CN209604859U - Holder and hand-held holder - Google Patents
Holder and hand-held holder Download PDFInfo
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- CN209604859U CN209604859U CN201821786334.6U CN201821786334U CN209604859U CN 209604859 U CN209604859 U CN 209604859U CN 201821786334 U CN201821786334 U CN 201821786334U CN 209604859 U CN209604859 U CN 209604859U
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- shaft assembly
- axis
- roll
- holder
- load
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 68
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Abstract
The utility model discloses a kind of holders and hand-held holder.Holder includes pitching shaft assembly, roll shaft assembly and yaw shaft assembly.Roll shaft assembly connects pitching shaft assembly and yaw shaft assembly, pitching shaft assembly is rotated for connecting to load and drive to load, the motor of pitching shaft assembly, the motor of roll shaft assembly, the motor that yaws shaft assembly are arranged successively from top to bottom, holder is configured so that the motor of roll shaft assembly and yaw shaft assembly are located at the lower section of load, and the axis that pitching shaft assembly is configured to pitching shaft assembly passes through load.It so, it is possible to reduce holder to the screen of load or blocking for other positions, it might even be possible to be completely exposed screen or other positions, the load convenient for the user to operate of load, be conducive to promote user experience.
Description
Technical field
The utility model relates to holder technical fields, and in particular to a kind of holder and hand-held holder.
Background technique
In photography shooting process, photographer needs the display screen of observation camera in real time, facilitates adjustment photography composition.It is existing
Moving camera holder in shooting process, although having the advantages that more stable, the traditional moving camera cradle head structure pair of photographing
The screen serious shielding of camera affects photographer and observes camera screen, and inconvenient manpower carries out parameter regulation to camera.For
This problem is solved, roll axis armshaft is designed to non-orthogonal mode by some holders, but the problem of still block there is also armshaft,
And it is not easy to manpower and touches camera adjustments camera parameter.
Utility model content
In view of this, the present invention provides a kind of holder and hand-held holder, can reduce holder to the screen of load or
Other positions are blocked, or can be completely exposed load screen or other positions.
The utility model embodiment provides a kind of holder comprising pitching shaft assembly, roll shaft assembly and yaw axis group
Part, the roll shaft assembly connect the pitching shaft assembly and the yaw shaft assembly, and the pitching shaft assembly is negative for connecting
It carries and the load is driven to rotate, the motor of the pitching shaft assembly, the motor of the roll shaft assembly, the yaw shaft assembly
Motor be arranged successively from top to bottom, the holder be configured so that the roll shaft assembly motor and the yaw axis group
Part is located at the lower section of the load, and the axis that the pitching shaft assembly is configured to the pitching shaft assembly passes through the load.
The holder of the utility model can reduce holder to the screen of load or blocking for other positions, or can be complete
Screen or other positions, the load convenient for the user to operate for exposing load are conducive to promote user experience.
In some embodiments, the axis of the yaw shaft assembly intersects and hangs down with the axis of the roll shaft assembly
Directly, the axis of the roll shaft assembly and the axis of the pitching shaft assembly are mutually orthogonal, it is described yaw shaft assembly axis with
The axis of the pitching shaft assembly intersects and vertical.
In some embodiments, the axis of the axis of the motor driving shaft of the roll shaft assembly and the roll shaft assembly
Line is overlapped, or, the eccentric axis of the axis of the motor driving shaft of the roll shaft assembly and the roll shaft assembly is arranged.
In some embodiments, the holder includes connector, and the connector is rotatablely connected the roll shaft assembly
With the yaw shaft assembly, the motor of the roll shaft assembly is for driving the connector to move and driving the pitch axis group
Part is rotated around the axis of the roll shaft assembly.
In some embodiments, the motor driving shaft of the roll shaft assembly is located at the axis of the roll shaft assembly
Lower section.
In some embodiments, the motor of the roll shaft assembly includes roll axis rotor, on the roll axis rotor
Equipped with the first connector, the motor driving shaft eccentric setting of first connector and the roll shaft assembly, described first connects
It connects device and is rotatablely connected the connector.
In some embodiments, the roll shaft assembly includes pedestal, and the motor of the roll shaft assembly is located at described
In pedestal, the holder includes that the first axle being located on the axis of the roll shaft assembly and the second axis, the pedestal pass through institute
It states first axle and second axis is rotationally erected at the yaw shaft assembly.
In some embodiments, the motor of the roll shaft assembly includes roll axis stator and roll axis rotor, described
The motor of pitching shaft assembly includes pitch axis stator, and the roll shaft assembly includes roll axis armshaft, and the roll axis armshaft connects
Connect the roll axis stator and the pitch axis stator；Or
The roll axis armshaft connects the roll axis rotor and the pitch axis stator.
In some embodiments, the roll shaft assembly includes pedestal, and the yaw shaft assembly includes support arm, described
The motor for yawing shaft assembly includes yaw axis rotor, and the pedestal is fixedly connected with the roll axis armshaft and the roll axis stator
Or the roll axis rotor, the support arm are fixedly connected with the yaw axis rotor, the support arm is rotatablely connected the pedestal.
In some embodiments, the holder includes clump weight, and the clump weight is contained in the pedestal；
The clump weight is located at the lower section of the motor driving shaft of the roll shaft assembly, or, the clump weight is around described
The motor driving shaft of roll shaft assembly.
In some embodiments, the motor of the roll shaft assembly is located in the pedestal, the roll shaft assembly packet
First end cover and second end cover are included, the side of the pedestal offers opening, and the other side of the pedestal offers container, institute
It states container and is equipped with circuit board, the first end cover is mounted on the pedestal and covers the opening, the second end cover peace
Mounted in the pedestal and cover the container；
The support arm includes the first arm and the second arm of relative spacing setting, the pedestal, the first end cover and institute
Second end cover is stated to be rotatablely connected first arm and second arm and be at least partially situated at first arm and described second
Space between arm, first arm are fixedly connected with the roll axis rotor or the roll axis stator.
In some embodiments, the holder includes connector, and the connector is rotatablely connected the roll shaft assembly
With the yaw shaft assembly, the motor of the roll shaft assembly is for driving the connector to move and driving the pitch axis group
Part rotates around the axis, and the shaft is different from the motor driven of the movement of connector described in the motor driven of the roll shaft assembly
Axis, first arm are provided with the second connector and offer axis hole, and second connector connects the connector and is arranged
At the axis hole.
In some embodiments, the pitching shaft assembly includes the load connection for connecting the load, described
Load connection includes camera len, and the side of the camera len from the main part that the load connection is arranged the load is outside
Protrusion setting, the camera len include fixed part, clamping part and sticking department, and the clamping part and the fixed part are rotatablely connected,
An annulus is combined into when the clamping part is docked with the fixed part, the clamping part and the fixed part pass through the locking
One end of the clamping part is arranged in portion's locking, the sticking department, when the camera lens part packing of the load is set to the fixed part
Afterwards, it rotates after the clamping part docks with the fixed part, the clamping part and described solid can be completed by the sticking department
The locking between portion is determined, thus the camera lens part of the fixed load.
The utility model embodiment provides a kind of hand-held holder comprising the cloud of hand-held part and any of the above-described embodiment
Platform, the yaw shaft assembly are mounted on the hand-held part.
The hand-held holder of the utility model can reduce holder to the screen of load or blocking for other positions, or can be with
It is completely exposed screen or other positions, the load convenient for the user to operate of load, is conducive to promote user experience.
In some embodiments, the hand-held part includes shell, operation portion and controller, is arranged on the shell
Operation portion is stated, the controller is provided in the shell, the operation portion is used for for receiving input information, the controller
Corresponding operation is executed according to the input information.
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 stereoscopic schematic diagram of the hand-held filming apparatus of the utility model embodiment；
Fig. 2 is the decomposition diagram of the hand-held filming apparatus of the utility model embodiment；
Fig. 3 is another decomposition diagram of the hand-held filming apparatus of the utility model embodiment；
Fig. 4 is the floor map of the hand-held filming apparatus of the utility model embodiment；
Fig. 5 is diagrammatic cross-section of the hand-held filming apparatus along the direction A-A of Fig. 4；
Fig. 6 is the enlarged diagram of the part hand-held filming apparatus VI of Fig. 5；
Fig. 7 is the decomposition diagram of the hand-held filming apparatus of another embodiment of the utility model；
Fig. 8 is another decomposition diagram of the hand-held filming apparatus of another embodiment of the utility model；
Fig. 9 is the floor map of the hand-held filming apparatus of another embodiment of the utility model；
Figure 10 is diagrammatic cross-section of the hand-held filming apparatus along the direction B-B of Fig. 9；
Figure 11 is the enlarged diagram of the part hand-held filming apparatus XI of Figure 10；
Figure 12 is the partial cutaway schematic view of the hand-held filming apparatus of the utility model embodiment；
Figure 13 is the enlarged diagram of the part XIII of the hand-held filming apparatus of Figure 12.
Main Reference element explanation:
Hand-held filming apparatus 1000, hand-held holder 100, holder 10, shaft 11, first bearing 111, first axle 112, second
Bearing 113, the second axis 114, pitching shaft assembly 12, pitching spindle motor 122, pitch axis stator 1222, pitch axis rotor 1224,
Load connection 124, camera len 1242, fixed part 1243, clamping part 1244, sticking department 1245, clump weight 13, roll shaft assembly
14, roll spindle motor 142, motor driving shaft 1422, the axis E of motor driving shaft, roll axis rotor 1424, roll axis stator
1425, pedestal 144, opening 1442, container 1444, circuit board 1446, roll axis armshaft 146, first end cover 148, end cap are logical
Hole 1482, second end cover 149, the first lid 15, yaw shaft assembly 16, yaw spindle motor 162, yaw axis rotor 1622, support arm
164, interconnecting piece 1641, the first arm 1642, lateral surface 1643, the second arm 1644, lateral surface 1645, axis hole 1646, first accommodate
Slot 1648, the second accommodation groove 1649, the second lid 17, connector 18, the first connector 182, the second connector 184, second interface
Portion 19, hand-held part 20, first interface portion 21, shell 22, operation portion 23, load 30, the axis Y for yawing shaft assembly, horizontal roller groups
The axis P of the axis R of part, pitching shaft assembly.
Specific embodiment
The embodiments of the present invention is described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein
Same or similar label indicates same or similar element or element with the same or similar functions from beginning to end.Lead to below
It crosses the embodiment being described with reference to the drawings to be exemplary, is only used for explaining the utility model, and should not be understood as practical to this
Novel 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.
Referring to Fig. 1, the hand-held filming apparatus 1000 of the utility model embodiment includes imaging device 200 and this is practical
The hand-held holder 100 of novel embodiment.Hand-held holder 100 is used to increase for imaging device 200 steady or control imaging device 200
Posture.
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 pitching shaft assembly 12, roll shaft assembly 14 and yaw shaft assembly
16, roll shaft assembly 14 connect pitching shaft assembly 12 and yaw shaft assembly 16, pitching shaft assembly 12 for connect load 30 (such as at
As device 200) and drive 30 rotation of load.Incorporated by reference to Fig. 2 and Fig. 7, in the orientation of diagram, the motor of pitching shaft assembly 12
122, the motor 142 of roll shaft assembly 14, yaw shaft assembly 16 motor 162 be arranged successively from top to bottom, holder 10 is configured
It is located at the lower section of load 30 at the motor 142 and yaw shaft assembly 16 that make roll shaft assembly 14.
The holder 10 of the utility model embodiment, hand-held holder 100 and hand-held filming apparatus 1000, can reduce holder
10 pairs of screens of load 30 or blocking for other positions, it might even be possible to be completely exposed the screen for loading 30 or other positions, be convenient for
User's operation load 30 is conducive to promote user experience.
Specifically, blocking for the screen of 10 pairs of holder loads 30 is reduced, can be convenient user's viewing screen both to carry out
Photography composition, and can be convenient user's contact screen to carry out contact action, therefore user experience can be promoted.In addition, this
The layout type of the holder 10 of utility model embodiment makes holder 10 during normal use, and there is no asking for Kinematics singularity
Topic.
The axis P that pitching shaft assembly 12 is configured to pitching shaft assembly 12 passes through load 30.Specifically, pitching shaft assembly 12
Axis P can extend perpendicularly through load 30, can also obliquely pass through load 30；The axis P's of pitching shaft assembly 12 can be with
Across the center of gravity of load 30, the center of gravity of load 30 can also be not passed through.Load is not passed through to the axis P of pitching shaft assembly 12 herein
30 concrete form is defined.
It note that succinct, the motor 122 of following pitching shaft assembly 12 referred to as the pitching spindle motor 122, cross for description
The referred to as yaw spindle motor of motor 162 that the motor 142 of roller assembly 14 is referred to as roll spindle motor 142, yaws shaft assembly 16
162。
In addition, pitching shaft assembly 12 can control load 30 in the posture in the direction pitching (PITCH), roll shaft assembly 14 can
To control load 30 in the posture in the direction roll (ROLL), yaw shaft assembly 16 can control load 30 in the direction yaw (YAW)
Posture, holder 10 can realize three-axis stability augmentations and gesture stability for load 30, so that load 30 is maintained at preferable posture.Imaging dress
Setting 200 can be used as the load 30 of holder 10.
In addition, yaw shaft assembly 16 axis R pass through roll spindle motor 142, in this way load 30, roll shaft assembly 14 and partially
Boat shaft assembly 16 can be successively arranged along the axis Y of yaw shaft assembly 16, make it possible to reduce the screen of 10 pairs of holder loads 30
Curtain or other positions are blocked, and can also make the holder more compact.
In some embodiments, the axis Y for yawing shaft assembly 16 intersects and vertical with the axis R of roll shaft assembly 14,
The axis R of roll shaft assembly 14 and the axis P of pitching shaft assembly 12 are mutually orthogonal, yaw the axis Y and pitch axis of shaft assembly 16
The axis P of component 12 intersects and vertical.In this way, holder 10 is orthogonal holder, can be negative in three mutually orthogonal directions
It carries 40 and provides and increase steady and gesture stability, improve the flexibility of holder 10.Specifically, the axis Y for yawing shaft assembly 16 is yaw
The pivot center when driving of shaft assembly 16 load 30, roll shaft assembly 14 and pitching shaft assembly 12 rotate.Roll shaft assembly 14
Pivot center when axis R is the driving of roll shaft assembly 14 load 30 and the rotation of pitching shaft assembly 12.The axis of pitching shaft assembly 12
Pivot center when line P is driving 30 rotation of load of pitching shaft assembly 12.
In other embodiments, holder 10 can also be nonopiate holder, yaw axis Y, the roll axis of shaft assembly 16
The axis P of the axis R of component 14 and pitching shaft assembly 12 at least a kind of non-orthogonal state between any two.
In the embodiment shown in Fig. 2-6 (calling embodiment one in the following text), the motor driving shaft 1422 of roll shaft assembly 14
Axis E be roll shaft assembly 14 axis R.In this way, roll spindle motor 142 can directly drive load 30 and pitching shaft assembly
12 rotations.The axis E of motor driving shaft 1422 herein refers to the central axis of motor driving shaft 1422.
In the embodiment shown in Fig. 7-Figure 13 (calling embodiment two in the following text), the motor driving shaft of roll shaft assembly 14
1422 axis E and the axis R eccentric setting of roll shaft assembly 14.In this way, roll spindle motor 142 can be by between connector 18
Ground connection driving load 30 and pitching shaft assembly 12 rotate.Similarly, the axis E of motor driving shaft 1422 herein refers to motor
The central axis of drive shaft 1422.Be conducive to mitigate the overall weight of holder 10 in this way.
The holder 10 of embodiment one and embodiment two is illustrated respectively below.
Embodiment one:
Fig. 1-Fig. 6 is please referred to, the holder 10 of embodiment one includes pitching shaft assembly 12, roll shaft assembly 14 and yaw axis
Component 16.In the orientation of diagram, pitching spindle motor 122, roll spindle motor 142, yaw spindle motor 162 are successively arranged from top to bottom
Column.
Pitching shaft assembly 12 is for connecting 30 (such as imaging devices 200) of load and driving 30 rotation of load.Pitching shaft assembly
12 include pitching spindle motor 122 and load connection 124.
Pitching spindle motor 122 includes pitch axis stator 1222 and pitch axis rotor 1224.Pitch axis rotor 1224 can phase
Axis P for pitch axis stator 1222 around pitching shaft assembly 12 is rotated, to drive load 30 around the axis of pitching shaft assembly 12
Line P rotation.
Load connection 124 is for connecting load 30.Load 30 can be sensor, imaging device, in mobile terminal
It is a kind of.It is appreciated that when the acquisition environmental information such as sensor, imaging device and mobile terminal, it usually needs keep certain appearance
State is to obtain more accurate information.In this way, holder 10 can provide for sensor, imaging device and mobile terminal etc. increases steady and posture
Control, can work in preferable posture, to obtain more accurate information.More specifically, sensor can be posture
Sensor (such as acceleration transducer, angular transducer, Inertial Measurement Unit.Imaging device can be the imaging such as camera, video camera
Device, mobile terminal can be mobile phone, tablet computer, intelligent wearable device etc..It is appreciated that imaging device can also be certain shiftings
Dynamic terminal, for example, imaging device be have to take pictures with the mobile phone of recording function, tablet computer, intelligent wearable device etc., or
It says, mobile terminal can also be certain imaging devices.In hand-held filming apparatus 1000, the load 30 for holding holder 100 is imaging
Device 200, hand-held holder 100 are that imaging device 200 increases surely in the corresponding direction and gesture stability keeps imaging device 200
In preferable operating attitude, to reach better shooting effect, the quality that imaging device 200 acquires image is improved.Load connection
Part 124 is fixedly connected with pitch axis rotor 1224.In this way, load connection 124 realizes load 30 and pitching shaft assembly 12
Connection.Load 30 can be removably mounted on load connection 124.It is appreciated that load connection 124 can also be used as
A part of pitching spindle motor 122, such as the protective shell of pitch axis rotor 1224.Load connection 124 includes but is not limited to clamp
Connector or magnetic coupling.The installation and removal mode of load 30 is simple, can be convenient user's use, improves user experience.
It is appreciated that load 30 can be clamped and then be fixed on pitch axis group by holding attachment when holder 10 is using holding attachment
On part 12, such pitching shaft assembly 12 is that load 30 provides increasing steady function on the axis P of pitching shaft assembly 12.Holder 10 is adopted
When with magnetic coupling, magnetic coupling may be provided with magnet, and the shell of ferrimagnet or load 30 is arranged in load 30
It itself is ferrimagnet, so that load 30 is by magnetic absorption on magnetic coupling.In this way, 30 installation and removal letter of load
It is single, it can be convenient user's use.
In the present embodiment, referring to Fig. 1, load connection 124 includes camera len 1242, camera len 1242 is self-supported
The side that connector 124 is arranged the main part 32 of load 30 outwardly protrudes setting.Camera len 1242 includes fixed part 1243, folder
Portion 1244 and sticking department 1245 are held, clamping part 1244 and fixed part 1243 are rotatablely connected, when clamping part 1244 and fixed part 1243
An annulus is combined into when docking, clamping part 1244 is locked with fixed part 1243 by sticking department 1245, and the setting of sticking department 1245 exists
One end of clamping part 1244.After the camera lens part packing for loading 30 is set to fixed part 1243, clamping part 1244 and fixed part are rotated
After 1243 docking, the locking between clamping part 1244 and fixed part 1243 can be completed by sticking department 1245, thus fixed negative
Carry 30 camera lens part.
Roll shaft assembly 14 connects pitching shaft assembly 12 and yaw shaft assembly 16.Roll shaft assembly 14 includes roll spindle motor
142, pedestal 144, roll axis armshaft 146, first end cover 148 and second end cover 149.
Also referring to Fig. 3, roll spindle motor 142 is located at the lower section of load 30.Roll spindle motor 142 turns including roll axis
Son 1424 and roll axis stator 1425, roll axis rotor 1424 can be relative to roll axis stators 1425 around motor driving shaft
1422 axis E rotation, so that roll shaft assembly 14 be driven to rotate around the axis R of roll shaft assembly 14.It note that electricity herein
The axis E of machine drive shaft 1422 refers to the central axis of motor driving shaft 1422.In the present embodiment, roll shaft assembly 14
The axis E of motor driving shaft 1422 is overlapped with the axis R of roll shaft assembly 14.
The pedestal 144 of roll shaft assembly 14 is fixedly connected with roll axis armshaft 146 and roll axis stator 1425 or roll axis turns
Son 1424.In this way, pedestal 144 and roll axis armshaft 146 can be around roll shaft assemblies 14 under the driving of roll spindle motor 142
Axis R rotation.
The pedestal 144 of roll shaft assembly 14 accommodates roll spindle motor 142 and clump weight 13.Roll spindle motor 142 is located at base
In seat 144, the receiving of roll spindle motor 142 has been achieved, not only can protect roll spindle motor 142, has reduced dust and enters,
It is also possible that the structure of holder 10 is more compact, be conducive to the miniaturization of holder 10.Holder 10 includes clump weight 13, counterweight
Block 13 is contained in pedestal 144, can make full use of the space of pedestal 144 in this way.It is appreciated that clump weight 13 can increase
The stability of holder 10.And clump weight 13 is contained in pedestal 144 to the space that can make full use of holder 10, so that holder 10
Structure it is more compact, be conducive to the miniaturization of holder 10.Specifically, the motor that clump weight 13 is located at roll shaft assembly 14 drives
The lower section of moving axis 1422.In this way, the trim that can meet 30 weight of load using lighter clump weight 13 may be implemented.It can manage
Solution, further away from the axis R of load 30 and roll shaft assembly 14, is matched in the case where the weight for loading 30 is certain needed for trim
Pouring weight 13 is lighter.The whole weight of holder 10 can be mitigated in this way, be conducive to the lightweight of holder 10, so that user be facilitated to make
With.
Roll axis armshaft 146 connects roll axis stator 1425 and pitch axis stator 1222.Or, roll axis armshaft 146 connects
Roll axis rotor 1424 and pitch axis stator 1222.In this way, realizing the connection of roll shaft assembly 14 and pitching shaft assembly 12.Tool
Body, roll spindle motor 142 can drive roll axis armshaft 146 to rotate, to drive roll shaft assembly 14, pitching shaft assembly
The 12 axis R with load 30 around roll shaft assembly 14 is rotated.Control load 30 is achieved in the posture in roll direction.In addition,
Since roll axis armshaft 146 connects pitch axis stator 1222, pitching spindle motor 122 can drive load 30 relative to roll
Axis armshaft 146 is rotated around the axis P of pitching shaft assembly 12.Control load 30 is achieved in the posture of pitch orientation.Specific
In structure, roll axis armshaft 146 can connect roll axis stator 1425, also can connect roll axis rotor 1424, be because of electricity
The rotation of the stator and rotor of machine be it is opposite, can define among the two of relative rotation wherein any one for stator,
Another is rotor, thus roll axis armshaft 146 connect it is therein any one, can be under the driving of roll spindle motor 142
It does relative motion relative to another.
The side of pedestal 144 offers opening 1442, and the other side of pedestal 144 offers container 1444, container
1444 are equipped with circuit board 1446, and first end cover 148 is mounted on pedestal 144 and covers opening 1442, and second end cover 149 is mounted on
Pedestal 144 simultaneously covers container 1444.In this way, first end cover 148 and second end cover 149 can be by the openings 1442 of pedestal 144
It is covered with container 1444, not only contributes to the smoothness and beauty in 10 shape of holder, dust can also be reduced and enter pedestal 144
It is interior, influence the normal work of circuit board 1446 and roll spindle motor 142.In addition, circuit board 1446 is accommodated in container 1444,
The space that pedestal 144 can be made full use of is conducive to the compact of 10 structure of holder.First end cover 148 offers end cap through-hole
1482, roll axis rotor 1424 or roll axis stator 1425 at least partly expose from end cap through-hole 1482.Specifically, at this
In embodiment, roll axis rotor 1424 at least partly exposes from end cap through-hole 1482, so that roll axis rotor 1424 can be with
It is connect with support arm 164, so that roll shaft assembly 14 is realized under the driving of roll spindle motor 142, relative to yaw shaft assembly
16 support arm 164 is rotated around the axis R of roll shaft assembly 14.
Yaw shaft assembly 16 is located at the lower section of load 30 and is connect by roll shaft assembly 14 with pitching shaft assembly 12.Yaw
Shaft assembly 16 includes yaw spindle motor 162 and support arm 164.Yawing spindle motor 162 includes yaw axis rotor 1622.
Support arm 164 is fixedly connected with yaw axis rotor 1622 and rotation connection pedestal 144.In this way, realizing yaw axis group
Part 16 is connect with roll shaft assembly 14.Specifically, since support arm 164 is fixedly connected with yaw axis rotor 1622 and rotation connection base
Seat 144, then, yaw spindle motor 162 can drive axis Y rotation of the support arm 164 around yaw shaft assembly 16, to drive cross
The axis Y rotation of roller assembly 14, pitching shaft assembly 12 and load 30 around yaw shaft assembly 16.Control load 30 is achieved to exist
The posture of yaw direction.
The center of gravity of load 30 can be fallen on the axis P of pitching shaft assembly 12, the center of gravity of load 30 and pitching shaft assembly 12
It can fall on the axis R of roll shaft assembly 14, load 30, pitching shaft assembly 12, yaws shaft assembly 16 at roll shaft assembly 14
Center of gravity can be fallen on the axis Y of yaw shaft assembly 16.In this way, holder 10 can keep gravity balance, around the rotation of each axis
Black box will not generate driving torque, be conducive to increase by 10 structural stability of holder, the better reliability of holder 10, and can be with
Reduce the torque output that corresponding motor is the center of gravity injustice for fighting corresponding construction.It is appreciated that for the knot for realizing above-mentioned holder 10
Structure stability, can as needed to holder 10 structure design be adjusted.
Support arm 164 includes the first arm 1642 and the second arm 1644 of relative spacing setting.Pedestal 144, first end cover 148
The first arm 1642 and the second arm 1644 are rotatablely connected with second end cover 149 and are at least partially situated at the first arm 1642 and the second arm
Space between 1644, the first arm 1642 are fixedly connected with roll axis rotor 1424 or roll axis stator 1425.In this way, realizing horizontal
The connection of roller assembly 14 and yaw shaft assembly 16.Specifically, the pedestal 144 of roll shaft assembly 14, first end cover 148 and second
End cap 149 is at least partially situated at the space between the first arm 1642 and the second arm 1644, so that the first arm 1642 and the second arm
1644 limit roll shaft assembly 14 along the movement model on the rotation axis direction of the first arm 1642 and the second arm 1644
It encloses, the rotation of roll shaft assembly 14 can be made more stable.And the first arm 1642 and roll axis rotor 1424 or roll axis are fixed
Son 1425 is fixedly connected, and when so that roll spindle motor 142 driving roll shaft assembly 14, roll shaft assembly 14 can be relative to yaw
Shaft assembly 16 is rotated around the axis E of motor driving shaft 1422.Also referring to Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the first arm 1642
Lateral surface 1643 is provided with the first accommodation groove 1648, and the lateral surface 1645 of the second arm 1644 is provided with the second accommodation groove 1649, cloud
Platform 10 includes the first lid 15 and the second lid 17, and the first arm 1642 includes the interconnecting piece 1641 positioned at the first accommodation groove 1648, connection
Portion 1641 is connect with roll axis rotor 1424 or roll axis stator 1425, and the first lid 15 is arranged in the first accommodation groove 1648 and covers
Lid interconnecting piece 1641, the second lid 17 are arranged in the second accommodation groove 1649.In this way, the first lid 15 and the second lid 17 can be by first
Accommodation groove 1648 and the covering of the second accommodation groove 1649, not only contribute to the smoothness and beauty in 10 shape of holder, can also reduce
Dust and steam enter in interconnecting piece 1641, influence the rotation of holder 10.
Referring to Fig. 2, yaws shaft assembly 16 and be mounted on hand-held part 20.In this way, user can be hand-held by holding
Portion 20 picks up hand-held holder 100, and holder 10, which can provide on three different directions for load 30, increases steady and gesture stability.Tool
Body, in some embodiments, hand-held part 20 is equipped with the first interface portion 21 connecting with holder 10, and holder 10 includes for matching
Close the second interface portion 19 in first interface portion 21；Wherein, when holder 10 is supported on hand-held part 20, first interface portion 21 with
Mechanicalness connection and electric connection of the cooperation of second interface portion 19 to be formed between holder 10 and hand-held part 20.When hand-held part 20 with
When holder 10 separates, holder 10 is connect with 20 wired or wireless communication of hand-held part.In this way, user's operation hand-held part 20 can pass through
Wired or wireless communication controls holder 10 and works, and improves the operation ease of holder 10.Specifically, hand-held part 20 includes shell
22, operation portion 23 and controller.Controller is provided in shell 22, operation portion 23 is used for for receiving input information, controller
Corresponding operation is executed according to input information.In this way, user can be entered information to by operation portion 23 control holder 10 with
Make to load 30 postures and change, for example, when using hand-held holder 100, user information can be inputted by operation portion 23 so that it is determined that
The preset posture of 30 work of load, so that load 30 is available to preset desired effect.In addition, being provided with electricity in shell 22
Pond.In this way, battery can be 30 power supply of holder 10 and/or load.Specifically, charging interface can be set in hand-held part 20 and power supply connects
Mouthful.In one example, battery can be rechargeable lithium battery.In addition, 22 bottom of shell is provided with installation interface.In this way, hand-held
Holder 100 can be mounted in bracket or other fixation members by installing interface, and hand-held holder 100 is adapted to different works
Make environment, realizes more multi-functional.Operation portion 23 is arranged on shell 22, and operation portion 23 may include rocking bar and key, Yong Huke
It controls the pitching shaft assembly 12 of holder 10, roll shaft assembly 14 and yaw shaft assembly 16 to shake rocking bar and works, and then adjust
Load 30 is in preset posture.User can be worked by loading 30 by key control, such as taken pictures, recorded a video.
In addition, hand-held holder 100 further includes attitude transducer, attitude transducer is used to measure the posture of load 30, control
Device is used to be worked according to the gesture stability holder 10 of load 30.Wherein, attitude transducer can be directly connected to load 30, so
By determining the posture of load 30, and then the posture of holder 10 can be determined, it is possible thereby to adjust the current pose of holder 10.
In this way, hand-held holder 100 can be by the posture for the posture information adjustment load 30 that attitude transducer detects, so that load 30 is protected
It holds and works under preset posture, obtain desired effect.
Embodiment two:
Please refer to Fig. 1, Fig. 7-Figure 13, the holder 10 of embodiment two includes pitching shaft assembly 12, roll shaft assembly 14, partially
Navigate shaft assembly 16 and connector 18.In the orientation of diagram, pitching spindle motor 122, roll spindle motor 142, yaw spindle motor 162
It is arranged successively from top to bottom.
Pitching shaft assembly 12 is for connecting 30 (such as imaging devices 200) of load and driving 30 rotation of load.Pitching shaft assembly
12 include pitching spindle motor 122 and load connection 124.
Pitching spindle motor 122 includes pitch axis stator 1222 and pitch axis rotor 1224.Pitch axis rotor 1224 can phase
Axis P for pitch axis stator 1222 around pitching shaft assembly 12 is rotated, to drive load 30 around the axis of pitching shaft assembly 12
Line P rotation.
Load connection 124 is for connecting load 30.Load 30 can be sensor, imaging device, in mobile terminal
It is a kind of.It is appreciated that when the acquisition environmental information such as sensor, imaging device and mobile terminal, it usually needs keep certain appearance
State is to obtain more accurate information.In this way, holder 10 can provide for sensor, imaging device and mobile terminal etc. increases steady and posture
Control, can work in preferable posture, to obtain more accurate information.More specifically, sensor can be posture
Sensor (such as acceleration transducer, angular transducer, Inertial Measurement Unit.Imaging device can be the imaging such as camera, video camera
Device, mobile terminal can be mobile phone, tablet computer, intelligent wearable device etc..It is appreciated that imaging device can also be certain shiftings
Dynamic terminal, for example, imaging device be have to take pictures with the mobile phone of recording function, tablet computer, intelligent wearable device etc., or
It says, mobile terminal can also be certain imaging devices.In hand-held filming apparatus 1000, the load 30 for holding holder 100 is imaging
Device 200, hand-held holder 100 are that imaging device 200 increases surely in the corresponding direction and gesture stability keeps imaging device 200
In preferable operating attitude, to reach better shooting effect, the quality that imaging device 200 acquires image is improved.Load connection
Part 124 is fixedly connected with pitch axis rotor 1224.In this way, load connection 124 realizes load 30 and pitching shaft assembly 12
Connection.Load 30 can be removably mounted on load connection 124.It is appreciated that load connection 124 can also be used as
A part of pitching spindle motor 122, such as the protective shell of pitch axis rotor 1224.Load connection 124 includes but is not limited to clamp
Connector or magnetic coupling.The installation and removal mode of load 30 is simple, can be convenient user's use, improves user experience.
It is appreciated that load 30 can be clamped and then be fixed on pitch axis group by holding attachment when holder 10 is using holding attachment
On part 12, such pitching shaft assembly 12 is that load 30 provides increasing steady function on the axis P of pitching shaft assembly 12.Holder 10 is adopted
When with magnetic coupling, magnetic coupling may be provided with magnet, and the shell of ferrimagnet or load 30 is arranged in load 30
It itself is ferrimagnet, so that load 30 is by magnetic absorption on magnetic coupling.In this way, 30 installation and removal letter of load
It is single, it can be convenient user's use.
Roll shaft assembly 14 connects pitching shaft assembly 12 and yaw shaft assembly 16.Roll shaft assembly 14 includes roll spindle motor
142, pedestal 144, roll axis armshaft 146, first end cover 148 and second end cover 149.
Also referring to Fig. 8, the axis E of the motor driving shaft 1422 of roll shaft assembly 14 and the axis of roll shaft assembly 14
R eccentric setting.In this way, roll spindle motor 142 can drive indirectly load 30 and pitching shaft assembly 12 to rotate by connector 18.
The axis E of motor driving shaft 1422 herein refers to the central axis of motor driving shaft 1422.Be conducive to mitigate holder 10 in this way
Overall weight.Roll spindle motor 142 is located at the lower section of load 30.Roll spindle motor 142 includes roll axis rotor 1424 and cross
Roller bearing stator 1425, roll axis rotor 1424 can turn relative to roll axis stator 1425 around the axis E of motor driving shaft 1422
It is dynamic, to drive roll shaft assembly 14 to rotate around the axis R of roll shaft assembly 14 indirectly by connector 18.It note that this
The axis E of the motor driving shaft 1422 at place refers to the central axis of motor driving shaft 1422.In the present embodiment, roll axis
The axis E of the motor driving shaft 1422 of component 14 is in the lower section of the axis R of roll shaft assembly 14.
The pedestal 144 of roll shaft assembly 14 is fixedly connected with roll axis armshaft 146 and roll axis stator 1425 or roll axis turns
Son 1424.In this way, pedestal 144 and roll axis armshaft 146 can be around roll shaft assemblies 14 under the driving of roll spindle motor 142
Axis R rotation.
The pedestal 144 of roll shaft assembly 14 accommodates roll spindle motor 142 and clump weight 13.Roll spindle motor 142 is located at base
In seat 144, the receiving of roll spindle motor 142 has been achieved, not only can protect roll spindle motor 142, has reduced dust and enters,
It is also possible that the structure of holder 10 is more compact, be conducive to the miniaturization of holder 10.Referring to Fig. 7, holder 10 includes
Clump weight 13, clump weight 13 are contained in pedestal 144, can make full use of the space of pedestal 144 in this way.It is appreciated that counterweight
Block 13 can increase the stability of holder 10.And clump weight 13 is contained in pedestal 144 to the sky that can make full use of holder 10
Between, so that the structure of holder 10 is more compact, be conducive to the miniaturization of holder 10.Specifically, in the present embodiment, clump weight
13 surround the motor driving shaft 1422 of roll shaft assembly 14.In this way, the other set-up modes of clump weight 13 are provided, in practical life
It in production, can be selected from a variety of set-up modes according to the actual situation, be conducive to cope with different demand and scene.
Roll axis armshaft 146 connects roll axis stator 1425 and pitch axis stator 1222.Or, roll axis armshaft 146 connects
Roll axis rotor 1424 and pitch axis stator 1222.In this way, realizing the connection of roll shaft assembly 14 and pitching shaft assembly 12.Tool
Body, roll spindle motor 142 can drive roll axis armshaft 146 to rotate by connector 18, to drive roll shaft assembly
14, pitching shaft assembly 12 and load 30 are rotated around the axis R of roll shaft assembly 14.Control load 30 is achieved in roll side
To posture.In addition, pitching spindle motor 122 can drive negative since roll axis armshaft 146 connects pitch axis stator 1222
The 30 axis P relative to roll axis armshaft 146 around pitching shaft assembly 12 is carried to rotate.Control load 30 is achieved in pitch orientation
Posture.It note that roll axis armshaft 146 can connect roll axis stator 1425, also can connect roll axis rotor 1424, be
Because the rotation of the stator and rotor of motor be it is opposite, roll axis armshaft 146 connect it is therein any one, can be in roll
The transmission for passing through connector 18 under the driving of spindle motor 142 does relative motion relative to another.
The side of pedestal 144 offers opening 1442, and the other side of pedestal 144 offers container 1444, container
1444 are equipped with circuit board 1446, and first end cover 148 is mounted on pedestal 144 and covers opening 1442, and second end cover 149 is mounted on
Pedestal 144 simultaneously covers container 1444.In this way, first end cover 148 and second end cover 149 can be by the openings 1442 of pedestal 144
It is covered with container 1444, not only contributes to the smoothness and beauty in 10 shape of holder, dust can also be reduced and enter pedestal 144
It is interior, influence the normal work of circuit board 1446 and roll spindle motor 142.In addition, circuit board 1446 is accommodated in container 1444,
The space that pedestal 144 can be made full use of is conducive to the compact of 10 structure of holder.First end cover 148 offers end cap through-hole
1482, roll axis rotor 1424 or roll axis stator 1425 at least partly expose from end cap through-hole 1482.Specifically, at this
In embodiment, roll axis rotor 1424 at least partly exposes from end cap through-hole 1482, so that roll axis rotor 1424 can be with
It is connect indirectly with support arm 164 by connector 18, to realize 18 band of connector under the driving of roll spindle motor 142
Axis R of the dynamic roll shaft assembly 14 relative to yaw shaft assembly 16 around roll shaft assembly 14 is rotated.
Referring to Fig. 7, yaw shaft assembly 16 is located at the lower section of load 30 and by roll shaft assembly 14 and pitching shaft assembly
12 connections.Yawing shaft assembly 16 includes yaw spindle motor 162 and support arm 164.Yawing spindle motor 162 includes yaw axis rotor
1622。
Support arm 164 is fixedly connected with yaw axis rotor 1622 and rotation connection pedestal 144.In this way, realizing yaw axis group
Part 16 is connect with roll shaft assembly 14.Specifically, since support arm 164 is fixedly connected with yaw axis rotor 1622 and rotation connection base
Seat 144, then, yaw spindle motor 162 can drive axis Y rotation of the support arm 164 around yaw shaft assembly 16, to drive cross
The axis Y rotation of roller assembly 14, pitching shaft assembly 12 and load 30 around yaw shaft assembly 16.Control load 30 is achieved to exist
The posture of yaw direction.
The center of gravity of load 30 can be fallen on the axis P of pitching shaft assembly 12, the center of gravity of load 30 and pitching shaft assembly 12
It can fall on the axis R of roll shaft assembly 14, load 30, pitching shaft assembly 12, yaws shaft assembly 16 at roll shaft assembly 14
Center of gravity can be fallen on the axis Y of yaw shaft assembly 16.In this way, holder 10 can keep gravity balance, around the rotation of each axis
Black box will not generate driving torque, be conducive to increase by 10 structural stability of holder, the better reliability of holder 10, and can be with
Reduce the torque output that corresponding motor is the center of gravity injustice for fighting corresponding construction.It is appreciated that for the knot for realizing above-mentioned holder 10
Structure stability, can as needed to holder 10 structure design be adjusted.
Also referring to Fig. 8, support arm 164 includes the first arm 1642 and the second arm 1644 of relative spacing setting.Pedestal
144, first end cover 148 and second end cover 149 are rotatablely connected the first arm 1642 and the second arm 1644 and are at least partially situated at the
Space between one arm 1642 and the second arm 1644, the first arm 1642 and roll axis rotor 1424 or roll axis stator 1425 are fixed
Connection.In this way, realizing roll shaft assembly 14 and yawing the connection of shaft assembly 16.Specifically, the pedestal 144 of roll shaft assembly 14,
First end cover 148 and second end cover 149 are at least partially situated at the space between the first arm 1642 and the second arm 1644, so that the
One arm 1642 and the second arm 1644 limit the motion range of roll shaft assembly 14, can make the rotation of roll shaft assembly 14 more
Add stabilization.And the first arm 1642 is fixedly connected with roll axis rotor 1424 or roll axis stator 1425, so that roll spindle motor 142
Drive roll shaft assembly 14 when, roll shaft assembly 14 can under the transmission of connector 18 relative to yaw shaft assembly 16 around
The axis R of roll shaft assembly 14 is rotated.Also referring to Fig. 9, Figure 10 and Figure 11, the lateral surface 1643 of the first arm 1642 is provided with
First accommodation groove 1648, the lateral surface 1645 of the second arm 1644 are provided with the second accommodation groove 1649, and holder 10 includes the first lid 15
With the second lid 17, the first arm 1642 includes the interconnecting piece 1641 positioned at the first accommodation groove 1648, and interconnecting piece 1641 and roll axis turn
Son 1424 or roll axis stator 1425 connect, and the first lid 15 is arranged in the first accommodation groove 1648 and covers interconnecting piece 1641, and second
Lid 17 is arranged in the second accommodation groove 1649.In this way, the first lid 15 and the second lid 17 can hold the first accommodation groove 1648 and second
The covering of slot 1649 is set, the smoothness and beauty in 10 shape of holder is not only contributed to, dust can also be reduced and steam enters connection
In portion 1641, the rotation of holder 10 is influenced.
Referring to Fig. 7, yaws shaft assembly 16 and be mounted on hand-held part 20.In this way, user can pass through hand-held part 20
Hand-held holder 100 is held, holder 10, which can provide on three different directions for load 30, increases steady and gesture stability.Specifically,
In some embodiments, hand-held part 20 is equipped with the first interface portion 21 that connect with holder 10, and holder 10 includes for cooperation the
The second interface portion 19 of one interface portion 21；Wherein, when holder 10 is supported on hand-held part 20, first interface portion 21 connects with second
Mechanicalness connection and electric connection of the cooperation of oral area 19 to be formed between holder 10 and hand-held part 20.When hand-held part 20 and holder
When 10 separation, holder 10 is connect with 20 wired or wireless communication of hand-held part.In this way, user's operation hand-held part 20 can be by wired
Or wireless communication control holder 10 works, and improves the operation ease of holder 10.
Specifically, hand-held part 20 includes shell 22, operation portion 23 and controller.It is provided with controller in shell 22, operates
Portion 23 is used to execute corresponding operation according to input information for receiving input information, controller.In this way, user can pass through behaviour
Make portion 23 and enters information to control holder 10 so as to load the change of 30 postures, for example, when using hand-held holder 100, Yong Huke
Information is inputted so that it is determined that the preset postures that load 30 works, want so that loading 30 available preset to pass through operation portion 23
Effect.In addition, being provided with battery in shell 22.In this way, battery can be 30 power supply of holder 10 and/or load.Specifically, it holds
Charging interface and power supply interface can be set in portion 20.In one example, battery can be rechargeable lithium battery.In addition, shell 22
Bottom is provided with installation interface.In this way, hand-held holder 100 can be mounted on bracket or other fixation members by installing interface
On, hand-held holder 100 is adapted to different working environments, realizes more multi-functional.Operation portion 23 is arranged on shell 22, operation
Portion 23 may include rocking bar and key, and user can shake rocking bar to control the pitching shaft assembly 12 of holder 10, roll shaft assembly
14 work with yaw shaft assembly 16, and then adjust load 30 in preset posture.User can be worked by loading 30 by key control,
Such as it takes pictures, record a video.
In addition, hand-held holder 100 further includes attitude transducer, attitude transducer is used to measure the posture of load 30, control
Device is used to be worked according to the gesture stability holder 10 of load 30.Wherein, attitude transducer can be directly connected to load 30, so
By determining the posture of load 30, and then the posture of holder 10 can be determined, it is possible thereby to adjust the current pose of holder 10.
In this way, hand-held holder 100 can be by the posture for the posture information adjustment load 30 that attitude transducer detects, so that load 30 is protected
It holds and works under preset posture, obtain desired effect.
Fig. 7, Figure 12 and Figure 13 are please referred to, connector 18 is rotatablely connected roll shaft assembly 14 and yaw shaft assembly 16, roll
Spindle motor 142 moves for drive connection part 18 and pitching shaft assembly 12 is driven to rotate around the axis R of roll shaft assembly 14.It can
To understand, based on the considerations of portability, clump weight 13 is unfavorable for the miniaturization of cradle head structure, and clump weight 13 is smaller more advantageous
In the raising of user experience.In the utility model embodiment, since the axis E of motor driving shaft 1422 is located at horizontal roller groups
The lower section of the axis R of part 14, in this way, compared with embodiment one, the axial line distance load 30 and pitching of roll shaft assembly 14
The mass center of shaft assembly 12 is farther, and therefore, the self weight of roll shaft assembly 14 and roll spindle motor 142 can be more used for load
30 carry out trim.In addition, total weight required for trim is certain due in the case where the structure of holder 10 is certain,
When the ratio for being reused in trim certainly of roll shaft assembly 14 and roll spindle motor 142 is more, the clump weight 13 that additionally configures
Weight can also greatly reduce.So compared with embodiment one, can further decrease so the whole volume of holder 10 and
Weight, user-friendly and carrying.
In the illustrated embodiment, connector 18 includes connecting rod.Specifically, the quantity of connecting rod can be one or more
It is a.The quantity of connecting rod is not defined herein.Preferably, the quantity of connecting rod is two.More preferably, two connecting rods are about motor
Drive shaft 1422 is arranged symmetrically, as shown in figs. 7 and 13.It can remain roll shaft assembly 14 in the course of rotation in this way
Mass balance.In addition, each connecting rod one end in two connecting rods is rotatablely connected roll axis rotor 1424, other end rotation connection branch
Brace 164, such connection type can form four-bar linkage structure, so that roll shaft assembly 14 drives pitching shaft assembly 12 and load
It is more stable when 30 rotation.In addition, one in two connecting rods can be designed with elasticity when the quantity of connecting rod is two
Pull rod perhaps then compression bar applies pulling force or pressure to another in two connecting rods, to eliminate turning for connecting rod two end
Secondary radial clearance is moved, transmission accuracy is improved.In other implementations, connector 18 includes gear, friction pulley or belt.
This provides the other forms of connector 18, can select the concrete form of connector 18 with demand according to the actual situation, have
Conducive to reply several scenes.
Roll axis rotor 1424 is equipped with the first connector 182, and the motor of the first connector 182 and roll shaft assembly 14 drives
1422 eccentric setting of moving axis, the first connector 182 are rotatablely connected connector 18.Connector 18 and roll axis are turned in this way, realizing
The connection of son 1424.Specifically, connector 18 is connect with 1424 revolute pair of roll axis rotor, in other words, connector 18 and cross
Roller bearing rotor 1424 can be rotated around the first connector 182.In addition, the first connector 182 can be bolt or pin shaft.
The concrete form of the first connector 182 is not defined herein.Please refer to Fig. 8, Figure 11 and Figure 13, the setting of the first arm 1642
There is the second connector 184 and offer axis hole 1646, the second connector 184 connects connector 18 and is arranged at axis hole 1646.
In this way, realizing the connection of connector 18 and the first arm 1642.It specifically, can be using pin shaft as the second connector 184.Pin
Axis is usually locked with split pin, reliable operation, convenient disassembly, is conducive to the assembling and maintenance of holder 10.In addition, the second connector
184 and axis hole 1646 quantity can with connector 18 be adapted.For example, in the example of fig. 8, connector 18 is two companies
Bar, then the second connector 184 and axis hole 1646 are two.It is worth noting that, in the example of fig. 8, connector 18 from
The inside of first arm 1642 is connect with the first arm 1642 by the second connector 184 and axis hole 1646.
Referring to Fig. 8, roll shaft assembly 14 includes pedestal 144, and roll spindle motor 142 is located in pedestal 144.Holder
10 include first axle 112 and the second axis 114 on the axis R of roll shaft assembly 14, and pedestal 144 passes through 112 He of first axle
Second axis 114 is rotationally erected at yaw shaft assembly 16.In this way, realizing the company of roll shaft assembly 14 and yaw shaft assembly 16
It connects, and allows roll shaft assembly 14 relative to yaw shaft assembly 16 around the axis where first axle 112 and the second axis 114
R rotation.Specifically, Figure 12 and Figure 13 are please referred to, when roll axis rotor 1424 is rotated clockwise around motor driving shaft 1422,
Connector 18 drives the pedestal 144 of roll shaft assembly 14 around first axle 112 and second under the driving of roll spindle motor 142
Axis R where axis 114 is rotated counterclockwise, in this way, pitching shaft assembly 12 and load 30 are also around first axle 112 and the second axis
Axis R where 114 is rotated counterclockwise；When roll axis rotor 1424 is rotated counterclockwise around motor driving shaft 1422, connection
Part 18 drives the pedestal 144 of roll shaft assembly 14 around first axle 112 and the second axis 114 under the driving of roll spindle motor 142
The axis R at place is rotated clockwise, in this way, pitching shaft assembly 12 and load 30 are also around 114 place of first axle 112 and the second axis
Axis R rotate clockwise.In other words, roll spindle motor 142 drives roll shaft assembly 14 indirectly by way of transmission
Pedestal 144 rotates, and drives to separating the axis R of roll shaft assembly 14 with the axis E bias of motor driving shaft 1422 to motor
The top of the axis E of moving axis 1422, and then realize the reduction of the weight of clump weight 13.
Referring to Fig. 7, Fig. 8 and Figure 11, holder 10 may include first bearing 111 and second bearing 113.First axle
It holds 111 and is set in first axle 112.Second bearing 113 is set in the second axis 114, and first bearing can be fixed on 1642, and second
Bearing can be fixed on 1644.In this way, can reduce the pedestal 144 of roll shaft assembly 14 around first axle 112 and the second axis 114
Axis rotation frictional force so that rotation it is more smooth, be conducive to improve user experience.
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 (15)
1. a kind of holder, including pitching shaft assembly, roll shaft assembly and yaw shaft assembly, which is characterized in that the horizontal roller groups
Part connects the pitching shaft assembly and the yaw shaft assembly, and the pitching shaft assembly is for connecting load and driving the load
Rotation, the motor of the pitching shaft assembly, the roll shaft assembly motor, it is described yaw shaft assembly motor from top to bottom according to
Secondary arrangement, the holder are configured so that the motor of the roll shaft assembly and the yaw shaft assembly are located at the load
Lower section, the axis that the pitching shaft assembly is configured to the pitching shaft assembly pass through the load.
2. holder as described in claim 1, which is characterized in that the axis and the roll shaft assembly of the yaw shaft assembly
Axis intersection and vertical, the axis of the roll shaft assembly and the axis of the pitching shaft assembly are mutually orthogonal, the yaw axis
The axis of component intersects and vertical with the axis of the pitching shaft assembly.
3. holder as described in claim 1, which is characterized in that the axis of the motor driving shaft of the roll shaft assembly with it is described
The axis of roll shaft assembly is overlapped, or, the axis of the axis of the motor driving shaft of the roll shaft assembly and the roll shaft assembly
Line eccentric setting.
4. holder as claimed in claim 3, which is characterized in that the holder includes connector, the connector rotation connection
The roll shaft assembly and the yaw shaft assembly, the motor of the roll shaft assembly is for driving the connector movement and band
The axis that the pitching shaft assembly is moved around the roll shaft assembly rotates.
5. holder as claimed in claim 4, which is characterized in that the motor driving shaft of the roll shaft assembly is located at the roll
The lower section of the axis of shaft assembly.
6. holder as claimed in claim 4, which is characterized in that the motor of the roll shaft assembly includes roll axis rotor, institute
Roll axis rotor is stated equipped with the first connector, the motor driven eccentric shaft of first connector and the roll shaft assembly is set
It sets, first connector is rotatablely connected the connector.
7. holder as claimed in claim 4, which is characterized in that the roll shaft assembly includes pedestal, the roll shaft assembly
Motor be located in the pedestal, the holder include positioned at the roll shaft assembly axis on first axle and the second axis,
The pedestal is rotationally erected at the yaw shaft assembly by the first axle and second axis.
8. holder as described in claim 1, which is characterized in that the motor of the roll shaft assembly includes roll axis stator and cross
Roller bearing rotor, the motor of the pitching shaft assembly include pitch axis stator, and the roll shaft assembly includes roll axis armshaft, described
Roll axis armshaft connects the roll axis stator and the pitch axis stator；Or
The roll axis armshaft connects the roll axis rotor and the pitch axis stator.
9. holder as claimed in claim 8, which is characterized in that the roll shaft assembly includes pedestal, the yaw shaft assembly
Including support arm, the motor of the yaw shaft assembly includes yaw axis rotor, and the pedestal is fixedly connected with the roll axis armshaft
With the roll axis stator or the roll axis rotor, the support arm is fixedly connected with the yaw axis rotor, the support arm
It is rotatablely connected the pedestal.
10. holder as claimed in claim 9, which is characterized in that the holder includes clump weight, and the clump weight is contained in institute
It states in pedestal；
The clump weight is located at the lower section of the motor driving shaft of the roll shaft assembly, or, the clump weight surrounds the roll
The motor driving shaft of shaft assembly.
11. holder as claimed in claim 9, which is characterized in that the motor of the roll shaft assembly is located in the pedestal, institute
Stating roll shaft assembly includes first end cover and second end cover, and the side of the pedestal offers opening, the other side of the pedestal
Container is offered, the container is equipped with circuit board, and the first end cover is mounted on the pedestal and covers the opening,
The second end cover is mounted on the pedestal and covers the container；
The support arm includes the first arm and the second arm of relative spacing setting, the pedestal, the first end cover and described the
Two end caps be rotatablely connected first arm and second arm and be at least partially situated at first arm and second arm it
Between space, first arm is fixedly connected with the roll axis rotor or the roll axis stator.
12. holder as claimed in claim 11, which is characterized in that the holder includes connector, and the connector rotation connects
The roll shaft assembly and the yaw shaft assembly are connect, the motor of the roll shaft assembly is for driving the connector movement simultaneously
The pitching shaft assembly is driven to rotate around the axis, the shaft is different from connector described in the motor driven of the roll shaft assembly
The motor driving shaft of movement, first arm are provided with the second connector and offer axis hole, and second connector connects institute
It states connector and is arranged at the axis hole.
13. holder as described in claim 1, which is characterized in that the pitching shaft assembly includes for connecting the load
Load connection, the load connection include camera len, and the camera len is arranged the load from the load connection
The side of main part outwardly protrudes setting, and the camera len includes fixed part, clamping part and sticking department, the clamping part with it is described
Fixed part rotation connection, is combined into an annulus when the clamping part is docked with the fixed part, the clamping part with it is described solid
Determine portion to lock by the sticking department, one end of the clamping part is arranged in the sticking department, when the camera lens part of the load
After being installed in the fixed part, rotates after the clamping part docks with the fixed part, the sticking department can be passed through and complete institute
The locking between clamping part and the fixed part is stated, thus the camera lens part of the fixed load.
14. 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 1-13
Yaw shaft assembly is mounted on the hand-held part.
15. hand-held holder as claimed in claim 14, which is characterized in that the hand-held part includes shell, operation portion and control
Device is provided with the operation portion on the shell, and the controller is provided in the shell, and the operation portion is defeated for receiving
Enter information, the controller is used to execute corresponding operation according to the input information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821786334.6U CN209604859U (en) | 2018-10-31 | 2018-10-31 | Holder and hand-held holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821786334.6U CN209604859U (en) | 2018-10-31 | 2018-10-31 | Holder and hand-held holder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209604859U true CN209604859U (en) | 2019-11-08 |
Family
ID=68395113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821786334.6U Expired - Fee Related CN209604859U (en) | 2018-10-31 | 2018-10-31 | Holder and hand-held holder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209604859U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112258827A (en) * | 2020-10-16 | 2021-01-22 | 杭州百富电子技术有限公司 | Ammeter box convenient for meter reading and meter reading method |
| US20220011787A1 (en) * | 2019-01-04 | 2022-01-13 | SZ DJI Technology Co., Ltd. | Handheld gimbal and handheld gimbal control method |
| WO2022062204A1 (en) * | 2020-09-28 | 2022-03-31 | 深圳市大疆创新科技有限公司 | Gimbal assembly |
| WO2022068226A1 (en) * | 2020-09-29 | 2022-04-07 | Powervision Tech (Suzhou ) Ltd. | Gimbal stabilizer |
-
2018
- 2018-10-31 CN CN201821786334.6U patent/CN209604859U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220011787A1 (en) * | 2019-01-04 | 2022-01-13 | SZ DJI Technology Co., Ltd. | Handheld gimbal and handheld gimbal control method |
| WO2022062204A1 (en) * | 2020-09-28 | 2022-03-31 | 深圳市大疆创新科技有限公司 | Gimbal assembly |
| WO2022068226A1 (en) * | 2020-09-29 | 2022-04-07 | Powervision Tech (Suzhou ) Ltd. | Gimbal stabilizer |
| CN112258827A (en) * | 2020-10-16 | 2021-01-22 | 杭州百富电子技术有限公司 | Ammeter box convenient for meter reading and meter reading method |
| CN112258827B (en) * | 2020-10-16 | 2021-08-24 | 杭州百富电子技术有限公司 | Ammeter box convenient for meter reading and meter reading method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191108 |
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| CF01 | Termination of patent right due to non-payment of annual fee |