CN208703455U - Holder, hand-held holder and hand-held filming apparatus - Google Patents

Abstract

The utility model discloses a kind of holder, hand-held holder and hand-held filming apparatus.Holder includes the first shaft assembly and the second shaft assembly.First shaft assembly is rotated for connecting to load and drive to load around first axle；Second shaft assembly is for driving the first shaft assembly to swing around the second axis；Second axis is the drive shaft that the second shaft assembly drives the first shaft assembly to swing；Holder be configured for so that the center of gravity loaded relative to the first shaft assembly center of gravity closer to the second axis；The two opposite sides of vertical plane where second axis are for the live apart center of gravity of the first shaft assembly and the center of gravity of load；The axis that first shaft assembly is configured to first axle passes through load.In this way, since the second shaft assembly drives the first shaft assembly to swing, so that the second axis is set so that the weight of more first shaft assemblies participates in the center of gravity trim on the second axis as close as possible to load.Therefore, extra counterweight can be reduced in this way, so that holder volume reduces and is convenient for carrying, be conducive to improve user experience.

Description

Holder, hand-held holder and hand-held filming apparatus

Technical field

The utility model relates to holder technical fields, and in particular to a kind of holder, hand-held holder and hand-held filming apparatus.

Background technique

In the related technology, filming apparatus is held when being shot, it will usually because the shake of user's body and arm, makes The picture that must be shot has shake or fuzzy, it is therefore desirable to which hand-held holder increases steady to filming apparatus.However, hand-held holder increasing is surely set Standby usual volume is too big, it has not been convenient to carry, influence user experience.Therefore, how to design a kind of portable and small size hand-held Holder becomes technical problem to be solved.

Utility model content

In view of this, the present invention provides a kind of holder, hand-held holder and hand-held filming apparatus, can reduce extra match Weight is conducive to improve user experience so that holder volume reduces and is convenient for carrying.

The holder of the utility model embodiment, including the first shaft assembly and the second shaft assembly: first shaft assembly is used It is loaded in connection and the load is driven to rotate around first axle；Second shaft assembly is for driving first shaft assembly around the Two axis are swung；Second axis is the drive shaft that second shaft assembly drives first shaft assembly to swing；The holder quilt Be disposed for so that the load center of gravity relative to first shaft assembly center of gravity closer to second axis；Described The two opposite sides of vertical plane where two axis are for the live apart center of gravity of first shaft assembly and the center of gravity of the load；It is described The axis that first shaft assembly is configured to the first axle passes through the load.

In the holder of the utility model embodiment, since the second shaft assembly drives the first shaft assembly to swing, so that second Axis is set so that the weight of more first shaft assemblies participates in the center of gravity trim on the second axis as close as possible to load.Cause This, can reduce extra counterweight in this way, so that holder volume reduces and is convenient for carrying, be conducive to improve user experience.

In some embodiments, the holder includes armshaft, and the armshaft is connect with second shaft assembly.

In some embodiments, second shaft assembly includes voice coil motor, and the voice coil motor includes the first stator And the first rotor；The armshaft and the first rotor are rotatablely connected, and the armshaft is fixedly connected with first stator；It is described The first rotor is connect with first shaft assembly.

In some embodiments, the holder includes pedestal, and one end of the armshaft is arranged in the pedestal；Described Two shaft assemblies further include swing arm, and the swing arm and the pedestal are rotatablely connected, and are connect with first shaft assembly；Described first Stator is at least partially received in the pedestal, and the first rotor is at least partially received in the swing arm；The pendulum Arm and the first rotor are at least partially received in the pedestal.

In some embodiments, the medial surface of the pedestal be equipped with the first accommodation groove and the second accommodation groove, described second Accommodation groove is adjacent with first accommodation groove, and second accommodation groove is set to the outside of first accommodation groove；Described first Stator is at least partially received in first accommodation groove, and the swing arm and the first rotor are at least partially received in In second accommodation groove；The swing arm is equipped with third accommodation groove towards the one side of the medial surface, and the first rotor is extremely It is partially placed in the third accommodation groove.

In some embodiments, first stator and the first rotor are set to the two opposite sides of the vertical plane Described in the first shaft assembly center of gravity where side；First stator is electrical-coil, and the first rotor is motor magnetic Iron.

In some embodiments, the armshaft and the pedestal have cooperatively formed the 4th accommodation groove, and the swing arm is at least It is partly accommodated in the 4th accommodation groove, and the swing arm and the two sides of the 4th accommodation groove are rotatablely connected；Institute State side of the pedestal in the two sides of the 4th accommodation groove.

In some embodiments, the pedestal is structure as a whole with the armshaft.

In some embodiments, along the vertical direction of second axis, one end of the swing arm is used to bear with described Connection is carried, the other end of the swing arm is connect with first shaft assembly.

In some embodiments, first shaft assembly includes first motor, and the first motor includes the second stator With the second rotor；Second stator is fixedly connected with the swing arm, and second rotor and the swing arm are rotatablely connected, and institute The second rotor is stated for being fixedly connected with the load.

In some embodiments, along the first axle toward the direction of the load, the bitrochanteric shaft can Rotationally pass through the swing arm and for being fixedly connected with the load；One end that the swing arm connects second stator is equipped with Convex extension part, second stator are set to the outside of the convex extension part, and the bitrochanteric shaft is passed through from the convex extension part The swing arm；First shaft assembly further includes end housing, and one end that the end housing connects the shaft is equipped with accommodating chamber, institute It states the second stator and the convex extension part is at least partly placed in the accommodating chamber.

In some embodiments, first shaft assembly further includes load connection, the load connection with it is described Second rotor is fixedly connected, and the load connection is for connecting the load.

In some embodiments, the holder further includes third shaft assembly, and the third shaft assembly is used to support described First shaft assembly and second shaft assembly, and rotated for permitting the load around third axis.

In some embodiments, the third shaft assembly includes the armshaft and the second motor, and second motor is used In the driving armshaft rotation to drive first shaft assembly and second shaft assembly to rotate around the third axis；The axis Arm is fixedly connected on the rotor of second motor.

In some embodiments, first shaft assembly is roll shaft assembly, and second shaft assembly is pitch axis group Part, the third shaft assembly are yaw shaft assembly, the motor of the yaw shaft assembly be located at the motor of the roll shaft assembly with The lower section of the motor of the pitching shaft assembly.

In some embodiments, the center of gravity of the load is fallen in the first axle, the load and the roll axis The center of gravity of component is fallen on second axis, the load, the roll shaft assembly, the pitching shaft assembly, the yaw axis The center of gravity of component is fallen on the third axis.

The hand-held holder of the utility model embodiment, the holder including hand-held part and any of the above-described embodiment are described Second shaft assembly is mounted on the hand-held part.

In the hand-held holder of the utility model embodiment, since the second shaft assembly drives the first shaft assembly to swing, so that Second axis is set so that the weight of more first shaft assemblies participates in the center of gravity trim on the second axis as close as possible to load. Therefore, extra counterweight can be reduced in this way, so that holder volume reduces and is convenient for carrying, be conducive to improve user experience.

In some embodiments, when the holder includes third shaft assembly, the third shaft assembly is mounted on described On hand-held part, second shaft assembly is supported by the third shaft assembly.

The hand-held filming apparatus of the utility model embodiment, it is hand-held including imaging device and any of the above-described embodiment Holder, the hand-held holder are used to increase for the imaging device steady or the control imaging device posture.

In the hand-held filming apparatus of the utility model embodiment, since the second shaft assembly drives the first shaft assembly to swing, So that the second axis is set so that the weight of more first shaft assemblies participates in the center of gravity on the second axis as close as possible to load Trim.Therefore, extra counterweight can be reduced in this way, so that holder volume reduces and is convenient for carrying, be conducive to improve user experience.

The additional aspect and advantage of the embodiments of the present invention will be set forth in part in the description, partially will be from Become obvious in following description, or is recognized by the practice of the embodiments of the present invention.

Detailed description of the invention

In description of the above-mentioned and/or additional aspect and advantage of the utility model from combination following accompanying drawings to embodiment It will be apparent and be readily appreciated that, in which:

Fig. 1 is the schematic perspective fragmentary view of the hand-held filming apparatus of the utility model embodiment；

Fig. 2 is the stereoscopic schematic diagram of the holder of the utility model embodiment；

Fig. 3 is another stereoscopic schematic diagram of the holder of the utility model embodiment；

Fig. 4 is the decomposition diagram of the holder of the utility model embodiment；

Fig. 5 is the floor map of the holder of the utility model embodiment；

Fig. 6 is diagrammatic cross-section of the holder along the direction A-A of Fig. 5；

Fig. 7 is another floor map of the holder of the utility model embodiment；

Fig. 8 is another diagrammatic cross-section of the holder of the utility model embodiment.

Main element symbol description:

Hand-held filming apparatus 1000, hand-held holder 100, holder 10, the first shaft assembly 12, the first shaft assembly center of gravity 121, First motor 122, the second stator 1222, the second rotor 1224, bitrochanteric shaft 1226, end housing 124, accommodating chamber 1242, load connection 126, the second shaft assembly 14, voice coil motor 142, the first stator 1422, the first rotor 1424, swing arm 144, third accommodation groove 1442, convex extension part 1444, the shaft 1446 of the second shaft assembly, third shaft assembly 16, armshaft 162, second Motor 164, pedestal 18, medial surface 182, the first accommodation groove 1822, the second accommodation groove 1824, the 4th accommodation groove 184, axial trough 186, Second interface portion 19, hand-held part 20, first interface portion 21, shell 22, operation portion 23, installation interface 28, load 40, the weight loaded The heart 41, imaging device 200, first axle R, the second axis P, third axis Y, vertical plane S.

Specific embodiment

Or similar label indicates same or similar element or element with the same or similar functions.Below by ginseng The embodiment for examining attached drawing description is exemplary, and is only used for explaining the utility model, and should not be understood as to the utility model Limitation.

In the description of utility model, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", The orientation or positional relationship of the instructions such as " clockwise ", " counterclockwise " be based on the orientation or positional relationship shown in the drawings, be only for Convenient for description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have specifically Orientation is constructed and operated in a specific orientation, therefore should not be understood as the limitation to utility model.In addition, term " first ", " second " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicates indicated technology The quantity of feature.Define " first " as a result, the feature of " second " can explicitly or implicitly include it is one or more The feature.In the description of utility model, the meaning of " plurality " is two or more, unless otherwise clearly specific limit It is fixed.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection.It can be mechanical connection, be also possible to be electrically connected.Can be directly connected, can also indirectly connected through an intermediary, It can be the connection inside two elements or the interaction relationship of two elements.For those of ordinary skill in the art and Speech, can understand the concrete meaning of above-mentioned term in the present invention as the case may be.

Following disclosure provides many different embodiments or example is used to realize the different structure of the utility model. In order to simplify the disclosure of the utility model, hereinafter the component of specific examples and setting are described.Certainly, they are only Example, and purpose does not lie in limitation the utility model.In addition, the utility model can in different examples repeat reference numerals And/or reference letter, this repetition are for purposes of simplicity and clarity, itself not indicate discussed various embodiments And/or the relationship between setting.In addition, the example of various specific techniques and material that the utility model provides, but this Field those of ordinary skill can be appreciated that the application of other techniques and/or the use of other materials.

Also referring to Fig. 1, Fig. 2 and Fig. 3, the hand-held filming apparatus 1000 of the utility model embodiment includes imaging dress Set the hand-held holder 100 of 200 and the utility model embodiment.Hand-held holder 100 is used to increase steady or control for imaging device 200 The posture of imaging device 200.

The hand-held holder 100 of the utility model embodiment includes the holder of hand-held part 20 and the utility model embodiment 10, holder 10 may be mounted on hand-held part 20.

The holder 10 of the utility model embodiment includes the first shaft assembly 12 and the second shaft assembly 14, the first shaft assembly 12 For connecting 40 (such as imaging devices 200) of load and load 40 being driven to rotate around first axle R；Second shaft assembly 14 is for driving the One shaft assembly 12 is swung around the second axis P；Second axis P is the drive shaft that the second shaft assembly 14 drives the first shaft assembly 12 to swing；Cloud Platform 10 is configured for so that loading 40 center of gravity 41 relative to the center of gravity 121 of the first shaft assembly 12 closer to the second axis P；The The two opposite sides of vertical plane S where two axis P are for the center of gravity 121 for the first shaft assembly 12 of living apart and the center of gravity 41 of load 40.

In the holder 10 of the utility model embodiment, hand-held holder 100 and hand-held filming apparatus 1000, due to the second axis Component 14 drives the first shaft assembly 12 to swing, so that the second axis P is set so that more first axles as close as possible to load 40 The weight of component 12 participates in the center of gravity trim on the second axis P, therefore, can reduce extra counterweight in this way, so that 10 body of holder Product reduces and is convenient for carrying, and is conducive to improve user experience.

It is appreciated that normally, since the weight of 10 Middle shaft assembly of weight ratio holder of load 40 is big.In order to increase stabilization Performance avoids the corresponding construction in holder 10 from turning to any angle, will not generate driving torque, and reduce in holder 10 Driving device is the output torque fighting center of gravity injustice and generating, and hand-held filming apparatus 1000 is it is contemplated that the counterweight of holder 10 is asked Topic.Wherein it is possible to balanced the load by installing clump weight additional on shaft assembly 40 weight so that hand-held filming apparatus 1000 is more Add stabilization.However, clump weight is unfavorable for the miniaturization of cradle head structure based on the considerations of portability, and clump weight is smaller more has Conducive to the raising of user experience.In the utility model embodiment, due to the second axis P closer to load 40 center of gravity 41, And the center of gravity 121 far from the first shaft assembly 12, therefore, the self weight of the first shaft assembly 12 can more be used to carry out load 40 Trim, and be possible to withouyt clump weight, realize that center of gravity of the corresponding construction on the second axis P is flat in holder 10 Weighing apparatus.In addition, total weight required for trim is certain, in first axle due in the case where the structure of holder 10 is certain When the ratio for being reused in trim certainly of component 12 is more, even if needing additional configuration clump weight, the clump weight additionally configured can also To greatly reduce.So can reduce the whole volume and weight of holder 10 in this way, user-friendly and carrying.

It note that first axle R and the second axis P be the shaft of holder physical presence, dotted line shown in figure is first axle The axis of R and the second axis P.

The axis that first shaft assembly 12 is configured to first axle R passes through load 40.Specifically, the axis of first axle R can be with Load 40 is extended perpendicularly through, load 40 can also be obliquely passed through；The axis of first axle R can pass through the center of gravity 41 of load 40, The center of gravity 41 of load 40 can also be not passed through.The concrete form for not passing through load 40 to the axis of first axle R herein is defined.

In some embodiments, holder 10 includes armshaft 162, and armshaft 162 is connect with the second shaft assembly 14.In this way, axis Arm 162 can provide support for the second shaft assembly 14, and the second shaft assembly 14 can drive the first shaft assembly 12 and load 40 opposite Armshaft 162 is swung around the second axis P.

Fig. 4, Fig. 5 and Fig. 6 are please referred to, in some embodiments, the second shaft assembly 14 includes voice coil motor 142, voice coil Motor 142 includes the first stator 1422 and the first rotor 1424；Armshaft 162 and the first rotor 1424 are rotatablely connected, armshaft 162 with First stator 1422 is fixedly connected；The first rotor 1424 is connect with the first shaft assembly 12.

In this way, the first rotor 1424 can be swung relative to the first stator 1422 around the second axis P, so that the first rotor 1424 can swing relative to the 162 second axis P of armshaft being fixedly connected with the first stator 1422.Wherein, voice coil motor 142 is straight Driving motor and small volume are connect, not only in response to sensitive, also helps the volume for reducing holder 10.

Specifically, in Fig. 4, along the orthographic projection of P axis direction, the flat shape of the first rotor 1424 can substantially be in square The flat shape of shape, the first stator 1422 can be generally curved.Certainly, the first stator 1422 and the first rotor 1424 can also be with In other shapes, herein without limiting.

In some embodiments, holder 10 includes pedestal 18, and one end of armshaft 162 is arranged in pedestal 18；Second axis group Part 14 further includes swing arm 144, and swing arm 144 and pedestal 18 are rotatablely connected, and are connect with the first shaft assembly 12；First stator 1422 can To be at least partially received in pedestal 18, the first rotor 1424 can be at least partially received in swing arm 144.

In this way, the occupied spatial volume of voice coil motor 142 can be reduced, so that holder 10 is compact-sized.

In some embodiments, swing arm 144 and the first rotor 1424 are at least partially received in pedestal 18.Such as This, can make the structure of holder 10 more compact, be conducive to the volume for reducing holder 10.

Please join Fig. 4, Fig. 5 and Fig. 6 together, in some embodiments, the medial surface 182 of pedestal 18 is equipped with the first accommodation groove 1822 and second accommodation groove 1824, the second accommodation groove 1824 is adjacent with the first accommodation groove 1822, and the second accommodation groove 1824 is set to The outside of first accommodation groove 1822；First stator 1422 is at least partially received in the first accommodation groove 1822, swing arm 144 and One rotor 1424 is at least partially received in the second accommodation groove 1824；Swing arm 144 is equipped with towards the one side of medial surface 182 Third accommodation groove 1442, the first rotor 1424 are at least partly placed in third accommodation groove 1442.

In this way, the structure of the second shaft assembly 14 and pedestal 18 is more compact, cooperation is even closer, is conducive to 10 volume of holder Reduction and appearance beautification.In addition, the first accommodation groove 1822 can not only accommodate the first stator 1422, can also produce Cheng Zhong limits the position of the first stator 1422, is conducive to improve assembly efficiency, to improve production efficiency.Similarly, second holds It sets slot 1824 and third accommodation groove 1442 also plays the effect of defined position, details are not described herein.

Preferably, the first stator 1422 is fully accommodated in the first accommodation groove 1822, the first rotor 1424 fully holds It is placed in third accommodation groove 1442.In this way, the first stator 1422 will not be protruded from the first accommodation groove 1822, the first rotor 1424 is not It can be protruded from third accommodation groove 1442, so that swing arm 144 and the cooperation of pedestal are even closer.

Incorporated by reference to Fig. 1 and Fig. 4, in some embodiments, the first stator 1422 and the first rotor 1424 are set to vertical put down Side in the two opposite sides of face S where the center of gravity 121 of the first shaft assembly 12.

In this way, the center of gravity of load 40 in the two opposite sides of vertical plane S can be located to avoid most of volume of pedestal 18 Side where 41, to prevent pedestal 18 from influencing on the change of the connection type of load 40 and rotation.For example, if load 40 For such as mobile phone, then when the first stator 1422 and the first rotor 1424 in the two opposite sides of vertical plane S first axle group When the side at 121 place of center of gravity of part 12, mobile phone can be laterally or vertically carried on holder 10, if but when the first stator 1422 When loading 40 side at 41 place of center of gravity in the two opposite sides of vertical plane S with the first rotor 1424, due to pedestal 18 Influence, mobile phone possibly can not lateral bearing on holder 10, and in the case, if desired by mobile phone lateral bearing in holder On 10, it may be necessary to extend the length of swing arm 144, to be unfavorable for the miniaturization of holder, alternatively, may also be by mobile phone toward separate The direction of pedestal 18 is installed, but may cause holder 10 center of gravity can not trim, as in holder 10 corresponding construction on the second axis P Center of gravity trim.Therefore, it is arranged by the position of above-mentioned first stator 1422 and the first rotor 1424, can reduce holder 10 Weight and volume facilitates user to carry and use.

Certainly, under possible design conditions, the first stator 1422 and the first rotor 1424 can also be set to vertical plane S Two opposite sides in load 40 center of gravity 41 where side.Herein not to the specific of the first stator 1422 and the first rotor 1424 Position is defined.

In some embodiments, the first stator 1422 is electrical-coil, and the first rotor 1424 is motor magnet.

In this way, realizing the concrete configuration of the first stator 1422 and the first rotor 1424.

In this way, realizing the concrete configuration of the first stator 1422 and the first rotor 1424.Wherein, for opposite base 18, electricity Machine magnet is close to the outside of pedestal 18, and outside of the electrical-coil with respect to motor magnet far from pedestal 18, all so as to reduce Influence of such as dust to electrical-coil reduces dust etc. and damages caused by voice coil motor.

It is appreciated that voice coil motor is direct-driving motor, electric energy can be directly changed into mechanical energy, without appointing The transmission device of what intermediate conversion, structure are simplified.Moreover, voice coil motor can do it is small do it is flat, be conducive to the compact of holder 10 and Miniaturization.In addition, electrical-coil can generate magnetic field when being powered to generate active force to motor magnet, it is based on this, the first rotor 1424 can generate relative motion with the first stator 1422, that is to say the first rotor 1424 relative to the first stator 1422 around second Axis P rotation, and then the first shaft assembly and load is driven to swing around the second axis P.

Certainly, in some embodiments, can be the first stator 1422 is motor magnet, and the first rotor 1424 is motor Coil.

In some embodiments, armshaft 162 and pedestal 18 have cooperatively formed the 4th accommodation groove 184, at least portion of swing arm 144 It is accommodated in the 4th accommodation groove 184 with dividing, and swing arm 144 and the two sides of the 4th accommodation groove 184 are rotatablely connected；Pedestal 18 is set Side in the two sides of the 4th accommodation groove 184.

In this way, the position of swing arm 144 can be limited, so that the swing of swing arm 144 is more stable.Further, it is also possible to utilize The structure of armshaft 162, so that the structure of holder 10 is more compact.

Specifically, swing arm 144 is formed with the shaft 1446 of the second shaft assembly 14, that is to say the second axis P.Second shaft assembly 14 Shaft 1446 protruded from swing arm 144 to two sides.Pedestal 18 and armshaft 162 are each formed with the shaft with the second shaft assembly 14 The axial trough 186 of 1446 adaptations, the shaft 1446 of the second shaft assembly 14 are rotatably arranged in axial trough 186.

In some embodiments, the 4th accommodation groove 184 is generally U-shaped.In this way, the second shaft assembly 14 by pedestal 18 and 162 sandwiched of armshaft limits movement of second shaft assembly 14 on the direction of the second axis P, is conducive to the swing of the second shaft assembly 14 Stabilization.Certainly, the 4th accommodation groove 184 can also substantially be in other shapes.Herein not to the concrete shape of the 4th accommodation groove 184 It is defined.

In some embodiments, pedestal 18 is structure as a whole with armshaft 162.So, it is possible to reduce number of parts, it is convenient Assembling is conducive to improve production efficiency.Specifically, pedestal 18 and armshaft 162 can be integrally formed using the technique of injection molding Manufacture.Certainly, pedestal 18 seperated can also be formed with armshaft 162, herein without limiting.

In some embodiments, along the vertical direction of the second axis P, one end of swing arm 144 can be connect with load 40, The other end of swing arm 144 can be connect with the first shaft assembly 12.

In this way, swing arm 144 can be swung with dynamic load 40 and the first shaft assembly 12 around the second axis P.It note that herein " connection ", which can refer to, to be directly connected to may also mean that and is indirectly connected with.Specifically, one end of swing arm 144 can directly with load 40 Connection, can also be connect with load 40 indirectly by load connection 126.Certainly, swing arm 144 can also by other structures with Load 40 is indirectly connected with.

It is appreciated that load connection 126 can be used as the element part of the first shaft assembly 12, it can also be independently of first Shaft assembly 12.

Referring to Figure 7 together and Fig. 8, in some embodiments, the first shaft assembly 12 includes first motor 122, and first Motor 122 includes the second stator 1222 and the second rotor 1224；Second stator 1222 is fixedly connected with swing arm 144, the second rotor 1224 are rotatablely connected with swing arm 144, and the second rotor 1224 with load 40 for being fixedly connected.

In this way, swing arm 144 can drive the first shaft assembly 12 to swing around the second axis P by the second stator 1222, first axle Component 12 can drive load 40 to rotate around first axle R by the second rotor 1224.

In some embodiments, along first axle R toward the direction of load 40, the shaft 1226 of the second rotor 1224 can turn Swing arm 144 is passed through dynamicly and is fixedly connected with load 40.

In this way, realizing the connection of the second rotor 1224 and load 40.Specifically, the shaft 1226 of the second rotor 1224 can be with It is directly connect with load 40, can also be connected indirectly by load connection 126 and loads 40, other structures can also be passed through It is indirectly connected with load 40.

In some embodiments, one end that swing arm 144 connects the second stator 1222 is equipped with convex extension part 1444, the second stator 1222 are set to the outside of convex extension part 1444, and the shaft 1226 of the second rotor 1224 passes through swing arm 144 from convex extension part 1444；First Shaft assembly 12 further includes end housing 124, and one end that end housing 124 connects shaft 1226 is equipped with accommodating chamber 1242, the second stator 1222 and convex extension part 1444 be at least partly placed in accommodating chamber 1242.

In this way, the second stator 1222 and convex extension part 1444 are accommodated, and it will not be exposed, be conducive to the beauty of 10 shape of holder It sees, can also prevent dust from entering the inside of first motor 122 and influence the normal work of first motor 122.

Specifically, end housing 124 can be a part of the second rotor 1224.In addition, the matching on the second axis P of holder 10 Weight also can integrate in the second rotor 1224.Number of parts, such as clump weight can be reduced in this way, be conducive to improve production efficiency and Assembly efficiency.

In some embodiments, the first shaft assembly 12 further includes load connection 126, load connection 126 and second Rotor 1224 is fixedly connected, and load connection 126 is for connecting load 40.

In this way, load connection 126 realizes the connection of load 40 and the first shaft assembly 12.Load 40 can be removably It is mounted on load connection 126.

It is appreciated that load connection 126 can also be used as a part of first motor 122, such as the of first motor 122 The shaft protective shell of two rotors 1224.

In some embodiments, load connection 126 includes but is not limited to holding attachment or magnetic coupling.Load 40 installation and removal mode is simple, can be convenient user's use, improves user experience.

It is appreciated that load 40 can be clamped and then be fixed on by holding attachment when holder 10 is using holding attachment On first shaft assembly 12, such first shaft assembly 12 is that load 40 provides increasing steady function on first axle R.Holder 10 is using magnetic When connector, magnetic coupling may be provided with magnet, and the shell itself that ferrimagnet or load 40 are arranged in load 40 is Ferrimagnet, so that load 40 is by magnetic absorption on magnetic coupling.It, can be in this way, 40 installation and removal of load are simple It is user-friendly.In the example of diagram, load connection 126 is magnetic coupling.

In some embodiments, holder 10 further includes third shaft assembly 16, and third shaft assembly 16 is used to support first axle Component 12 and the second shaft assembly 14, and rotated for permitting load 40 around third axis Y.

It is appreciated that in such an embodiment, holder 10 is three axis holders, and load 40 can be around first axle R and the Three axis Y rotation is swung around the second axis P, in this way, holder 10 can be steady for 40 increasing of load in three different axial directions or control is negative 40 posture is carried, so that load 40 may remain in preferable and more working condition.

In some embodiments, third shaft assembly 16 may include armshaft 162 and the second motor 164, the second motor 164 For driving the rotation of armshaft 162 to drive the first shaft assembly 12 and the second shaft assembly 14 to rotate around third axis Y.In this way, realizing cloud The first shaft assembly 12 and the second shaft assembly 14 of platform 10 are rotated around third axis Y.

In some embodiments, armshaft 162 is fixedly connected on the rotor 1642 of the second motor 164.In this way, can pass through The rotor 1642 of second motor 164 is rotated relative to the stator 1644 of the second motor 164 around third axis Y, so that the of holder 10 One shaft assembly 12 and the second shaft assembly 14 are rotated around third axis Y.

In some embodiments, the first shaft assembly 12 can be roll (roll) shaft assembly, and the second shaft assembly 14 can be with For pitch axis (pitch) component, third shaft assembly 16 can be yaw (yaw) shaft assembly, yaw the motor (i.e. second of shaft assembly Motor 164) it is located at the motor (i.e. first motor 122) of roll shaft assembly and the motor (i.e. voice coil motor 142) of pitching shaft assembly Lower section.

In this way, the first shaft assembly 12 can control load 40 in the posture in roll direction, the second shaft assembly 14 be can control In the posture of pitch orientation, third shaft assembly 16 can control load 40 in the posture of yaw direction for load 40, and holder 10 can be Three-axis stability augmentation and gesture stability are realized in load 40, and load 40 may remain in preferable posture.In this way, three axis holder only one axis Arm 162 reduces the use due to multiple armshafts and increased space, and the vertical dimension of armshaft 162 also can be as much as possible Reduce, so that holder 10 has lesser volume, user is facilitated to carry.

It is appreciated that the first motor 122 of the first shaft assembly 12, the voice coil motor 142 of the second shaft assembly 14, third axis group Second motor 164 of part 16 can also be put in order other than with above-mentioned sequence arrangement from top to bottom using other, such as horizontal To being arranged from outside to inside when setting, at this point, the first shaft assembly 12, the second shaft assembly 14, third shaft assembly 16 and roll shaft assembly, Corresponding change will occur for pitching shaft assembly, the relationship for yawing shaft assembly, i.e. the first shaft assembly 12 be not limited to roll shaft assembly, Second shaft assembly 14 is not limited to pitching shaft assembly, and third shaft assembly 16 is not limited to yaw shaft assembly.

In some embodiments, loading 40 center of gravity can fall on first axle R, the weight of load 40 and roll shaft assembly The heart can be fallen on the second axis P, load 40, roll shaft assembly, pitching shaft assembly, yaw shaft assembly center of gravity can fall in third On axis Y.

In this way, holder 10 can keep gravity balance, the black box around the rotation of each axis will not generate driving torque, have Conducive to increase by 10 structural stability of holder, the better reliability of holder 10, and it can reduce corresponding motor as confrontation corresponding construction Center of gravity injustice torque output.It is appreciated that for the structural stability for realizing above-mentioned holder 10, it can be as needed to holder 10 Structure design be adjusted.

In some embodiments, the second axis P and first axle R is mutually perpendicular to, and the second axis P and third axis Y are mutually perpendicular to.

In this way, holder 10 is orthogonal holder, it can be provided in three mutually orthogonal directions for load 40 and increase steady and appearance State control, improves the flexibility of holder 10.

In some embodiments, the angle that third axis Y can be formed between the second axis P is on-right angle.

This manner it is also possible to realize non-orthogonal holder.

In some embodiments, load 40 can be one of sensor, imaging device, mobile terminal.

It is appreciated that when the acquisition environmental information such as sensor, imaging device and mobile terminal, it usually needs keep certain Posture is to obtain more accurate information.In this way, holder 10 can provide for sensor, imaging device and mobile terminal etc. increases steady and appearance State control, can work in preferable posture, to obtain more accurate information.

Sensor can be attitude transducer (such as acceleration transducer, angular transducer, Inertial Measurement Unit.Imaging dress Setting can be the imaging devices such as camera, video camera, and mobile terminal can be mobile phone, tablet computer, intelligent wearable device etc..It can manage Solution, imaging device can also be certain mobile terminals, such as imaging device is that have to take pictures and the mobile phone of recording function, plate electricity Brain, intelligent wearable device etc., in other words, mobile terminal can also be certain imaging devices.In the utility model embodiment In holder 10, it is illustrated so that load 40 is mobile phone as an example.

Specifically, it holds in filming apparatus 1000, the load 40 for holding holder 100 is imaging device 200, holds holder 100 increase steady and gesture stability for imaging device 200 in the corresponding direction makes imaging device 200 be maintained at preferably work appearance State improves the quality that imaging device 200 acquires image to reach better shooting effect.

In some embodiments, holder 10 is two axis holders.In this way, lesser volume can be kept, user is facilitated to take Band.

In some embodiments, the second shaft assembly 14 is mounted on hand-held part 20.

In the present embodiment, holder can be held for two axis by holding holder 100, i.e., hand-held holder 100 includes the first shaft assembly 12, second shaft assembly 14 the two shaft assemblies.At this point, the second shaft assembly 14 may be mounted on hand-held part 20, holder 10 can be with It is provided in two different directions for load 40 and increases steady and gesture stability.

In some embodiments, when holder 10 includes third shaft assembly 16, third shaft assembly 16 is mounted on hand-held part On 20, the second shaft assembly 14 is supported by third shaft assembly 16.

In this way, user hand is adept to hold holder 100, holder 10 can on three different directions for load 40 provide increasing surely and Gesture stability.Specifically, in some embodiments, hand-held part 20 is equipped with the first interface portion 21 connecting with holder 10, holder 10 include the second interface portion 19 for cooperating first interface portion 21；Wherein, when holder 10 is supported on hand-held part 20, first The mechanicalness connection and electric connection that interface portion 21 and second interface portion 19 cooperate to be formed between holder 10 and hand-held part 20.

In some embodiments, when hand-held part 20 is separated with holder 10, holder 10 and hand-held part 20 are wired or wireless Communication connection.

It works in this way, user's operation hand-held part 20 can control holder 10 by wired or wireless communication, improves holder 10 operation ease.

Specifically, hand-held part 20 includes shell 22, operation portion 23 and controller, is provided with operation portion 23, shell on shell 22 Controller is provided in body 22, operation portion 23 is used to execute according to input information corresponding for receiving input information, controller Operation.

In this way, user can enter information to control holder 10 by operation portion 23 so that load 40 postures change, example When such as, using hand-held holder 100, user can input information by operation portion 23 so that it is determined that the default appearance that load 40 works State, so that load 40 is available to preset desired effect.

Operation portion 23 may include rocking bar and key, and user can shake rocking bar to control the first shaft assembly of holder 10 12, the first shaft assembly 14 and third shaft assembly 16 work, and then adjust load 40 in preset posture.User can be by pressing keying 40 work of system load, such as take pictures, record a video.

Battery is provided in shell 22.In this way, battery can be 40 power supply of holder 10 and/or load.Specifically, hand-held part 20 Charging interface and power supply interface can be set.In one example, battery can be rechargeable lithium battery.

In some embodiments, holding holder 100 further includes attitude transducer, and attitude transducer is for measuring load 40 Posture, controller be used for according to load 40 gesture stability holder 10 work.

Wherein, attitude transducer can be directly connected to load 40, so by determining the posture of load 40, and then can be with The posture of holder 10 is determined, it is possible thereby to adjust the current pose of holder 10.

In this way, hand-held holder 100 can load 40 posture by the posture information adjustment that attitude transducer detects, so that Load 40, which is maintained under preset posture, to work, and obtains desired effect.

In some embodiments, 22 bottom of shell is provided with installation interface 26.In this way, hand-held holder 100 can pass through Installation interface 26 is mounted in bracket or other fixation members, and hand-held holder 100 is adapted to different working environments, is realized more It is multi-functional.

In the description of this specification, reference term " certain embodiments ", " embodiment ", " some embodiment party The description of formula ", " exemplary embodiment ", " example ", " specific example " or " some examples " etc. means in conjunction with the embodiment party Formula or example particular features, structures, materials, or characteristics described be contained in the utility model at least one embodiment or In example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or example.And And particular features, structures, materials, or characteristics described can be in any one or more embodiments or example to close Suitable mode combines.

Although the embodiments of the present invention have been shown and described above, it is to be understood that above-described embodiment is Illustratively, it should not be understood as limiting the present invention, those skilled in the art are in the scope of the utility model Inside it can make changes, modifications, alterations, and variations to the above described embodiments.

Claims (19)

1. a kind of holder, including the first shaft assembly and the second shaft assembly, it is characterised in that:

First shaft assembly is for connecting load and the load being driven to rotate around first axle；

Second shaft assembly is for driving first shaft assembly to swing around the second axis；

Second axis is the drive shaft that second shaft assembly drives first shaft assembly to swing；

The holder be configured for so that the load center of gravity relative to first shaft assembly center of gravity closer to institute State the second axis；

Center of gravity and the load of the two opposite sides of vertical plane where second axis for first shaft assembly of living apart Center of gravity；

The axis that first shaft assembly is configured to the first axle passes through the load.

2. holder as described in claim 1, which is characterized in that the holder includes armshaft, the armshaft and second axis Component connection.

3. holder as claimed in claim 2, feature exist, second shaft assembly includes voice coil motor, the voice coil motor Including the first stator and the first rotor；

The armshaft and the first rotor are rotatablely connected, and the armshaft is fixedly connected with first stator；

The first rotor is connect with first shaft assembly.

4. holder as claimed in claim 3, which is characterized in that the holder includes pedestal, and the pedestal is arranged in the axis One end of arm；Second shaft assembly further includes swing arm, and the swing arm and the pedestal are rotatablely connected, and with the first axle group Part connection；First stator is at least partially received in the pedestal, and the first rotor is at least partially received in institute It states in swing arm；

The swing arm and the first rotor are at least partially received in the pedestal.

5. holder as claimed in claim 4, which is characterized in that the medial surface of the pedestal, which is equipped with the first accommodation groove and second, to be held Slot is set, second accommodation groove is adjacent with first accommodation groove, and second accommodation groove is set to first accommodation groove Outside；

First stator is at least partially received in first accommodation groove, and the swing arm and the first rotor are at least It is partly accommodated in second accommodation groove；

The swing arm is equipped with third accommodation groove towards the one side of the medial surface, and the first rotor is at least partly placed in In the third accommodation groove.

6. the holder as described in any one of claim 3 to 5, which is characterized in that first stator and the first rotor Side where the center of gravity of first shaft assembly described in two opposite sides set on the vertical plane；

First stator is electrical-coil, and the first rotor is motor magnet.

7. holder as described in claim 4 or 5, which is characterized in that the armshaft and the pedestal have cooperatively formed the 4th appearance Slot is set, the swing arm is at least partially received in the 4th accommodation groove, and the swing arm and the two of the 4th accommodation groove Side is rotatablely connected；The pedestal is set to the side in the two sides of the 4th accommodation groove.

8. holder as described in claim 4 or 5, which is characterized in that the pedestal is structure as a whole with the armshaft.

9. holder as described in claim 4 or 5, which is characterized in that along the vertical direction of second axis, the swing arm One end is used to connect with the load, and the other end of the swing arm is connect with first shaft assembly.

10. holder as described in claim 4 or 5, which is characterized in that first shaft assembly includes first motor, and described One motor includes the second stator and the second rotor；Second stator is fixedly connected with the swing arm, second rotor and institute Swing arm rotation connection is stated, and second rotor is used to be fixedly connected with the load.

11. holder as claimed in claim 10, which is characterized in that described along the first axle toward the direction of the load Bitrochanteric shaft penetrates rotatably the swing arm and for being fixedly connected with the load；

One end that the swing arm connects second stator is equipped with convex extension part, and second stator is set to the periphery of the convex extension part It encloses, the bitrochanteric shaft passes through the swing arm from the convex extension part；

First shaft assembly further includes end housing, and one end that the end housing connects the shaft is equipped with accommodating chamber, and described the Two stators and the convex extension part are at least partly placed in the accommodating chamber.

12. holder as claimed in claim 10, which is characterized in that first shaft assembly further includes load connection, described Load connection is fixedly connected with second rotor, and the load connection is for connecting the load.

13. holder the invention according to any one of claims 2 to 5, which is characterized in that the holder further includes third shaft assembly, The third shaft assembly is used to support first shaft assembly and second shaft assembly, and for permitting the load around third Axis rotation.

14. holder as claimed in claim 13, which is characterized in that the third shaft assembly includes the armshaft and the second electricity Machine, second motor is for driving the armshaft rotation to drive first shaft assembly and second shaft assembly around described The rotation of third axis；

The armshaft is fixedly connected on the rotor of second motor.

15. holder as claimed in claim 13, which is characterized in that first shaft assembly be roll shaft assembly, described second Shaft assembly is pitching shaft assembly, and the third shaft assembly is yaw shaft assembly, and the motor of the yaw shaft assembly is located at the cross The lower section of the motor of the motor of roller assembly and the pitching shaft assembly.

16. holder as claimed in claim 15, which is characterized in that the center of gravity of the load is fallen in the first axle, described The center of gravity of load and the roll shaft assembly is fallen on second axis, the load, the roll shaft assembly, the pitch axis Component, the center of gravity for yawing shaft assembly are fallen on the third axis.

17. a kind of hand-held holder, which is characterized in that described including hand-held part and the described in any item holders of claim 1-16 Second shaft assembly is mounted on the hand-held part.

18. hand-held holder as claimed in claim 17, which is characterized in that described when the holder includes third shaft assembly Third shaft assembly is mounted on the hand-held part, and second shaft assembly is supported by the third shaft assembly.

19. a kind of hand-held filming apparatus, which is characterized in that including hand-held cloud described in imaging device and claim 17 or 18 Platform, the hand-held holder are used to increase for the imaging device steady or the control imaging device posture.