WO2019183822A1 - 差动齿轮驱动装置、增稳机构、云台装置以及拍摄设备 - Google Patents

差动齿轮驱动装置、增稳机构、云台装置以及拍摄设备 Download PDF

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Publication number
WO2019183822A1
WO2019183822A1 PCT/CN2018/080772 CN2018080772W WO2019183822A1 WO 2019183822 A1 WO2019183822 A1 WO 2019183822A1 CN 2018080772 W CN2018080772 W CN 2018080772W WO 2019183822 A1 WO2019183822 A1 WO 2019183822A1
Authority
WO
WIPO (PCT)
Prior art keywords
rod
stabilizing mechanism
gear
side gear
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/080772
Other languages
English (en)
French (fr)
Inventor
刘思聪
郭善光
耶方明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201880069281.2A priority Critical patent/CN111279114B/zh
Priority to EP18911730.2A priority patent/EP3779262A4/en
Priority to PCT/CN2018/080772 priority patent/WO2019183822A1/zh
Publication of WO2019183822A1 publication Critical patent/WO2019183822A1/zh
Priority to US17/031,411 priority patent/US20210048734A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2092—Undercarriages with or without wheels comprising means allowing depth adjustment, i.e. forward-backward translation of the head relatively to the undercarriage
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions [3D]
    • F16H21/54—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions [3D] for conveying or interconverting oscillating or reciprocating motions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H48/00—Differential gearings
    • F16H48/06—Differential gearings with gears having orbital motion
    • F16H48/08—Differential gearings with gears having orbital motion comprising bevel gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/563—Camera grips, handles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H48/00—Differential gearings
    • F16H48/06—Differential gearings with gears having orbital motion
    • F16H48/08—Differential gearings with gears having orbital motion comprising bevel gears
    • F16H2048/087—Differential gearings with gears having orbital motion comprising bevel gears characterised by the pinion gears, e.g. their type or arrangement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/063—Parallelogram arms

Definitions

  • the invention relates to the field of photographing, in particular to a differential gear driving device, a stabilizing mechanism, a pan/tilt device and a photographing device.
  • the pan-tilt device generally has a stabilization function in the rotation direction of the imaging device.
  • the three-axis pan/tilt can be rotated in the pitch axis, the yaw axis, and the roll axis. Compensating for the jitter of the imaging device.
  • the pan-tilt device does not have an ideal stabilizing function for the jitter of the imaging device in the direction of gravity or in the horizontal direction.
  • the invention provides a differential gear driving device, a stabilizing mechanism, a pan/tilt device and a photographing device.
  • a differential gear driving apparatus includes a differential gear set, a first motor, a second motor, and a crank slider assembly;
  • the differential gear set includes a first side gear and a second side gear that are oppositely disposed, and a first planetary gear that meshes with the first side gear and the second side gear, the first motor and the first half a shaft gear is connected, the second motor is connected to the second side gear, and the first planetary gear is capable of both rotating motion and revolving around the first side gear and the second side gear;
  • the crank slider assembly includes a crank, a connecting rod and a slider, and two ends of the connecting rod are respectively hinged with the crank and the slider, and the crank is connected to the first planetary gear.
  • the revolving motion and the rotation motion of the first planetary gear can be converted into the movement in the first direction and the second direction of the load, which is beneficial to the increase of the load in the first direction and the second direction. stable.
  • a stabilizing mechanism includes the differential gear drive and the load assembly of the first aspect, the differential gear drive being coupled to the load assembly for driving the load assembly.
  • the stabilizing mechanism of the invention By using the stabilizing mechanism of the invention, the revolving motion and the rotation motion of the first planetary gear can be converted into the movement in the first direction and the second direction of the load, which is beneficial to the stability of the load in the first direction and the second direction.
  • a stabilizing mechanism configured to support a load, including a differential gear set, a first motor, a second motor, and a motion conversion component;
  • the differential gear set includes a first side gear and a second side gear that are oppositely disposed, and a first planetary gear that meshes with the first side gear and the second side gear, the first motor and the first half a shaft gear is connected, the second motor is connected to the second side gear, and the first planetary gear is capable of both rotating motion and revolving around the first side gear and the second side gear;
  • the motion conversion assembly is coupled between the load and the first planet gear for converting a revolutionary motion of the first planet gear to a motion of the load in a first direction, and The rotation motion of a planetary gear translates into the movement of the load in the second direction.
  • the stabilizing mechanism of the invention By using the stabilizing mechanism of the invention, the revolving motion and the rotation motion of the first planetary gear can be converted into the movement in the first direction and the second direction of the load, which is beneficial to the stability of the load in the first direction and the second direction.
  • a pan-tilt device includes the stabilizing mechanism as described in the second aspect or the third aspect.
  • the revolutionary motion and the rotation motion of the first planetary gear can be converted into the movement in the first direction and the second direction of the load, which is advantageous for the stabilization of the load in the first direction and the second direction.
  • a photographing apparatus includes an image forming apparatus and a pan tilt apparatus as described in the fourth aspect.
  • the revolving motion and the rotation motion of the first planetary gear can be converted into the movement in the first direction and the second direction of the load, which is advantageous for the stabilization of the load in the first direction and the second direction.
  • FIG. 1 is a block diagram showing the structure of a photographing apparatus according to an embodiment of the present invention.
  • FIG. 2 to FIG. 4 are schematic structural views of a stabilizing mechanism according to an embodiment of the present invention, wherein FIG. 2 is a perspective view of the stabilizing mechanism, FIG. 3 is a plan view of the stabilizing mechanism, and FIG. 4 is a partial component of the stabilizing mechanism. Stereo picture.
  • the photographing apparatus 100 of the embodiment of the present invention may include a pan-tilt device 30 and an imaging device 50.
  • the pan-tilt device 30 is used to support the imaging device 50, and can be used to change the shooting angle of the imaging device 50 and to eliminate the effect of jitter on the imaging device 50.
  • the imaging device 50 is used to capture an image/video, and may be a camera, a video camera, or a mobile phone or tablet computer having an imaging function.
  • the pan/tilt device 30 can include a stabilization mechanism 20 and a pan/tilt head 40.
  • the pan/tilt head 40 can be mounted on the stabilizing mechanism 20.
  • the imaging device 50 can be mounted on the platform 40.
  • the pan/tilt head 40 may be a three-axis pan/tilt that adjusts the angle of the imaging device 50 about a yaw axis, a roll axis, and a pitch axis.
  • pan/tilt head 40 can also be a single-axis pan/tilt head, a two-axis pan/tilt head or other types of pan/tilt heads.
  • the pan-tilt device 30 can include a sensor (not shown) and a controller (not shown).
  • the sensor is used to sense the attitude information of the pan/tilt head 40.
  • the sensor may include an inertial measurement unit (IMU) for measuring the attitude of the pan/tilt head 40, including the angular rate of each of the rotating shafts of the platform 40 and the acceleration at the imaging device; the sensor may also include a photoelectric encoder for measuring The angle of rotation of each of the rotating shafts of the gimbal 40 is not limited herein.
  • IMU inertial measurement unit
  • the controller can be used to control the pan/tilt head 40 to rotate the imaging device 50 around the heading axis, the roll axis or/and the pitch axis according to the attitude information sensed by the sensor to eliminate the influence of the spatial jitter of the photographing apparatus 100 on the imaging device 50. .
  • controller can also control the pan/tilt head 40 to drive the imaging device 50 to rotate about the heading axis, the roll axis or/and the pitch axis in response to the user's instruction information to obtain a shooting angle/direction desired by the user.
  • the stabilizing mechanism 20 is for supporting the pan/tilt head 40 and the imaging device 50, and for eliminating the jitter of the imaging device 50 in the first direction and the second direction.
  • the first direction may be vertical, parallel to the Z direction in the drawing; the second direction may be a horizontal direction, and the plane defined by the X direction and the Y direction in the figure is a horizontal plane, and the second direction is located at the Said in the water level.
  • the pan/tilt head 40 and the imaging device 50 may be collectively referred to as a load.
  • the stabilizing mechanism 20 may include a differential gear set 4, a first motor 2, a second motor 3, and a motion conversion assembly.
  • the differential gear set 4 includes a first side gear 41 and a second side gear 42 that are oppositely disposed, and a first planetary gear 43 that meshes with the first side gear 41 and the second side gear 42.
  • the first motor 2 is coupled to the first side gear 41 and is rotatable to drive the first side gear 41.
  • the second motor 3 is coupled to the second side gear 42 and is rotatable for driving the second side gear 42.
  • the object A is connected to the object B
  • the object B includes various cases including the case where the object A and the object B are integrally formed or integrally formed, and the case where the object A and the object B are detachably connected.
  • the first planetary gear 43 revolves around the axes of the first side gear 41 and the second side gear 42.
  • the first planetary gear 43 revolves around the axes of the first side gear 41 and the second side gear 42, and also wraps around The axis of itself rotates. That is, the first planetary gear 43 can be revolved around the first side gear 41 and the second side gear 42 by the rotation of the first side gear 41 and the second side gear 42, or at the same time, the rotation motion can be simultaneously performed. The revolving motion is performed around the first side gear 41 and the second side gear 42.
  • the motion conversion assembly is a component coupled between the load and the first planetary gears 43 for converting the revolutionary motion of the first planetary gear 43 into a motion of the load in the first direction and transforming the rotation motion of the first planetary gear 43 For the movement of the load in the second direction.
  • the stabilization mechanism 20 to be used to eliminate jitter in the first and second directions of the load.
  • the amplitude of the jitter of the load in the first direction is obtained according to the attitude information of the load sensed by the sensor, thereby controlling the driving of the first planetary gear 43 to perform the revolving of the corresponding amplitude, thereby driving the load.
  • the compensation motion in the opposite direction is performed in the first direction corresponding to the above-mentioned jitter.
  • the first planetary gear 43 is driven to rotate at a corresponding amplitude, thereby driving the load to reverse in the second direction corresponding to the jitter.
  • Directional compensation movement In order to eliminate the jitter in the second direction, similarly, according to the amplitude of the jitter of the load in the second direction, the first planetary gear 43 is driven to rotate at a corresponding amplitude, thereby driving the load to reverse in the second direction corresponding to the jitter.
  • the jitter in the first direction or the second direction referred to herein generally refers to the jitter having the first direction or the second direction component, that is, as long as the jitter of the load has a component in the first direction or the second direction, It is called jitter in the first direction or the second direction.
  • the differential gear set 4 may also include a second planetary gear 44 that meshes with the first side gear 41 and the second side gear 42.
  • the second planetary gear 44 and the first planetary gear 43 may be located on both sides of the first side gear 41 (second side gear 42), respectively.
  • the differential gear set 4 may further include a gear holder 45.
  • the gear holder 45 has a circular shape and is disposed along the revolving direction of the first planetary gear 43 and the second planetary gear 44.
  • the first planetary gear 43 and the second planetary gear 44 are disposed on the gear holder 45 and held in position by the gear holder 45.
  • the motion conversion assembly can include a crank slider assembly 5, a four-bar linkage mechanism 7, and a connection assembly 6.
  • the stabilizing mechanism can also include the frame 1.
  • the differential gear set 4, the first motor 2, the second motor 3, and the four-bar linkage mechanism 7 are all mounted on the frame 1.
  • the frame 1 can include a frame 12.
  • the frame 12 can be connected by a plurality of rods and has a rectangular parallelepiped shape. It can be understood that the frame 12 is used for connecting the support stabilizing mechanism 20, and may also be partially triangular, arc-shaped or other shapes, and may include a plurality of connecting rods, curved rods or other connecting members, which are not limited herein.
  • the frame 12 includes two planar frames 126 disposed opposite each other and a connecting beam 123 connecting the two planar frames 126.
  • Each of the plane frames 126 includes a vertical rod 127 and a first horizontal rod 125 and a second horizontal rod 129 that are respectively connected to both ends of the vertical rod 127.
  • the first horizontal bars 125 of the two plane frames 126 are connected by a connecting beam 123, and the second horizontal bars 129 of the two plane frames 126 are connected by another connecting beam 123.
  • the differential gear set 4 and the crank slider assembly 5 can be disposed between the two plane frames 126.
  • the first half shaft gear 41, the second side gear 42, the first motor 2, and the second motor 3 may be mounted on the vertical rod 127.
  • a mounting hole (not shown) may be provided on each of the vertical rods 127.
  • the output shaft of the first motor 2 and the second motor 3 can be connected to the rotating shaft of the first side gear 41 and the second side gear 42 through the mounting hole.
  • the frame 1 can also include a planar connection frame 14.
  • the planar connecting frame 14 includes a first rod 145, a second rod 147, and an intermediate rod 143 connected between the first rod 145 and the second rod 147.
  • the first rod 145 and the second rod 147 are coupled to the vertical rod 127 of the different plane frame 126 and are connected at an intermediate position of the vertical rod 127.
  • the planar connecting frame 14 is used to surround the differential gear set 4 together with the frame 12.
  • the planar connecting frame 14 can also be curved, semi-circular or other shapes, which is not limited herein.
  • the crank slider assembly includes a crank 51, a link 52 and a slider 53. Both ends of the link 52 are hinged to the crank 51 and the slider 53, respectively. One end of the crank 51 is connected to the first planetary gear 43, and one end is hinged to one end of the link 52. The slider 53 is hinged to the other end of the link 52. This causes the rotation of the first planetary gear 43 to drive the crank 51 to rotate and pull the link 52, thereby driving the slider 53 to slide.
  • the sliding direction of the slider 53 is restricted by the slider 54 that is sleeved in the slider 43, and is parallel to the rotational axis O-O direction of the first side gear 41 and the second side gear 42.
  • the crank 51 is fixed to the rotating shaft 57 of the first planetary gear 43.
  • the crank slider assembly 5 further includes a slide bar 54 that cooperates with the slider 53 and the slide bar 54 is sleeved in the slider 53.
  • the sliding bar 54 is used to define the sliding direction of the slider 53, the sliding bar 54 may also be in the form of being semi-enclosed by the slider 53, or the slider 53 is disposed in the long groove on one side of the sliding bar 54. It is not limited, and the slider 53 and the slider 54 may form a moving pair.
  • the slide bar 54 includes a stem portion 543 and an end portion 545.
  • the end 545 of the slide bar 54 is sleeved on the rotating shaft 57 so that the rotating shaft 57 can be rotated relative to the sliding rod 54.
  • the slider 53 includes a nesting portion 532 that is nested on the stem portion 543 of the slider 54 and a plate portion 534 that is disposed below the nesting portion 532 and that is coupled to the nesting portion 532.
  • the four-bar linkage mechanism 7 can be a double rocker mechanism including a first rocker 72, a second rocker 74, and a mounting bar 76.
  • the mounting rod 76 is used to mount and support the load.
  • the two ends of the mounting rod 76 are respectively hinged with the first rocker 72 and the second rocker 74, and the hinge points are 92 and 94, respectively.
  • first rocker 72 is hinged to the mounting rod 76, and the other end is ball-joined to the connecting beam 123.
  • the hinge points on the first rocker 72 are 92, 98, respectively.
  • the hinge 10 can be disposed between the connecting beam 123 and the first rocker 72.
  • One end of the hinge rod 10 is hinged to the first rocker 72, and the other end is ball-joined to the connecting beam 123.
  • one end of the hinge rod 10 is hingedly coupled to the first rocker 72, and the other end is hinged to the connecting beam 123.
  • One end of the second rocker 74 is hinged to the mounting rod 76, and the other end is ball-joined to the other connecting beam 123.
  • the hinge points on the second rocker 74 are 94, 96, respectively.
  • the hinge 10 can be disposed between the connecting beam 123 and the second rocker 74.
  • One end of the hinge rod 10 is hinged to the second rocker 74, and the other end is ball-joined to the connecting beam 123.
  • one end of the hinge rod 10 is hingedly coupled to the second rocker 74, and the other end is hinged to the connecting beam 123.
  • the first rocker 72 and the second rocker 74 are of the same length (the distance between the hinge point 92 and the hinge point 98 is equal to the distance between the hinge point 94 and the hinge point 96) and can remain parallel during the movement.
  • the mounting rod 76 remains in the vertical direction during the movement.
  • the motion conversion assembly can also include a mount 8 that can be mounted for the load.
  • the mount 8 is fixed to the mounting rod 76.
  • the mount 8 may include an annular mounting portion 85 and a connecting portion 83 connected between the mounting rod 76 and the mounting portion 85.
  • a circular gap 850 is provided in the mounting portion 85.
  • the pan/tilt head 40 can be mounted on the mounting portion 85.
  • the connection assembly 6 can include a first connecting rod 63 and a second connecting rod 65.
  • the first connecting rod 63 is hinged to the first rocker 72 or the second rocker 74 of the four-bar linkage 7.
  • One end of the second connecting rod 65 is rotatably connected (hinged) to the slider 53, and the other end is ball-joined to the first connecting rod 63.
  • the ball joint connection of the second connecting rod 65 with the first connecting rod 63 serves to eliminate the displacement in the Y direction caused by the swing of the first connecting rod 63. Specifically, when the stabilizing mechanism integrally achieves the stabilization in the second direction and does not move in the first direction, the slider 54 does not move at this time to ensure the stability of the load in the vertical direction, and the slider 53 will be slippery.
  • the rod 54 slides to achieve stabilization in the second direction. Since the second connecting rod 65 is rotatably connected with the slider 53, the first connecting rod 63 will further drive the second rocking rod 74 to rotate around the hinge 10 under the driving of the second connecting rod 65. Since the second rocker 74 does not rotate around the hinge point 96 because the load remains stable in the first direction, the end of the first connecting rod 63 connected to the second connecting rod 65 is wound around the hinge by the first connecting rod 63. The swing of 10 causes a displacement in the Y direction. The effect of the ball joint of the second connecting rod 65 with the first connecting rod 63 is eliminating this displacement.
  • the ball joint connection can also be disposed at the junction of the second connecting rod 65 and the plate portion 534 of the slider 53, that is, the rotation of one end of the second connecting rod 65 with the slider 53 and the other end and the first The connecting rod 63 is connected by a ball joint.
  • the crank slider assembly 5 converts the rotation of the first planetary gear 43 into the sliding of the slider 53.
  • the first rocker 72 and the second rocker 74 rotate left and right in the horizontal direction around the hinge points 98, 96, respectively, and the mounting rod 76 and the load move in the second direction (horizontal direction). .
  • connection assembly 6, the four-bar linkage 7, the mount 8 and the load may be collectively referred to as a load assembly.
  • the four-bar linkage mechanism 7, the mounting base 8, and particularly the four-bar linkage mechanism 7 in the load assembly facilitates the stability of the load when the load is in motion (first direction or second direction).
  • the differential gear set 4, the first motor 2, the second motor 3, and the crank slider assembly 5, etc. may be collectively referred to as a differential gear drive, and are mainly used to drive the movement of the load assembly.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Retarders (AREA)
  • Studio Devices (AREA)
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Abstract

一种差动齿轮驱动装置、增稳机构、云台装置以及拍摄设备。其中，增稳机构（20）包括差动齿轮组（4）、第一电机（2）、第二电机（3）和运动转化组件。差动齿轮组（4）包括相对设置的第一半轴齿轮（41）与第二半轴齿轮（42）以及与第一半轴齿轮（41）、第二半轴齿轮（42）啮合的第一行星齿轮（43），第一电机（2）与第一半轴齿轮（41）相连，第二电机（3）与第二半轴齿轮（42）相连，第一行星齿轮（43）既能够作自转运动，也能够绕第一半轴齿轮（41）、第二半轴齿轮（42）作公转运动。运动转化组件连接在负载与第一行星齿轮（43）之间，用于将第一行星齿轮（43）的公转运动转化为负载在第一方向上的运动，和将第一行星齿轮（43）的自转运动转化为负载在第二方向上的运动。

Description

差动齿轮驱动装置、增稳机构、云台装置以及拍摄设备 技术领域
本发明涉及拍摄领域，尤其涉及差动齿轮驱动装置、增稳机构、云台装置以及拍摄设备。
背景技术
为实现稳定拍摄的目的，很多成像装置都搭配云台装置使用，云台装置一般对成像装置具有旋转方向上增稳功能，例如，三轴云台可以在pitch轴、yaw轴和roll轴旋转方向补偿成像装置的抖动。但是，云台装置对于成像装置在重力方向上或水平方向上的抖动，并没有理想的增稳功能。
发明内容
本发明提供一种差动齿轮驱动装置、增稳机构、云台装置以及拍摄设备。
根据本发明实施例的第一方面，提供一种差动齿轮驱动装置。所述差动齿轮驱动装置包括差动齿轮组、第一电机、第二电机和曲柄滑块组件；
所述差动齿轮组包括相对设置的第一半轴齿轮与第二半轴齿轮以及与第一半轴齿轮、第二半轴齿轮啮合的第一行星齿轮，所述第一电机与第一半轴齿轮相连，所述第二电机与第二半轴齿轮相连，所述第一行星齿轮既能够作自转运动，也能够绕所述第一半轴齿轮、第二半轴齿轮作公转运动；
所述曲柄滑块组件包括曲柄、连杆与滑块，所述连杆的两端分别与 所述曲柄、所述滑块铰接，所述曲柄与所述第一行星齿轮相连。
利用本发明的差动齿轮驱动装置，可将第一行星齿轮的公转运动、自转运动转化为负载第一方向、第二方向上的运动，有利于负载在第一方向、第二方向上的增稳。
根据本发明实施例的第二方面，提供一种增稳机构。所述增稳机构包括如第一方面所述的差动齿轮驱动装置和负载组件，所述差动齿轮驱动装置与所述负载组件相连，用于驱动所述负载组件。
利用本发明的增稳机构，可将第一行星齿轮的公转运动、自转运动转化为负载第一方向、第二方向上的运动，有利于负载在第一方向、第二方向上的增稳。
根据本发明实施例的第三方面，提供一种增稳机构。所述增稳机构用于支撑负载，包括差动齿轮组、第一电机、第二电机和运动转化组件；
所述差动齿轮组包括相对设置的第一半轴齿轮与第二半轴齿轮以及与第一半轴齿轮、第二半轴齿轮啮合的第一行星齿轮，所述第一电机与第一半轴齿轮相连，所述第二电机与第二半轴齿轮相连，所述第一行星齿轮既能够作自转运动，也能够绕所述第一半轴齿轮、第二半轴齿轮作公转运动；
所述运动转化组件连接在所述负载与所述第一行星齿轮之间，用于将所述第一行星齿轮的公转运动转化为所述负载在第一方向上的运动，和将所述第一行星齿轮的自转运动转化为所述负载在第二方向上的运动。
利用本发明的增稳机构，可将第一行星齿轮的公转运动、自转运动转化为负载第一方向、第二方向上的运动，有利于负载在第一方向、第二方向上的增稳。
根据本发明实施例的第四方面，提供一种云台装置。所述云台装置包括如第二方面或第三方面所述的增稳机构。
利用本发明的云台装置，可将第一行星齿轮的公转运动、自转运动转化为负载第一方向、第二方向上的运动，有利于负载在第一方向、第二方向上的增稳。
根据本发明实施例的第五方面，提供一种拍摄设备。所述拍摄设备包括成像装置和如第四方面所述的云台装置。
利用本发明的拍摄设备，可将第一行星齿轮的公转运动、自转运动转化为负载第一方向、第二方向上的运动，有利于负载在第一方向、第二方向上的增稳。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例示出的一种拍摄设备的模块结构示意图。
图2至图4是本发明实施例示出的一种增稳机构的结构示意图，其中，图2是增稳机构的立体图，图3是增稳机构的俯视图，图4是增稳机构部分元件的立体图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保 护的范围。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
在本发明使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
下面结合附图，对本发明的实施例进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
如图1，本发明实施例的拍摄设备100可包括云台装置30和成像装置50。云台装置30用于支撑成像装置50，并可用于改变成像装置50的拍摄角度以及消除抖动对成像装置50的影响。
成像装置50用于拍摄图像/视频，可以是相机、摄像机，也可以是具有摄像功能的手机或平板电脑等。
云台装置30可包括增稳机构20和云台40。云台40可安装在增稳机构20上。成像装置50可安装在云台40上。其中，云台40可以为三轴云台，其可以绕航向(yaw)轴、横滚(roll)轴以及俯仰(pitch)轴调整成像装置50的角度。
可以理解，云台40也可以为单轴云台、双轴云台或者其他类型的云台。
云台装置30可以包括传感器(图中未示出)以及控制器(图中未示 出)。其中，传感器用于感测云台40的姿态信息。具体地，传感器可以包括惯性测量单元(IMU)，用于测量云台40的姿态，包括云台40的各个转轴的角速率及成像装置处的加速度；传感器也可以包括光电编码器，用于测量云台40的各个转轴处的转动角度，此处并不做限制。控制器可用于依据传感器所感测到的姿态信息控制云台40带动成像装置50绕航向轴、横滚轴或/和俯仰轴转动，以消除拍摄设备100在空间上的抖动对成像装置50的影响。
可以理解，控制器还可以响应用户的指令信息控制云台40带动成像装置50绕航向轴、横滚轴或/和俯仰轴转动，以获得用户想要的拍摄角度/方向。
在本实施例中，增稳机构20用于支撑云台40和成像装置50，并用于消除成像装置50在第一方向与第二方向上的抖动。在一个实施例中，第一方向可以是竖向，与图中的Z方向平行；第二方向可以是水平方向，图中的X方向和Y方向共同定义的平面为水平面，第二方向位于所述水平面内。可将云台40和成像装置50统称为负载。
如图2至图4，增稳机构20可包括差动齿轮组4、第一电机2、第二电机3和运动转化组件。差动齿轮组4包括相对设置的第一半轴齿轮41与第二半轴齿轮42以及与第一半轴齿轮41、第二半轴齿轮42啮合的第一行星齿轮43。第一电机2与第一半轴齿轮41相连，并可驱动第一半轴齿轮41转动。第二电机3与第二半轴齿轮42相连，并可驱动第二半轴齿轮42转动。
说明一点，这里所说的“物A与物B相连”包括多种情形：既包括物A与物B一体形成或一体成型的情形，也包括物A与物B以可拆装方式连接的情形。
在第一半轴齿轮41与第二半轴齿轮42同步转动时，第一行星齿轮 43绕第一半轴齿轮41、第二半轴齿轮42的轴线作公转运动。在第一半轴齿轮41与第二半轴齿轮42差速转动时，第一行星齿轮43在绕第一半轴齿轮41、第二半轴齿轮42的轴线作公转运动的同时，也会绕本身的轴线自转。即，可以通过第一半轴齿轮41与第二半轴齿轮42的转动，来实现第一行星齿轮43绕第一半轴齿轮41、第二半轴齿轮42作公转运动，或者同时作自转运动和绕第一半轴齿轮41、第二半轴齿轮42作公转运动。
运动转化组件为连接在负载与第一行星齿轮43之间的部件，用于将第一行星齿轮43的公转运动转化为负载在第一方向上的运动和将第一行星齿轮43的自转运动转化为负载在第二方向上的运动。
这使得增稳机构20可用于消除负载在第一方向和第二方向上的抖动。为消除第一方向上的抖动，可根据根据传感器所感测到的负载的姿态信息，获取负载在第一方向上的抖动幅度，从而控制驱动第一行星齿轮43作相应幅度的公转，进而带动负载对应上述抖动在第一方向上进行反方向的补偿运动。为消除第二方向上的抖动，同样地，可根据负载在第二方向上的抖动幅度，控制驱动第一行星齿轮43作相应幅度的自转，进而带动负载对应上述抖动在第二方向上进行反方向的补偿运动。
应该注意，这里所说的第一方向或第二方向上的抖动泛指具有第一方向或第二方向分量的抖动，即只要负载的抖动在第一方向或第二方向上具有分量，即可称作第一方向或第二方向上的抖动。
差动齿轮组4还可包括与第一半轴齿轮41、第二半轴齿轮42啮合的第二行星齿轮44。第二行星齿轮44与第一行星齿轮43可分别位于第一半轴齿轮41(第二半轴齿轮42)的两侧。另外，差动齿轮组4还可包括齿轮保持架45。齿轮保持架45呈圆环形，并沿第一行星齿轮43和第二行星齿轮44的公转方向设置。第一行星齿轮43和第二行星齿轮44设置在齿轮保持架45上，并通过齿轮保持架45保持位置相对。
在图中实施例中，运动转化组件可包括曲柄滑块组件5、四连杆机构7和连接组件6。增稳机构还可包括机架1。差动齿轮组4、第一电机2、第二电机3和四连杆机构7均安装在机架1上。
在图中实施例中，机架1可包括框架12。框架12可由多个杆连接而成，并呈长方体状。可以理解的是，框架12用于连接支撑增稳机构20，也可以部分呈三角形状、弧形状或者其他的形状，可以包括多个连杆、弯杆或者其他的连接件，这里不做限制。在本实施例中，框架12包括相对设置的两个平面框126以及连接两个平面框126的连接梁123。每一平面框126包括竖杆127以及分别与竖杆127的两端相连的第一水平杆125、第二水平杆129。两个平面框126的第一水平杆125由一连接梁123连接，两个平面框126的第二水平杆129由另一连接梁123连接。差动齿轮组4和曲柄滑块组件5可设置在两个平面框126之间。
第一半轴齿轮41、第二半轴齿轮42、第一电机2与第二电机3可安装在竖杆127上。比如，每一竖杆127上可设置安装孔(图中未示出)。第一电机2、第二电机3的输出轴可穿过该安装孔与第一半轴齿轮41、第二半轴齿轮42的转轴相连。
机架1还可包括平面连接框14。在本实施例中，平面连接框14包括相对设置的第一杆145、第二杆147以及连接在第一杆145与第二杆147之间的中间杆143。第一杆145、第二杆147连接在不同平面框126的竖杆127上，并且是连接在竖杆127的中间位置处。可以理解的是，平面连接框14用于连同框架12将差动齿轮组4包围，平面连接框14还可以是弧形、半圆形或其他形状，此处并不作限制。
曲柄滑块组件包括曲柄51、连杆52与滑块53。连杆52的两端分别与曲柄51、滑块53铰接。曲柄51的一端与第一行星齿轮43相连，一端与连杆52的一端铰接。滑块53与连杆52的另一端铰接。这使得，第一行星齿轮43的自转可带动曲柄51转动，并拉动连杆52，进而带动滑块53 滑动。滑块53的滑动方向受套设在滑块43中的滑杆54所限制，可和第一半轴齿轮41、第二半轴齿轮42的转动轴线O-O方向平行。
在图中实施例中，曲柄51固定在第一行星齿轮43的转轴57上。曲柄滑块组件5还包括一与滑块53相配合的滑杆54，滑杆54套设在滑块53中。可以理解的是，滑杆54用于限定滑块53的滑动方向，滑杆54还可以是被滑块53半包围的形式，或者滑块53设置在滑杆54一面的长条槽中，此处并不作限制，滑块53与滑杆54形成移动副即可。滑杆54包括杆部543和端部545。滑杆54的端部545套设在转轴57上，使得转轴57可相对滑杆54转动。滑块53包括嵌套在滑杆54杆部543上的嵌套部532以及设置在嵌套部532下方并与嵌套部532相连的板状部534。
四连杆机构7可为双摇杆机构，包括第一摇杆72、第二摇杆74和安装杆76。安装杆76用于安装、支撑负载。安装杆76的两端分别与第一摇杆72、第二摇杆74铰接，铰接点分别为92、94。
第一摇杆72的一端与安装杆76铰接，另一端与连接梁123球铰连接，第一摇杆72上的铰接点分别为92、98。比如，可在连接梁123与第一摇杆72之间设置铰杆10。铰杆10的一端与第一摇杆72铰接，另一端与连接梁123球铰连接。或者，铰杆10的一端与第一摇杆72球铰连接，另一端与连接梁123铰接。
第二摇杆74的一端与安装杆76铰接，另一端与另一连接梁123球铰连接，第二摇杆74上的铰接点分别为94、96。比如，可在连接梁123与第二摇杆74之间设置铰杆10。铰杆10的一端与第二摇杆74铰接，另一端与连接梁123球铰连接。或者，铰杆10的一端与第二摇杆74球铰连接，另一端与连接梁123铰接。
第一摇杆72、第二摇杆74长度相同(铰接点92与铰接点98之间的距离等于铰接点94与铰接点96之间的距离)且可在运动过程中保持平 行。在运动过程中，安装杆76保持在竖直方向上。
运动转化组件还可包括可供负载安装的安装座8。安装座8固定在安装杆76上。安装座8可包括环形的安装部85以及连接在安装杆76与安装部85之间的连接部83。安装部85内设置有圆形的空隙850。云台40可安装在安装部85上。
连接组件6可包括第一连接杆63和第二连接杆65。第一连接杆63与四连杆机构7的第一摇杆72或第二摇杆74铰接。第二连接杆65的一端与滑块53转动连接(铰接)，另一端与第一连接杆63球铰连接。第二连接杆65与第一连接杆63球铰连接的作用在于消除第一连接杆63的摆动所导致的在Y方向的位移。具体的，当增稳机构整体实现第二方向的增稳而在第一方向不运动时，此时滑杆54不会运动以保证负载在竖直方向的稳定，而滑块53将会在滑杆54上滑动以实现第二方向的增稳。由于第二连接杆65与滑块53转动连接，那么第一连接杆63将会在第二连接杆65的带动下，进一步带动第二摇杆74一起绕铰杆10转动。而由于负载在第一方向保持稳定，则第二摇杆74不会绕铰接点96转动，那么第一连接杆63的与第二连接杆65连接的一端会因第一连接杆63绕铰杆10的摆动而在Y方向会产生位移。第二连接杆65与第一连接杆63球铰连接的作用正在于消除这种位移。可以理解的是，球铰连接也可以设置在第二连接杆65和滑块53板状部534的连接处，即将第二连接杆65的一端与滑块53的转动连接和另一端与第一连接杆63球铰连接交换。
在第一半轴齿轮41与第二半轴齿轮42同步转动，第一行星齿轮43绕第一半轴齿轮41、第二半轴齿轮42作公转运动时，曲柄滑块组件5跟随第一行星齿轮43同步运动。由于连接组件6的转化作用，第一摇杆72、第二摇杆74分别以铰接点98、96为中心在竖向上下转动，安装杆76及负载在第一方向(竖向)上运动。
在第一半轴齿轮41与第二半轴齿轮42差速转动，第一行星齿轮43 自转时，曲柄滑块组件5将第一行星齿轮43的转动转化为滑块53的滑动。在连接组件6的带动下，第一摇杆72、第二摇杆74分别以铰接点98、96为中心在水平方向上左右转动，安装杆76及负载在第二方向(水平方向)上运动。
在图中实施例中，连接组件6、四连杆机构7、安装座8和负载可统称为负载组件。负载组件中的四连杆机构7、安装座8，尤其是四连杆机构7，有利于负载在运动(第一方向或第二方向)时保持状态的稳定。差动齿轮组4、第一电机2、第二电机3和曲柄滑块组件5等可统称为差动齿轮驱动装置，主要用于驱动负载组件运动。
可以理解，除了上述曲柄滑块组件5、连接组件6和四连杆机构7外，在其它实施例中，也可采用其它类型的运动转化组件将差动齿轮组4中第一行星齿轮43的两种转动(公转和自转)分别转化为负载在竖向和水平方向上的运动。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改 变之处，综上所述，本说明书内容不应理解为对本发明的限制。
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。

Claims (34)

  1. 一种差动齿轮驱动装置，其特征在于，所述差动齿轮驱动装置包括差动齿轮组、第一电机、第二电机和曲柄滑块组件；
    所述差动齿轮组包括相对设置的第一半轴齿轮与第二半轴齿轮以及与第一半轴齿轮、第二半轴齿轮啮合的第一行星齿轮，所述第一电机与第一半轴齿轮相连，所述第二电机与第二半轴齿轮相连，所述第一行星齿轮既能够作自转运动，也能够绕所述第一半轴齿轮、第二半轴齿轮作公转运动；
    所述曲柄滑块组件包括曲柄、连杆与滑块，所述连杆的两端分别与所述曲柄、所述滑块铰接，所述曲柄与所述第一行星齿轮相连。
  2. 如权利要求1所述的差动齿轮驱动装置，其特征在于，所述滑块的滑动方向和所述第一半轴齿轮、第二半轴齿轮的转动轴线方向平行。
  3. 如权利要求1所述的差动齿轮驱动装置，其特征在于，所述曲柄固定在所述第一行星齿轮的转轴上；所述曲柄滑块组件还包括一与所述滑块相配合的滑杆，所述滑杆的端部套设在所述转轴上。
  4. 如权利要求1所述的差动齿轮驱动装置，其特征在于，所述差动齿轮组还包括与第一半轴齿轮、第二半轴齿轮啮合的第二行星齿轮。
  5. 一种增稳机构，其特征在于，所述增稳机构包括如权利要求1至4任一项所述的差动齿轮驱动装置和负载组件，所述差动齿轮驱动装置与所述负载组件相连，用于驱动所述负载组件。
  6. 如权利要求5所述的增稳机构，其特征在于，所述负载组件包括四连杆机构与连接组件，所述四连杆机构的邻边铰接，所述连接组件包括第一连接杆和第二连接杆，所述第一连接杆与所述四连杆机构铰接，所述第二连接杆与所述滑块转动连接，所述第一连接杆与所述第二连接杆球铰连接。
  7. 如权利要求6所述的增稳机构，其特征在于，所述四连杆机构为双摇杆机构，所述四连杆机构包括第一摇杆、第二摇杆和安装杆，所述安装 杆与所述第一摇杆、所述第二摇杆铰接。
  8. 如权利要求7所述的增稳机构，其特征在于，所述增稳机构还包括机架，所述差动齿轮组、第一电机、第二电机和四连杆机构均安装在所述机架上。
  9. 如权利要求8所述的增稳机构，其特征在于，所述机架包括框架，所述框架包括相对设置的两个平面框以及连接两个平面框的连接梁；
    所述差动齿轮组和所述曲柄滑块组件设置在所述两个平面框之间。
  10. 如权利要求9所述的增稳机构，其特征在于，所述平面框包括竖杆以及分别与所述竖杆的两端相连的第一水平杆、第二水平杆，两个平面框的第一水平杆由一连接梁连接，两个平面框的第二水平杆由另一连接梁连接。
  11. 如权利要求10所述的增稳机构，其特征在于，所述第一摇杆和第二摇杆与不同的连接梁球铰连接。
  12. 如权利要求10所述的增稳机构，其特征在于，所述第一半轴齿轮、第二半轴齿轮、第一电机与第二电机安装在所述竖杆上。
  13. 如权利要求9所述的增稳机构，其特征在于，所述机架还包括平面连接框，所述平面连接框包括相对设置的第一杆、第二杆以及连接在第一杆与第二杆之间的中间杆，所述第一杆、第二杆连接在不同平面框的竖杆上。
  14. 如权利要求7所述的增稳机构，其特征在于，所述负载组件包括可供负载安装的安装座，所述安装座固定在所述安装杆上。
  15. 如权利要求14所述的增稳机构，其特征在于，所述安装座包括环形的安装部以及连接在安装杆与安装部之间的连接部。
  16. 一种增稳机构，用于支撑负载，其特征在于，所述增稳机构包括差动齿轮组、第一电机、第二电机和运动转化组件；
    所述差动齿轮组包括相对设置的第一半轴齿轮与第二半轴齿轮以及与第一半轴齿轮、第二半轴齿轮啮合的第一行星齿轮，所述第一电机与第一 半轴齿轮相连，所述第二电机与第二半轴齿轮相连，所述第一行星齿轮既能够作自转运动，也能够绕所述第一半轴齿轮、第二半轴齿轮作公转运动；
    所述运动转化组件连接在所述负载与所述第一行星齿轮之间，用于将所述第一行星齿轮的公转运动转化为所述负载在第一方向上的运动，和将所述第一行星齿轮的自转运动转化为所述负载在第二方向上的运动。
  17. 如权利要求16所述的增稳机构，其特征在于，所述第二方向垂直于所述第一方向。
  18. 如权利要求16所述的增稳机构，其特征在于，所述运动转化组件包括曲柄滑块组件，所述曲柄滑块组件包括曲柄、连杆与滑块，所述连杆的两端分别与所述曲柄、所述滑块铰接，所述曲柄与所述第一行星齿轮相连。
  19. 如权利要求18所述的增稳机构，其特征在于，所述滑块的滑动方向和所述第一半轴齿轮、第二半轴齿轮的转动轴线方向平行。
  20. 如权利要求19所述的增稳机构，其特征在于，所述运动转化组件包括四连杆机构与连接组件，所述四连杆机构的邻边铰接，所述连接组件包括第一连接杆和第二连接杆，所述第一连接杆与所述四连杆机构铰接，所述第二连接杆与所述滑块转动连接，所述第一连接杆与所述第二连接杆球铰连接。
  21. 如权利要求20所述的增稳机构，其特征在于，所述四连杆机构为双摇杆机构，所述四连杆机构包括第一摇杆、第二摇杆和安装杆，所述安装杆与所述第一摇杆、第二摇杆铰接。
  22. 如权利要求21所述的增稳机构，其特征在于，所述增稳机构还包括机架，所述差动齿轮组、第一电机、第二电机和四连杆机构均安装在所述机架上。
  23. 如权利要求22所述的增稳机构，其特征在于，所述机架包括框架，所述框架包括相对设置的两个平面框以及连接两个平面框的连接梁；
    所述差动齿轮组和所述曲柄滑块组件设置在所述两个平面框之间。
  24. 如权利要求23所述的增稳机构，其特征在于，所述平面框包括竖杆以及分别与所述竖杆的两端相连的第一水平杆、第二水平杆，两个平面框的第一水平杆由一连接梁连接，两个平面框的第二水平杆由另一连接梁连接。
  25. 如权利要求24所述的增稳机构，其特征在于，所述第一摇杆和第二摇杆与不同的连接梁球铰连接。
  26. 如权利要求24所述的增稳机构，其特征在于，所述第一半轴齿轮、第二半轴齿轮、第一电机与第二电机安装在所述竖杆上。
  27. 如权利要求23所述的增稳机构，其特征在于，所述机架还包括平面连接框，所述平面连接框包括相对设置的第一杆、第二杆以及连接在第一杆与第二杆之间的中间杆，所述第一杆、第二杆连接在不同平面框的竖杆上。
  28. 如权利要求18所述的增稳机构，其特征在于，所述曲柄固定在所述第一行星齿轮的转轴上；所述曲柄滑块组件还包括一与所述滑块相配合的滑杆，所述滑杆的端部套设在所述转轴上。
  29. 如权利要求21所述的增稳机构，其特征在于，所述运动转化组件包括可供负载安装的安装座，所述安装座固定在所述安装杆上。
  30. 如权利要求29所述的增稳机构，其特征在于，所述安装座包括环形的安装部以及连接在安装杆与安装部之间的连接部。
  31. 如权利要求16所述的增稳机构，其特征在于，所述差动齿轮组还包括与第一半轴齿轮、第二半轴齿轮啮合的第二行星齿轮。
  32. 一种云台装置，其特征在于，所述云台装置包括如权利要求5至15、16至31中任一项所述的增稳机构。
  33. 如权利要求32所述的云台装置，其特征在于，所述云台装置还包括三轴云台。
  34. 一种拍摄设备，其特征在于，所述拍摄设备包括成像装置和如权利要求32或33所述的云台装置。
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