groove without engaging with the step groove surface 1602, i.e., the first guide part 1605 and the second guide part 1606 will form a gap with both groove surfaces of the step groove, respectively, i.e., contact with only one of the groove surfaces, after being inserted into the step groove, while ensuring that the contacted portions remain in gapless contact. The above-mentioned groove surfaces all refer to the inner peripheral surface of the stepped groove.

Generally, when the guide groove of the guide block has a constant inner diameter and the guide portion of the guide block (the number of guide portions may be one or more, and when the guide portion is plural, the diameters of the respective guide portions are equal) also has a matching constant outer diameter, in order to enable the guide portion to engage and move along the guide groove, the inner diameter of the guide groove generally needs to be designed to be larger than the outer diameter of the guide portion, otherwise the movement of the guide portion in the guide groove may be restricted (e.g., caught). Since the guide portion cannot be tightly engaged with the guide groove due to the large inner diameter of the guide groove in order to ensure that the relative movement of the guide portion and the guide groove is not hindered, the accuracy of the movement of the guide portion with respect to the guide groove is impaired.

The guide groove provided by the invention forms a step groove surface on one side, and simultaneously provides guide parts (such as two guide parts) with different outer diameters, after the guide parts are inserted into the guide groove, one of the guide parts is matched with the step groove surface, the other guide part is matched with the plane groove surface, and the matching is tight and basically gapless between the corresponding guide parts and the groove surfaces which are matched with each other, so that the movement precision of the guide parts relative to the guide groove is improved by the tight matching between the guide parts and the matched groove surfaces when the guide block moves relative to the guide block.

While the invention has been described in detail in connection with only a limited number of embodiments, it should be readily understood that the invention is not limited to such disclosed embodiments. Rather, the invention can be modified by incorporating any number of variations, alterations, substitutions or equivalent arrangements not heretofore described, but which are commensurate with the spirit and scope of the invention. Additionally, while various embodiments of the invention have been described, it is to be understood that aspects of the invention may include only some of the embodiments. Accordingly, the invention is not to be seen as limited by the foregoing description, but is only limited by the scope of the appended claims.

Claims

1. A handheld photographic apparatus (1) configured to allow assistance in photographing a supported load (2), comprising:

a first stability augmentation device (10) configured for stabilizing the attitude of the load (2) at least in the pitch direction by means of at least one first stability augmentation motor (100);

a second stability augmentation device (12) comprising:

a case (120) fixedly mounted to the first stabilizer (10) in a course or roll direction of the first stabilizer (100);

a gravity balancing mechanism (122) housed within the cartridge (120) and engaged with the cartridge (120) to generate a torque to balance the gravitational moment of the first stability augmenting device (10) and/or the load (2);

a vertical stability enhancing mechanism (124) at least partially engaging the cartridge (120) and driving the cartridge (120) to rotate relative to the gravity balance mechanism (122) to compensate for displacement resulting from vertical movement when the cartridge (120) rotates with vertical movement of the first stability enhancing device (10) and/or the load (2);

a control device which is configured to drive the vertical stability increasing mechanism (124) to act based on the attitude information of the displacement of the first stability increasing device (10) and/or the load (2) measured by the attitude sensor on the handheld photographic equipment (1).

2. The handheld photographic apparatus (1) of claim 1, wherein the vertical stabilizing mechanism (124) includes a second stabilizing motor (124a), the second stabilizing motor (124a) being responsive to the control means to drive a motor rotor (124b) coupled to the case (120) in rotation to compensate for vertical displacement.

3. The handheld photographic apparatus (1) of claim 1, wherein the handheld photographic apparatus (1) further comprises a handle assembly (14) for receiving and supporting the gravity balance mechanism (122) and the vertical stabilization mechanism (124) to facilitate gripping of the second stabilization device (12).

4. A handheld photographic apparatus (1) as claimed in claim 3, wherein the handle assembly (14) comprises:

a handle holder (140) defining a receiving space to receive the case (120) accommodating the coil spring (122a) and a motor rotor (124b) of the second stability-enhancing motor (124a), a motor stator (124c) of the second stability-enhancing motor (124a) being located adjacent to one end of the handle holder (140) of the motor rotor (124b) and fixed to the handle holder (140);

a handle fixed to both ends of the handle fixing base (140).

5. The handheld photographic device (1) as claimed in claim 4, characterized in that the gravity balance mechanism (122) comprises a coil spring (122a) coiled in the case (120), one end of the coil spring (122a) is coupled to the case (120) and the other end is coupled to a rotating shaft (126d) capable of adjusting the pre-tension of the coil spring (122a) relative to the case (120), so that the coil spring (122a) can be wound or unwound with the rotation of the rotating shaft (126d) relative to the case (120).

6. The handheld photographic apparatus (1) of claim 5, wherein the second stabilizing device (12) further comprises an adjustment mechanism (126) for adjusting an angular position of the rotating shaft (126d) relative to the case (120) to adjust a preload of the coil spring (122 a).

7. The handheld photographic apparatus (1) of claim 6, wherein the adjustment mechanism (126) comprises:

a worm gear (126a), the worm gear (126a) being fixedly connected to the rotating shaft (126 d);

a worm (126b), the worm (126b) being fixed to the handle holder (140) and engaging the worm gear (126 a);

the worm (126b) rotates under the action of external force and drives the worm wheel (126a) and the rotating shaft (126d) to act so as to adjust the angular position of the coil spring (122a) relative to the box body (120).

8. The handheld photographic apparatus (1) of claim 4, characterized in that the handheld photographic apparatus (1) further comprises a guide mechanism (16), the guide mechanism (16) being provided between the first stabilizing device (10) and the case (120) to guide a moving trajectory of the load (2).

9. The handheld photographic apparatus (1) of claim 8, characterized in that the guiding mechanism (16) comprises:

a first guide (160) configured to define a predetermined trajectory of the first stabilizer (10) in the vertical direction with respect to the box (120);

a second guide (162) configured to adjust a distance of the first stabilizer (10) with respect to the case (120) in a radial direction of the case (120) according to the predetermined trajectory.

10. The handheld photographic apparatus (1) of claim 9,

the first guide member (160) includes a first guide rail (160a) and a first guide block (160b) that slides with respect to the first guide rail (160 a);

the second guide (162) comprises a second guide rail (162a) and a second guide block (162b) sliding relative to the second guide rail (162 a);

wherein the first guide rail (160a) is fixed to the handle holder (140), and the first guide block (160b) is rotatably connected to the second guide block (162b) to move the second guide block (162b) relative to the second guide rail (162a) fixed to the case according to the predetermined trajectory when the first guide block (160b) moves along the first guide rail (160 a).

11. The handheld photographic apparatus (1) of claim 10, characterized in that the first guide rail (160a) is designed such that a movement trajectory of the load (2) is substantially constant vertically when the first guide block (160b) moves relative to the first guide rail (160 a).

12. The handheld photographic equipment (1) of claim 10, characterized in that the first guide rail (160a) is designed such that upon movement of the first guide block (160b) relative to the first guide rail (160a) the torque of the load (2) is substantially equal to the torque of the coil spring (122 a).

13. The handheld photographic apparatus (1) of claim 10, wherein a side of the first guide block (160b) facing the first guide rail (160a) is provided with at least two rotating members (160c), the rotating members (160c) being respectively located on a side of the first guide block (160b) adjacent to the first stabilizer (10) and a side adjacent to the case (120) to enable the first guide block (160b) to move along the first guide rail (160 a).

14. The handheld photographic apparatus (1) of claim 10, wherein the first guide rail (160a) is configured as a guide, cam or linkage.

15. The handheld photographic apparatus (1) of claim 10, wherein a positioning seat (162c) is provided on the second guide block (162b), and the first guide block (160b) is designed to be rotatable relative to the positioning seat (162c) based on contact of the first guide block (160b) with the first guide rail (160 a).

16. The handheld photographic apparatus (1) of claim 9,

the first guide member (160) includes a first guide block (160a ') having a guide groove (1600) and a first guide block (160b ') sliding along the guide groove (1600) of the first guide block (160a ');

the second guide member (162) includes a second guide rail (162a ') and a second guide block (162b ') that slides with respect to the second guide rail (162a ');

wherein the first guide block (160a ') is fixed to the handle holder (140), and the first guide block (160b ') is fixed to the second guide block (162b ') to move the second guide block (162b ') with respect to the second guide rail (162a ') fixed to the case in accordance with the predetermined trajectory when the first guide block (160b ') moves along the first guide groove (1600) of the first guide block (160a ').

17. The handheld photographic apparatus (1) of claim 16,

the guide groove (1600) of the first guide block (160 a') is configured as a stepped groove having different inner diameters;

the first guide block (160b ') includes a fixing part (1603) connected to the second guide block (162 b') and a stepped guide part (1604) having a different outer diameter, and the outer diameter of the stepped guide part (1604) and the inner diameter of the guide groove (1600) are designed such that the stepped guide parts (1604) are each contact-fitted to the stepped grooves having different inner diameters substantially without a gap.

18. The handheld photographic apparatus (1) of claim 17, wherein the first guide block (160a ') is designed such that a movement trajectory of the load (2) is substantially constant in a vertical direction when the first guide block (160b ') moves relative to the first guide block (160a ').

19. The handheld photographic device (1) of claim 17, wherein the first guide block (160a ') is designed such that the torque of the load (2) is substantially equal to the torque of the coil spring (122a) when the first guide block (160b ') is moved relative to the first guide block (160a ').

20. The handheld photographic apparatus (1) of claim 10 or 16, characterized in that the handheld photographic apparatus (1) further comprises a handpiece holder (18), the first stability enhancing device (10) being detachably fixed to the second rail (162a) with the handpiece holder (18).

21. The handheld photographic apparatus (1) of claim 20, characterized in that the handpiece holder (18) is configured to detachably secure the first stabilizer (10) to the second rail (162a) by clamping, catching or locking.