WO2017031748A1 - 云台、手柄云台、锁定结构及控制方法 - Google Patents

云台、手柄云台、锁定结构及控制方法 Download PDF

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Publication number
WO2017031748A1
WO2017031748A1 PCT/CN2015/088243 CN2015088243W WO2017031748A1 WO 2017031748 A1 WO2017031748 A1 WO 2017031748A1 CN 2015088243 W CN2015088243 W CN 2015088243W WO 2017031748 A1 WO2017031748 A1 WO 2017031748A1
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WO
WIPO (PCT)
Prior art keywords
positioning fastener
carrier
rotating member
pan
locking
Prior art date
Application number
PCT/CN2015/088243
Other languages
English (en)
French (fr)
Inventor
严欣
赵喜峰
孙荣健
郭灼
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202110061604.7A priority Critical patent/CN112901958B/zh
Priority to PCT/CN2015/088243 priority patent/WO2017031748A1/zh
Priority to CN201910047889.1A priority patent/CN109707968B/zh
Priority to CN201580074396.7A priority patent/CN107250652B/zh
Priority to CN202110062333.7A priority patent/CN112780912B/zh
Priority to CN201910050972.4A priority patent/CN109538911B/zh
Publication of WO2017031748A1 publication Critical patent/WO2017031748A1/zh
Priority to US15/906,866 priority patent/US10400939B2/en
Priority to US16/525,052 priority patent/US10753532B2/en
Priority to US16/989,336 priority patent/US11255481B2/en
Priority to US17/651,786 priority patent/US11852282B2/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/02—Locking means
    • F16M2200/021—Locking means for rotational movement
    • F16M2200/022—Locking means for rotational movement by friction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

Definitions

  • the invention relates to the technical field of pan/tilt, in particular to a locking structure for locking a pan/tilt motor shaft in a non-operating state and a control method for the gimbal.
  • the three-axis pan/tilt generally includes a motor that drives three axes of rotation, a pitch axis (Pitch axis) motor that controls pitch motion, a translation axis (YAW axis) motor that controls heading motion, and a roll axis that controls roll motion (Roll). Shaft) motor.
  • the existing pan/tilt has a specific working angle range in the pitch axis, the pan axis and the roll axis.
  • a certain pan/tilt has an operating angle range of -135 degrees to +45 degrees on the pitch axis, in the pan axis.
  • the working angle ranges from -330 degrees to +330 degrees, and the working angle range of the roll is -45 degrees to +45 degrees. That is to say, the existing pan/tilt is limited in size by setting a limited structure, but the existing pan/tilt is not fixed in a non-working state, resulting in inconvenient storage or transportation.
  • a pan/tilt head includes a translational shaft structure including a rotating member and a carrier rotatably coupled to the rotating member, the pan/tilt further comprising a locking structure, the locking structure being disposed on the rotating member On, including:
  • a buckle cover is fixed on the rotating member, and a receiving groove is formed between the rotating member;
  • a locking switch is received in the receiving groove and can slide up and down in the receiving groove;
  • a positioning fastener one end of which is connected to the locking switch by an elastic member, and the other end includes a buckle portion, and the buckle portion locks the pan/tilt head by locking the bearing member;
  • the locking switch slides down and presses the positioning fastener through the elastic member, and when the pan head rotates around the translation axis until the positioning fastener buckle portion is aligned with the preset position on the carrier member, The buckle portion of the positioning fastener buckles the carrier under the pressure of the elastic member, and the pan head is locked by the translation axis.
  • the lock switch further includes a switch cap rigidly connected to the lock switch and received in an open slot on the rotating member for the user to slide the lock switch to slide up and down.
  • the elastic member is a spring assembly, and the spring assembly is connected to the locking switch at one end and the positioning fastener at the other end.
  • the locking switch is an inverted structure with one end open, and includes an inner cavity, and the elastic member and one end of the positioning fastener connected to the elastic member are disposed in the inner cavity of the locking switch, the positioning The other end of the fastener passes through the opening of the retro-shaped structure and is located outside the lock switch.
  • one end of the positioning fastener connected to the elastic member is a T-shaped structure.
  • the positioning fastener buckle portion locks the pan/tilt head by inserting an opening or a recess at a preset position on the carrier.
  • a locking structure is disposed on a rotating member of a pan/tilt translation shaft structure, and includes:
  • a buckle cover is fixed on the rotating member, and a receiving groove is formed between the rotating member;
  • a locking switch is received in the receiving groove and can slide up and down in the receiving groove;
  • a positioning fastener one end of which is connected to the locking switch by an elastic member, and the other end includes a buckle portion, and the buckle portion locks the pan/tilt head by a bearing member on the translational shaft structure;
  • the lock switch When the switch cap is pushed down, the lock switch is driven to slide down and the positioning fastener is pressed by the elastic member, and the pan head is rotated around the translation axis to the buckle portion of the positioning fastener.
  • the positioning fastener button fastens the carrier under the pressure of the elastic member, and the pan/tilt is locked by the translation axis.
  • the locking structure further includes a switch cap rigidly connected to the lock switch and received in an open slot on the rotating member for the user to slide the lock switch to slide up and down.
  • the elastic member is a spring assembly, and the spring assembly is connected to the locking switch at one end and the positioning fastener at the other end.
  • the locking switch is an inverted structure with one end open, and includes an inner cavity, and the elastic member and one end of the positioning fastener connected to the elastic member are disposed in the inner cavity of the locking switch, the positioning The other end of the fastener passes through the opening of the retro-shaped structure and is located outside the lock switch.
  • one end of the positioning fastener connected to the elastic member is a T-shaped structure.
  • the positioning fastener buckle portion locks the pan/tilt head by inserting an opening or a recess at a preset position on the carrier.
  • a pan/tilt head includes a translational axis structure, and the translational axis structure includes:
  • a locking structure disposed on one of the rotating member and the carrier for engaging with the other of the rotating member and the carrier to lock the rotating member and the carrier Relative rotational position.
  • the locking structure comprises:
  • a positioning fastener movably disposed on one of the rotating member and the carrier for engaging with the other of the rotating member and the carrier;
  • a locking switch coupled with the positioning fastener, for driving the positioning fastener to move the positioning fastener in a locked state or an unlocked state;
  • the elastic member is configured to provide an elastic restoring force to the positioning fastener, so that the positioning fastener can be automatically reset after being moved.
  • the locking switch is slidably coupled to one of the rotating member and the carrier, and drives the positioning fastener to slide relative to the other of the rotating member and the carrier to The positioning fastener is engaged or disengaged from the other of the rotating member and the carrier.
  • the positioning fastener is slidably connected to the locking switch, and the positioning fastener slides relative to the locking switch under the elastic force of the elastic member, and is automatically in a locked state.
  • the pan/tilt head further includes a buckle cover, the buckle cover is fixed to one of the rotating member and the carrier member, and the locking switch and the positioning fastener are slidably disposed on the buckle cover .
  • the pan/tilt further includes a switch cap, the switch cap is at least partially exposed outside of the rotating member and the carrier, and the switch cap is coupled to the lock switch.
  • the middle portion of the positioning fastener is rotatable about a rotating shaft, and is automatically reset under the elastic force of the elastic member; one end of the positioning fastener is an engaging end, and the other end is a driving end, and the locking A switch pushes the drive end to cause the engagement end to be lifted apart from the positioning fastener relative to the other of the rotating member and the carrier.
  • the positioning fastener is kept in a state of being engaged with the other of the rotating member and the carrier under the elastic force of the elastic member.
  • the elastic member is a compression elastic member for connection with the driving end.
  • a middle portion of the positioning fastener is rotatable about a rotating shaft, and is automatically reset under the elastic force of the elastic member; one end of the positioning fastener is an engaging end, and the locking switch pushes the engaging And engaging the engaging end with the positioning fastener relative to the other of the rotating member and the carrier.
  • the positioning fastener is kept in a state of being separated from the positioning member by the elastic force of the elastic member with respect to the other of the rotating member and the carrier.
  • the elastic member is a tensile elastic member and is connected to one end of the positioning fastener away from the engaging end.
  • the positioning fastener automatically interacts with the rotating member and the carrier under the elastic force of the elastic member One phase is stuck.
  • the rotational position of the carrier relative to the rotating member is locked such that the translational shaft structure is in a locked state.
  • step of locking the translational axis structure further includes:
  • step of locking the translational axis structure further includes:
  • the method further includes the step of resetting the positioning fastener to unlock the translational shaft structure.
  • the step of resetting the positioning fastener comprises: using an elastic member connected to the positioning fastener to provide an elastic restoring force to reset the positioning fastener to unlock the translational shaft structure.
  • the step of resetting the positioning fastener comprises: lifting or reversing the positioning fastener with a locking switch to reset the positioning fastener to unlock the translational shaft structure.
  • a handle head comprising:
  • a handle having a battery compartment for mounting a battery
  • pan/tilt head mounted on the handle, the pan/tilt head comprising:
  • a translational shaft structure coupled to the handle
  • a roll axis structure connected to the translation axis structure, wherein the translation axis structure can drive the roll axis structure to rotate;
  • a pitch axis structure coupled to the roll axis structure, the roll axis structure capable of driving the pitch axis structure to rotate, the pitch axis structure for mounting a load, and capable of driving the load to rotate;
  • the translation axis structure is provided with a locking structure, and the locking structure locks the translation axis structure when the pan axis structure drives the roll axis structure to rotate to a preset position when the pan/tilt head is in a non-operating state .
  • the translation axis structure includes:
  • a locking structure disposed on one of the rotating member and the carrier for engaging with the other of the rotating member and the carrier to lock the carrier and the carrier Relative rotational position.
  • the locking structure comprises:
  • a positioning fastener movably disposed on one of the rotating member and the carrier for engaging with the other of the rotating member and the carrier;
  • a locking switch coupled with the positioning fastener, for driving the positioning fastener to move the positioning fastener in a locked state or an unlocked state;
  • the elastic member is configured to provide an elastic restoring force to the positioning fastener, so that the positioning fastener can be automatically reset after being moved.
  • the locking switch is slidably coupled to one of the rotating member and the carrier, and drives the positioning fastener to slide relative to the other of the rotating member and the carrier to The positioning fastener is engaged or disengaged from the other of the rotating member and the carrier.
  • the positioning fastener is slidably connected to the locking switch, and the positioning fastener slides relative to the locking switch under the elastic force of the elastic member, and is automatically in a locked state.
  • the handle platform further includes a buckle cover, the buckle cover is fixed to one of the locking switch and the rotating member and the carrier, the locking switch and the positioning fastener are slidably Provided in the buckle cover.
  • the handle platform further includes a switch cap, the switch cap being at least partially exposed outside the lock switch and one of the rotating member and the carrier, and the switch cap and the lock Open the connection.
  • the middle portion of the positioning fastener is rotatable about a rotating shaft, and is automatically reset under the elastic force of the elastic member; one end of the positioning fastener is an engaging end, and the other end is a driving end, and the locking A switch pushes the drive end to cause the engagement end to be lifted apart from the positioning fastener relative to the other of the rotating member and the carrier.
  • the positioning fastener is kept in a state of being engaged with the other of the rotating member and the carrier under the elastic force of the elastic member.
  • the elastic member is a compression elastic member for connection with the driving end.
  • a middle portion of the positioning fastener is rotatable about a rotating shaft, and is automatically reset under the elastic force of the elastic member; one end of the positioning fastener is an engaging end, and the locking switch pushes the engaging And engaging the engaging end with the positioning fastener relative to the other of the rotating member and the carrier.
  • the positioning fastener is kept in a state of being separated from the positioning member by the elastic force of the elastic member with respect to the other of the rotating member and the carrier.
  • the elastic member is a tensile elastic member and is connected to one end of the positioning fastener away from the engaging end.
  • the positioning fastener automatically interacts with the rotating member and the carrier under the elastic force of the elastic member One phase is stuck.
  • the utility model provides a pan/tilt head, a handle cloud platform and a locking structure thereof, and a control method thereof, and when the pan/tilt head is in a non-working state, by locking the translational axis structure manner, the free rotation of the gimbal in the free rotation is avoided, thereby improving The convenience of the above-mentioned pan/tilt at the time of storage or transportation.
  • the elastic member automatically ejects the fastener to engage with the rotating member or the carrier of the translational shaft structure, thereby not only locking the translational axis of the gimbal in the non-operating state, but also avoiding during storage or transportation.
  • the middle translation axis rotates freely.
  • the elastic member is used to automatically find the engagement point, it is more convenient to lock the pan axis in the non-working state.
  • FIG. 1 is a schematic structural view of a pan/tilt head according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of another perspective of the pan/tilt head shown in FIG. 1.
  • FIG. 2 is a schematic structural view of another perspective of the pan/tilt head shown in FIG. 1.
  • Figure 3 is a schematic illustration of the working angle range of the pan/tilt head of Figure 1 about a translational axis in one embodiment.
  • FIG. 4 is a schematic illustration of the angle at which the pan/tilt head of FIG. 1 is locked about a translational axis in one embodiment.
  • FIG. 5 is a schematic structural view of the gimbal removed structure of FIG.
  • Figure 6 is a front elevational view of the portion of the gimbal locking structure of Figure 1.
  • Figure 7 is a plan view of the portion of the gimbal locking structure shown in Figure 6.
  • Figure 8 is a cross-sectional view of Figure 7 taken along line VIII-VIII.
  • FIG. 9 and 10 are exploded views of the gimbal locking structure shown in FIG. 1 at different angles.
  • FIG. 11 is a perspective view showing another embodiment of the portion where the pan/tilt locking structure shown in FIG. 1 is located.
  • Figure 12 is a view showing another angle of the portion where the pan/tilt locking structure shown in Figure 11 is located.
  • Figure 13 is a cross-sectional view taken along line XIII-XIII of Figure 12.
  • FIG. 14 and FIG. 15 are schematic diagrams showing the process of completing the translation axis locking of the pan/tilt head shown in FIG. 1.
  • Figure 16 is a simplified schematic view of a locking structure in another embodiment of the gimbal shown in Figure 1.
  • Figure 17 is a simplified schematic view of a locking structure in still another embodiment of the gimbal shown in Figure 1.
  • FIG. 18 is a flowchart of a method for controlling a cloud platform according to an embodiment of the present invention.
  • a pan/tilt head 100 according to an embodiment of the present invention is provided.
  • the pan/tilt head 100 shown in the figure is a three-axis pan/tilt head, including a pitch axis (ie, Pitch axis) structure, and a pan axis (ie, YAW).
  • the pitch axis structure 1 can be used to mount the camera 4, and the motor 4 in the pitch axis structure 1 drives the camera 4 to perform a pitching motion about the pitch axis; the pitch axis structure 1 is mounted on the roll axis structure 3 through the roll axis.
  • the motor in the structure 3 drives the camera 4 to make a roll motion around the roll axis; the roll axis structure 3 is mounted on the translation axis structure 2, and the translational movement of the camera 4 about the translation axis is controlled by the motor in the translation axis structure 2.
  • the translational shaft structure 2 can be mounted on a base 5, and the platform is mounted on a fixed surface (not shown) through the base 5.
  • the gimbal 100 further includes a locking structure 6.
  • the locking structure 6 is disposed on the translational axis structure 2, and can restrict the rotation of the gimbal 100 around the translation axis in a non-operating state (hereinafter: translation) Axis lock).
  • the solution provided in the embodiment of the present invention is also applicable to the two-axis pan/tilt head, that is, the locking structure is set on the translational axis structure of the two-axis pan/tilt head. 6.
  • the locking shaft lock is performed in the non-operating state of the two-axis pan/tilt head through the locking structure 6.
  • FIG. 3 exemplifies the pan/tilt 100 translation in one embodiment.
  • the working angle of the shaft ranges from -330 degrees (that is, 330 degrees counterclockwise) to +330 degrees (that is, 330 degrees clockwise).
  • FIG. 4 exemplifies the roll of the panning axis when the pan/tilt head 100 is in the non-operating state.
  • the angle at which the shaft structure 3 is rotated about the translation axis is -90 degrees (i.e., 90 degrees counterclockwise).
  • the locking structure 6 includes a locking switch 61, a switch cap 62, a positioning fastener 63, an elastic member 64, and a buckle cover 65.
  • the latching cover 65 is fixed to the rotating member 21 of the translating shaft structure 2, for example, is assembled on the rotating member 21 by a screw, and forms a receiving groove 66 with the rotating member 21.
  • the locking switch 61 and the positioning fastener 63 are respectively The limit is in the receiving groove 66 and can slide up and down in the receiving groove 66.
  • the switch cap 62 is rigidly coupled to the lock switch 61, for example, the switch cap 62 is fixed to the lock switch 61 by screws.
  • An opening slot 211 is defined in the rotating member 21, and the switch cap 62 is received in the opening slot 211. The user slides the switch cap 62 in the opening slot 211 to control the locking switch 61 in the receiving slot 66. slide.
  • the lock switch 61 is also coupled to the positioning fastener 63 by an elastic member 64, such as a spring assembly, by means of the elastic member 64, which can be compressed and stretched, and the relative movement between the positioning fastener 63 and the lock switch 61 .
  • the lock switch 61 is generally a back-shaped structure including an inner cavity 611.
  • An opening 613 is defined in a side wall 612 of the back-shaped structure, and the opening 613 will lock the inner cavity of the switch 61.
  • the 611 is in communication with the lock switch 61.
  • the positioning fastener 63 has a T-shaped structure at one end, and the T-shaped head 631 is embedded in the inner cavity 611 of the locking switch 61, and is connected to the side wall 614 of the locking switch 61 and the opening 613 via the elastic member 64. on.
  • the positioning fastener 63 is located outside the lock switch 61 except for the T-head 631, and is connected to the T-head 631 through the opening 613 on the lock switch 61.
  • the other end of the positioning fastener 63 includes a fastening portion 632.
  • the pan/tilt 100 is rotated about the translation axis to the pre-alignment of the buckle portion 632 on the carrier 22.
  • the carrier 22 In the position, the carrier 22 is fastened, that is, the translational axis of the pan/tilt is locked.
  • an opening 221 is defined in the preset position of the carrier 22 of the translational shaft structure 2, and the positioning buckle is opened.
  • the button portion 632 of the piece is snapped into the opening 221, that is, the translation axis of the pan/tilt head 100 is locked to prevent rotation about the translation axis.
  • the carrier 22 is the stator of the motor
  • the rotating member 21 is the rotor of the motor.
  • the carrier 22 can also be a component that is fixedly coupled to the stator of the motor
  • the rotating member 21 can also be a component that is fixedly coupled to the rotor of the motor.
  • the opening 221 may be replaced by a recess, that is, a recess is formed at a predetermined position on the carrier 22 of the translational shaft structure 2, and the cooperation of the fastening member 63 and the recess is performed by the positioning fastener 63 to complete the pan/tilt 100.
  • the translation axis locks in the working state.
  • the preset locking position is -90 degrees (ie, 90 degrees counterclockwise) in the non-operating state
  • the pan/tilt is rotated about the translation axis to the position,
  • the buckle is fastened into the opening 221, that is, the translation axis locking of the pan/tilt head 100 is completed.
  • the translational shaft structure 2 further includes a limiting member 68.
  • the limiting member 68 is aligned with the positioning fastener 63. Cooperating to limit the positioning fastener 63.
  • the limiting member 68 is an elastic column
  • the locking switch 61 connected to the positioning fastener 63 is provided with two limiting slots 61a and 61b for positioning.
  • the fastener 63 slides to the locking position, and the elastic column is held in one of the limiting slots 61b.
  • the positioning fastener 63 slides to the unlocking position, the elastic column is held in the other limiting slot 61a.
  • the two limiting slots 61a, 61b can also be directly disposed on the positioning fastener 63.
  • the limiting member 68 is a spring piece
  • the locking switch 61 connected to the positioning fastening member 63 is provided with two limiting protrusions.
  • the elasticity The column is held in one of the limiting bosses, and when the positioning fastener 63 slides to the unlocking position, the elastic column is held by the other limiting boss.
  • the two limiting bosses can also be directly disposed on the positioning fastener 63.
  • the lock switch 61 rigidly connected to the switch cap 62 is also in the upper or upper position of the receiving groove 66, and the lock switch 61 is pulled by the elastic member 64.
  • the member 63 causes the buckle portion 632 of the positioning fastener 63 to be separated from the opening 221 of the translational shaft carrier 22, and the translation axis of the platform 100 is not locked. At this time, the pan/tilt can work normally.
  • the switch cap 62 When the pan/tilt head 100 is not working, if the pan axis is locked, the switch cap 62 can be turned down first, the switch cap 62 drives the lock switch 61 to move downward in the receiving slot 66, and the lock switch 61 compresses the elastic member 64. The elastic member 64 urges the positioning fastener 63 to move downward. At this time, if the platform 100 is not at the preset locking position, the buckle of the positioning fastener 63 is not aligned with the opening 221 of the carrier 22, and the platform 100 Still not locked, as shown in Figure 10.
  • the positioning fastener 63' is rotatable about a rotating shaft 67, and includes an engaging end 633 and a driving end 634.
  • the rotating shaft 67 is correspondingly disposed between the engaging end 633 and the driving end 634.
  • the engaging end 633 is for engaging with the carrier 22.
  • the driving end 634 is connected to an elastic member 64'.
  • the elastic member 64' can exert a force on the driving end 634.
  • the driving end 634 is further pushed by the locking switch to cause the engaging end 633 to be lifted apart from the carrier 22.
  • the resilient member 64' is a compression resilient member for providing thrust to the drive end 634.
  • the carrier 22 has a recess 222 thereon.
  • the engaging end 63' of the positioning fastener 63' is engaged with the carrier 22 by fastening the recess 222 on the carrier 22.
  • FIG. 17 a schematic diagram of a simple structure of the locking structure 6 in another embodiment is exemplified.
  • the elastic member 64' is a tensile elastic member and is connected to the end of the driving end 634 of the positioning fastener 63'.
  • the positioning fastener 63' is kept in a state of being separated from the carrier 22 by the elastic force of the elastic member 64'.
  • the engaging end 633 can be pushed by the locking switch to engage the carrier 22 when the carrier 22 is rotated relative to the rotating member 21 to a preset position.
  • the locking structure 6 can be disposed on the carrier 22 to complete the translational axis locking of the platform 100 by engaging with the rotating member 21.
  • a method for controlling the cloud platform 100 includes:
  • Step 70 Rotating the carrier 22 to a preset position
  • Step 71 locking the rotational position of the carrier 22 relative to the rotating member 21, so that the translational shaft structure 2 is in a locked state;
  • Step 72 Reset the positioning fasteners 63, 63' to unlock the translational shaft structure 2.
  • the step 71 is specifically: pushing the positioning fasteners 63, 63' to extend or rotate, so that the positioning fasteners 63, 63' are fastened to the other of the rotating member 21 and the carrier 22.
  • Step 72 is specifically to provide resilient restoring force by the resilient members 64, 64' associated with the positioning fasteners 63, 63' to reset the positioning fasteners 63, 63' to unlock the translational shaft structure.
  • the positioning fasteners 63, 63' are lifted or reversed by the locking switches 61, 61' to reset the positioning fasteners 63, 63' to unlock the translational shaft structure.
  • pan/tilt head 100 can be applied to different types of pan/tilt heads, for example, it can be applied to a mount head of an unmanned aerial vehicle, a pan/tilt head mounted on a chassis chariot, a handheld head, and a handle head.
  • the pan/tilt head 100 described above can be applied to a handle pan/tilt head, and the handle pan/tilt head includes a handle and a pan/tilt head 100.
  • the handle is provided with a battery compartment for mounting a battery; the platform 100 is mounted on the handle, and the translational shaft structure 2 of the platform 100 is coupled to the handle.
  • the roll axis structure 3 is coupled to the translational axis structure 2, and the translational axis structure 2 is capable of rotating the roll axis structure 3.
  • a pitch axis structure 1 connected to the roll axis structure 3, the roll axis structure 3 capable of driving the pitch axis structure 1 to rotate, the pitch axis structure 1 for mounting a load, and capable of driving the load to rotate
  • the translational shaft structure 2 is provided with the locking structure 5, and when the pan/tilt structure 2 drives the roller shaft structure 3 to rotate to a preset position, the buckle portion of the locking structure will be
  • the relatively rotatable rotating member 21 of the translational shaft structure 2 engages with the carrier 22 to lock the translational shaft structure 2.
  • the pan/tilt head 100 and the locking structure thereof and the control method of the pan/tilt head 100 provided by the embodiments of the present invention when the pan-tilt head 100 is in a non-working state, rotates the pan-tilt head 100 around the translation axis, and positions the position at the preset position.
  • the fastener is engaged with the rotating member 21 or the carrier 22 of the translational shaft structure 2, not only realizes the locking of the translation axis of the pan-tilt 100 in the non-working state, but also automatically finds the engagement point by using the elastic member, so that the platform 100 is The translational axis locking in the non-working state is more convenient to operate.

Abstract

一种云台、手柄云台、锁定结构及控制方法，云台包括转动件（21）、与转动件（21）转动连接的承载件（22）以及锁定结构（6）。所述锁定结构（6）设于转动件（21）及承载件（22）中的一个上，用于与所述转动件（21）及承载件（22）中的另一个相卡合，以锁定所述转动件（21）与承载件（22）的相对转动位子，能够方便快捷锁定云台平移轴结构（2）。

Description

云台、手柄云台、锁定结构及控制方法 技术领域
本发明涉及云台技术领域，特别涉及一种云台电机轴在非工作状态下锁定的锁定结构及云台的控制方法。
背景技术
三轴云台一般包括驱动三个轴转动的电机，分别为控制俯仰运动的俯仰轴（Pitch轴）电机、控制航向运动的平移轴（YAW轴）电机以及控制横滚运动的横滚轴（Roll轴）电机。一般地，现有云台在俯仰轴、平移轴与横滚轴均有特定的工作角度范围，例如，某种云台在俯仰轴的工作角度范围为-135度至+45度，在平移轴的工作角度范围为-330度至+330度，在横滚的工作角度范围为-45度至+45度。也就是说，现有的云台在工作状态下是设置有限位结构进行角度限制的，但现有的云台在非工作状态下却没有确定的位置固定，导致不方便存放或运输。
发明内容
有鉴于此，有必要提出一种云台、手柄云台、云台的锁定结构、以及云台的控制方法，以解决上述问题。
一种云台，包括一平移轴结构，所述平移轴结构包括转动件以及与所述转动件可转动连接的承载件，所述云台还包括一锁定结构，所述锁定结构设置于转动件上，包括：
一扣盖，固定于所述转动件上，与所述转动件之间形成一容纳槽；
一锁定开关，容纳于所述容纳槽内，并能在所述容纳槽内上下滑动；
一定位扣件，其一端通过一弹性件与所述锁定开关连接，另一端包括一扣部，所述扣部通过扣住所述承载件将云台进行平移轴锁定；
其中，所述锁定开关往下滑动并通过弹性件挤压所述定位扣件，在云台绕平移轴转动至所述定位扣件扣部对准所述承载件上预设位置处时，所述定位扣件的扣部在所述弹性件的压力下扣住所述承载件，将云台进行平移轴锁定。
进一步地，所述锁定开关还包括一开关帽，所述开关帽与所述锁定开关刚性连接，容纳于转动件上的一开口槽内，供用户拨动以上下滑动所述锁定开关。
进一步地，所述弹性件为一弹簧组件，所述弹簧组件一端连接所述锁定开关，另一端连接所述定位扣件。
进一步地，所述锁定开关为一端开口的回字形结构，包括一内腔，所述弹性件以及所述定位扣件与弹性件连接的一端设置于所述锁定开关的内腔内，所述定位扣件的另一端穿过所述回字形结构的开口位于所述锁定开关的外侧。
进一步地，所述定位扣件与弹性件连接的一端为一T字型结构。
进一步地，所述定位扣件扣部通过扣入所述承载件上预设位置处的开口或凹部，将云台进行平移轴锁定。
一种锁定结构，所述锁定结构设置于一云台平移轴结构的转动件上，包括：
一扣盖，固定于所述转动件上，与所述转动件之间形成一容纳槽；
一锁定开关，容纳于所述容纳槽内，并能在所述容纳槽内上下滑动；
一定位扣件，其一端通过一弹性件与所述锁定开关连接，另一端包括一扣部，所述扣部通过扣住所述平移轴结构上的承载件将云台进行平移轴锁定；
其中，在所述开关帽被往下拨动时，带动所述锁定开关往下滑动并通过弹性件挤压所述定位扣件，在云台绕平移轴转动至所述定位扣件的扣部对准所述承载件的预设位置时，所述定位扣件扣部在所述弹性件的压力下扣住所述承载件，将云台进行平移轴锁定。
进一步地，所述锁定结构还包括一开关帽，所述开关帽与所述锁定开关刚性连接，容纳于转动件上的一开口槽内，供用户拨动以上下滑动所述锁定开关。
进一步地，所述弹性件为一弹簧组件，所述弹簧组件一端连接所述锁定开关，另一端连接所述定位扣件。
进一步地，所述锁定开关为一端开口的回字形结构，包括一内腔，所述弹性件以及所述定位扣件与弹性件连接的一端设置于所述锁定开关的内腔内，所述定位扣件的另一端穿过所述回字形结构的开口位于所述锁定开关的外侧。
进一步地，所述定位扣件与弹性件连接的一端为一T字型结构。
进一步地，所述定位扣件扣部通过扣入所述承载件上预设位置处的开口或凹部，将云台进行平移轴锁定。
一种云台，包括平移轴结构，所述平移轴结构包括：
转动件；
承载件，与所述转动件可转动连接；以及
锁定结构，设于所述转动件及所述承载件中的一个上，用于与所述转动件及所述承载件中的另一个相卡合，以锁定所述转动件与所述承载件的相对转动位置。
进一步地，所述锁定结构包括：
定位扣件，可活动地设于所述转动件及所述承载件中的一个上，用于与所述转动件及所述承载件中的另一个相卡合；
锁定开关，与所述定位扣件联动，用于带动所述定位扣件运动，使所述定位扣件处于锁定状态或解锁状态；以及
弹性件，用于提供一弹性回复力给所述定位扣件，使所述定位扣件运动后可自动复位。
进一步地，所述锁定开关与所述转动件及所述承载件中的一个滑动连接，并且带动所述定位扣件相对于所述转动件及所述承载件中的另一个滑动，以使所述定位扣件与所述转动件及所述承载件中的另一个相卡合或分离。
进一步地，所述定位扣件与所述锁定开关滑动连接，并且所述定位扣件在所述弹性件的弹力作用下相对于所述锁定开关滑动，并且自动处于锁定状态。
进一步地，所述云台还包括扣盖，所述扣盖固定在所述转动件及所述承载件中的一个，所述锁定开关及所述定位扣件可滑动地设于所述扣盖。
进一步地，所述云台还包括开关帽，所述开关帽至少部分暴露在所述转动件及所述承载件中的一个的外面，并且所述开关帽与所述锁定开关联动连接。
进一步地，所述定位扣件的中部能够绕一转轴转动，并且在所述弹性件的弹力作用下自动复位；所述定位扣件的一端为卡合端，另外一端为驱动端，所述锁定开关推动所述驱动端，使所述卡合端翘起而与所述定位扣件相对于所述转动件及所述承载件中的另一个分离。
进一步地，所述定位扣件在所述弹性件的弹力作用下，保持与所述定位扣件相对于所述转动件及所述承载件中的另一个相卡合的状态。
进一步地，所述弹性件为用于与所述驱动端连接的压缩弹性件。
进一步地，所述定位扣件的中部能够绕一转轴转动，并且在所述弹性件的弹力作用下自动复位；所述定位扣件的一端为卡合端，所述锁定开关推动所述卡合端，使所述卡合端与所述定位扣件相对于所述转动件及所述承载件中的另外一个相卡合。
进一步地，所述定位扣件在所述弹性件的弹力作用下，保持与所述定位扣件相对于所述转动件及所述承载件中的另一个相分离的状态。
进一步地，所述弹性件为拉伸弹性件，并且与所述定位扣件远离所述卡合端的一端连接。
进一步地，当所述承载件相对于所述转动件转动至预设位置时，所述定位扣件在所述弹性件的弹力作用下，自动与所述转动件及所述承载件中的另一个相卡合。
一种云台的控制方法，所述云台包括一平移轴结构，所述平移轴结构包括转动件、以及与所述转动件可转动连接的承载件，所述方法包括：
转动所述承载件至预设位置；
锁定所述承载件相对于所述转动件的转动位置，使所述平移轴结构处于锁定状态。
进一步地，锁定所述平移轴结构的步骤还包括：
推动一设置于所述转动件与承载件其中一个上的一定位扣件伸出，使所述定位扣件扣住所述转动件与承载件其中之另一个。
进一步地，锁定所述平移轴结构的步骤还包括：
推动一设置于所述转动件与承载件其中一个上的一定位扣件旋转，使所述定位扣件扣住所述转动件与承载件其中之另一个。
进一步地，所述方法还包括让定位扣件复位以解锁所述平移轴结构的步骤。
进一步地，所述让定位扣件复位的步骤包括：利用一与所述定位扣件相连的弹性件提供弹性回复力让定位扣件复位，以解锁所述平移轴结构。
进一步地，所述让定位扣件复位的步骤包括：利用一锁定开关提起或反向旋转所述定位扣件让定位扣件复位，以解锁所述平移轴结构。
一种手柄云台，包括：
手柄，设有用于安装电池的电池仓；
云台，安装在所述手柄上，所述云台包括：
平移轴结构，与所述手柄连接；
横滚轴结构，与所述平移轴结构连接，所述平移轴结构能够带动横滚轴结构转动；
俯仰轴结构，与所述横滚轴结构连接，所述横滚轴结构能够带动所述俯仰轴结构转动，所述俯仰轴结构用于安装负载，并且能够带动所述负载转动；
其中，所述平移轴结构设有锁定结构，在所述云台处于非工作状态下，所述平移轴结构带动横滚轴结构转动至预设位置时，所述锁定结构锁定所述平移轴结构。
进一步地，所述平移轴结构包括：
转动件；
承载件，与所述转动件可转动连接；以及
锁定结构，设于所述转动件及所述承载件中的一个上，用于与所述转动件及所述承载件中的另一个相卡合，以锁定所述承载件与所述承载件的相对转动位置。
进一步地，所述锁定结构包括：
定位扣件，可活动地设于所述转动件及所述承载件中的一个上，用于与所述转动件及所述承载件中的另一个相卡合；
锁定开关，与所述定位扣件联动，用于带动所述定位扣件运动，使所述定位扣件处于锁定状态或解锁状态；以及
弹性件，用于提供一弹性回复力给所述定位扣件，使所述定位扣件运动后可自动复位。
进一步地，所述锁定开关与所述转动件及所述承载件中的一个滑动连接，并且带动所述定位扣件相对于所述转动件及所述承载件中的另一个滑动，以使所述定位扣件与所述转动件及所述承载件中的另一个相卡合或分离。
进一步地，所述定位扣件与所述锁定开关滑动连接，并且所述定位扣件在所述弹性件的弹力作用下相对于所述锁定开关滑动，并且自动处于锁定状态。
进一步地，所述手柄云台还包括扣盖，所述扣盖固定在所述锁定开关与所述转动件及所述承载件中的一个，所述锁定开关及所述定位扣件可滑动地设于所述扣盖。
进一步地，所述手柄云台还包括开关帽，所述开关帽至少部分暴露在所述锁定开关与所述转动件及所述承载件中的一个的外面，并且所述开关帽与所述锁定开关联动连接。
进一步地，所述定位扣件的中部能够绕一转轴转动，并且在所述弹性件的弹力作用下自动复位；所述定位扣件的一端为卡合端，另外一端为驱动端，所述锁定开关推动所述驱动端，使所述卡合端翘起而与所述定位扣件相对于所述转动件及所述承载件中的另一个分离。
进一步地，所述定位扣件在所述弹性件的弹力作用下，保持与所述定位扣件相对于所述转动件及所述承载件中的另一个相卡合的状态。
进一步地，所述弹性件为用于与所述驱动端连接的压缩弹性件。
进一步地，所述定位扣件的中部能够绕一转轴转动，并且在所述弹性件的弹力作用下自动复位；所述定位扣件的一端为卡合端，所述锁定开关推动所述卡合端，使所述卡合端与所述定位扣件相对于所述转动件及所述承载件中的另外一个相卡合。
进一步地，所述定位扣件在所述弹性件的弹力作用下，保持与所述定位扣件相对于所述转动件及所述承载件中的另一个相分离的状态。
进一步地，所述弹性件为拉伸弹性件，并且与所述定位扣件远离所述卡合端的一端连接。
进一步地，当所述承载件相对于所述转动件转动至预设位置时，所述定位扣件在所述弹性件的弹力作用下，自动与所述转动件及所述承载件中的另一个相卡合。
本发明提供的云台、手柄云台及其锁定结构、以及其控制方法，在云台处于非工作状态下时，通过锁定平移轴结构的方式，避免云台在自由转动的随意转动，从而提高上述云台在存放或运输时的便利性。
例如，在预设位置处弹性件自动顶出扣件以与平移轴结构的转动件或承载件卡合，不仅实现了云台在非工作状态下平移轴的锁定，以避免在存放或运输过程中平移轴随意转动。另外，因利用弹性件自动寻找卡合点，使云台在非工作状态下的平移轴锁定操作起来更方便。
 附图说明
图1是本发明一实施方式中云台的结构示意图。
图2是图1所示的云台另一角度的结构示意图。
图3是图1所示的云台在一实施方式中绕平移轴的工作角度范围示意图。
图4是图1所示云台在一实施方式中绕平移轴锁定时所处角度的示意图。
图5为图1所示云台去除部分结构后的结构示意图。
图6为图1所示云台锁定结构所在部位的正面视图。
图7为图6所示云台锁定结构所在部位的俯视图。
图8为图7沿VIII-VIII的剖视图。
图9、图10为图1所示云台锁定结构不同角度呈现的爆炸图。
图11为图1所示云台锁定结构所在部位另一实施方式中的立体示意图。
图12为图11所示云台锁定结构所在部位另一角度的视图。
图13为图12沿XIII-XIII的剖视图。
图14、图15为图1所示云台完成平移轴锁定的过程示意图。
图16为图1所示云台另一种实施方案中的锁定结构的简易示意图。
图17为图1所示云台再一种实施方案中的锁定结构的简易示意图。
图18为本发明实施方式中云台的控制方法流程图。
主要元件符号说明
云台 100
俯仰轴结构 1
平移轴结构 2
转动件 21
开口槽 211
承载件 22
开口 221
凹部 222
横滚轴结构 3
相机 4
底座 5
锁定结构 6
锁定开关 61、61’
限位槽 61a、61b
内腔 611
侧壁 612、614
开口 613
开关帽 62
定位扣件 63、63’
T字头 631
扣部 632
弹性件 64、64’
扣盖 65
容纳槽 66
转轴 67
限位件 68
步骤 70-72
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参阅图1-图2，为本发明一实施方式中提供的云台100，图中所示云台100为三轴云台，包括俯仰轴（即Pitch轴）结构1、平移轴（即YAW轴）结构2与横滚轴（即Roll轴）结构3。其中，所述俯仰轴结构1可用于安装相机4，通过俯仰轴结构1内的电机带动相机4做绕俯仰轴的俯仰运动；俯仰轴结构1安装于横滚轴结构3上，通过横滚轴结构3内的电机带动相机4做绕横滚轴的横滚运动；横滚轴结构3安装于平移轴结构2上，通过平移轴结构2内的电机控制相机4绕平移轴的平移运动。平移轴结构2可安装于一底座5上，通过底座5将云台安装于一固定面（图上未示出）上。
云台100另还包括一锁定结构6，在本实施方式中，该锁定结构6设置于平移轴结构2上，可限制云台100在非工作状态下发生绕平移轴的转动（下称：平移轴锁定）。
需说明的是，图示中虽然示出的是三轴云台，但本发明实施方式中提供的方案同样适应于二轴云台，即，在二轴云台的平移轴结构上设置锁定结构6，通过锁定结构6进行二轴云台非工作状态下的平移轴锁定。
请参阅图3-图4，以云台100平移轴结构2的旋转中心（即平移轴，图中以Y表示））建立直角坐标系，图3例举了一实施方式中云台100绕平移轴的工作角度范围为-330度（即逆时针330度）至+330度（即顺时针330度），图4例举了一实施方式中云台100非工作状态下平移轴锁定时横滚轴结构3绕平移轴转至的角度为-90度（即逆时针90度）。
请参阅图5至图10，例举了锁定结构6一实施方式下的具体结构图。如图所示，所述锁定结构6包括一锁定开关61、一开关帽62、一定位扣件63、一弹性件64以及一扣盖65。
所述扣盖65固定于平移轴结构2的转动件21上，例如通过螺钉组装于转动件21上，与转动件21之间构成一容纳槽66，所述锁定开关61与定位扣件63即限位在容纳槽66中，并可在容纳槽66中上下滑动。开关帽62与锁定开关61刚性连接，例如开关帽62通过螺钉固定在锁定开关61上。在转动件21上开设有一开口槽211，开关帽62即容置在该开口槽211中，用户通过拨动所述开关帽62在开口槽211内滑动，从而控制锁定开关61在容纳槽66中滑动。
所述锁定开关61还通过弹性件64，例如弹簧组件与定位扣件63连接在一起，借助于弹性件64可被压缩与拉伸的属性，定位扣件63与锁定开关61之间可相对运动。具体地，在本实施方式中，所述锁定开关61大体为一回字形结构，包括一内腔611，在回字形结构的一侧壁612上开设有一开口613，开口613将锁定开关61内腔611与锁定开关61外界连通。所述定位扣件63一端为T字形结构，其T字头631嵌入在锁定开关61的内腔611内，并通过弹性件64被连接到锁定开关61内腔611与开口613相对的侧壁614上。所述定位扣件63除T字头631外，其余部位（图中未标号）位于锁定开关61之外，通过锁定开关61上的开口613与T字头631连接。所述定位扣件63另一端包括一扣部632，在本实施方式中，当云台100处于非工作状态时，将云台100绕平移轴旋转至扣部632对准承载件22上的预设位置处，扣住所述承载件22，即完成云台的平移轴锁定，在一实施方式中，所述平移轴结构2的承载件22上预设位置处开设有一开口221，所述定位扣件的扣部632扣入所述开口221中，即完成云台100的平移轴锁定，防止其发生绕平移轴的转动。
承载件22、转动件21的具体结构可以根据不同需求来设计，例如，在图示的实施例中，承载件22为电机的定子，转动件21为电机的转子。在其他实施例中，承载件22也可以为与电机的定子固定连接的部件，转动件21也可以为与电机的转子固定连接的部件。
在另一实施方式中，开口221可由凹部代替，即在平移轴结构2的承载件22上预设位置处开设有一凹部，通过定位扣件63扣部632与凹部的配合来完成云台100非工作状态下的平移轴锁定。在如图3-图4所给的例子中，因在非工作状态下预设的锁定位置为-90度（即逆时针90度）处，将云台绕平移轴旋转至该位置处，将扣部扣入开口221中，即完成云台100的平移轴锁定。
进一步的，参考图11-图13，平移轴结构2还包括限位件68，所述定位扣件63滑动至锁定位置或解锁位置时，所述限位件68与所述定位扣件63相配合，以限位所述定位扣件63。
具体在图11-图13所示的实施例中，所述限位件68为弹性柱，与所述定位扣件63连接的锁定开关61上设有两个限位槽61a、61b，当定位扣件63滑动至锁定位置，所述弹性柱卡持在其中一个限位槽61b内，当定位扣件63滑动至解锁位置，所述弹性柱卡持在另外一个限位槽61a内。当然，两个限位槽61a、61b也可以直接设置在定位扣件63上。
在其他实施例中，所述限位件68为弹片，与所述定位扣件63连接的锁定开关61上设有两个限位凸台，当定位扣件63滑动至锁定位置，所述弹性柱卡持在其中一个限位凸台，当定位扣件63滑动至解锁位置，所述弹性柱卡持在另外一个限位凸台。当然，两个限位凸台也可以直接设置在定位扣件63上。
以下再详细说明云台平移轴实现自动锁定的过程：
在开关帽62靠近或处于转动件21上开口槽211的上部时，与开关帽62刚性连接的锁定开关61亦处于容纳槽66上部或较上位置，锁定开关61通过弹性件64提拉定位扣件63，导致定位扣件63的扣部632与平移轴承载件22上的开口221分离，云台100的平移轴未被锁定，此时，云台可正常工作。
在云台100未工作时，若需将其平移轴锁定，可先将开关帽62往下拨，开关帽62带动锁定开关61在容纳槽66内往下运动，锁定开关61压缩弹性件64，弹性件64促使定位扣件63亦往下运动，此时，若云台100未处于预设的锁定位置处，定位扣件63的扣部未对准承载件22上的开口221，云台100仍不会被锁定，见图10所示。
绕平移轴转动云台100，带动锁定结构6一起转动，并因此与云台100平移轴结构2的承载件22发生相对运动，当定位扣件63转至承载件22上的开口221位置处时，定位扣件63在弹性件64的压力下向下运动，其扣部632伸入开口221中，与承载件22卡合，完成云台100的平移轴锁定，见图14所示。
请参阅图16，例举了锁定结构6另一实施方式下的简易结构的示意图。定位扣件63’能够绕一转轴67转动，包括一卡合端633与一驱动端634。所述转轴67对应设置于卡合端633与驱动端634之间。卡合端633用于与承载件22卡合。驱动端634连接一弹性件64’，所述弹性件64’能对驱动端634施加力的作用，当所述承载件22相对于所述转动件21转动至预设位置时，卡合端633在弹性件64的力的作用下卡合于承载件22上。驱动端634另可受锁定开关的推动，使卡合端633翘起而与承载件22分离。所述弹性件64’为压缩弹性件，用于向驱动端634提供推力。所述承载件22上具有凹部222。所述定位扣件63’卡合端633通过扣住承载件22上的凹部222来与承载件22卡合。
请参阅图17，例举了锁定结构6再一实施方式下的简易结构的示意图。与图15所示不同，所述弹性件64’为拉伸弹性件，并且与所述定位扣件63’的驱动端634端连接。定位扣件63’在所述弹性件64’的弹力作用下，保持与承载件22相分离的状态。卡合端633可受锁定开关的推动，在承载件22相对于转动件21转动至预设位置时，与承载件22相卡合。
在其他实施方式中，锁定结构6可设置于承载件22上，通过实现与转动件21的卡合来完成云台100的平移轴锁定。
请参阅图18，为所述云台100的控制方法，包括：
步骤70：转动所述承载件22至预设位置；
步骤71：锁定所述承载件22相对于所述转动件21的转动位置，使所述平移轴结构2处于锁定状态；以及
步骤72：复位定位扣件63、63’以解锁所述平移轴结构2。
其中，步骤71具体为：推动定位扣件63、63’伸出或旋转，使所述定位扣件63、63’扣住转动件21与承载件22其中之另一个。
步骤72具体为利用一与所述定位扣件63、63’相连的弹性件64、64’提供弹性回复力让定位扣件63、63’复位，以解锁所述平移轴结构。在另一实施方式中，利用锁定开关61、61’提起或反向旋转所述定位扣件63、63’让定位扣件63、63’复位，以解锁所述平移轴结构。
上述云台100可以应用于不同类型的云台机构上，例如，可以应用于无人飞行器的挂载云台，底盘战车的搭载云台，手持云台，手柄云台等。例如，上述云台100可以应用到手柄云台上，所述手柄云台包括手柄与云台100。手柄设有用于安装电池的电池仓；云台100安装在所述手柄上，所述云台100的平移轴结构2，与所述手柄连接。横滚轴结构3与所述平移轴结构2连接，所述平移轴结构2能够带动横滚轴结构3转动。俯仰轴结构1，与所述横滚轴结构3连接，所述横滚轴结构3能够带动所述俯仰轴结构1转动，所述俯仰轴结构1用于安装负载，并且能够带动所述负载转动；平移轴结构2设置所述锁定结构5，在所述云台处于非工作状态下，所述平移轴结构2带动横滚轴结构3转动至预设位置时，所述锁定结构的扣部将所述平移轴结构2中能相对转动的转动件21与承载件22进行卡合以锁定所述平移轴结构2。
本发明实施例提供的云台100及其锁定结构、以及云台100的控制方法，在云台100处于非工作状态下时，通过绕平移轴旋转云台100，在预设位置处顶出定位扣件以与平移轴结构2的转动件21或承载件22卡合，不仅实现了云台100在非工作状态下平移轴的锁定，且因利用弹性件自动寻找卡合点，使云台100在非工作状态下的平移轴锁定操作起来更方便。
最后应说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或等同替换，而不脱离本发明技术方案的精神和范围。

Claims (45)

  1. 一种云台，包括一平移轴结构，所述平移轴结构包括转动件以及与所述转动件可转动连接的承载件，其特征在于，所述云台还包括一锁定结构，所述锁定结构设置于转动件上，包括：
    一扣盖，固定于所述转动件上，与所述转动件之间形成一容纳槽；
    一锁定开关，容纳于所述容纳槽内，并能在所述容纳槽内上下滑动；
    一定位扣件，其一端通过一弹性件与所述锁定开关连接，另一端包括一扣部，所述扣部通过扣住所述承载件将云台进行平移轴锁定；
    其中，所述锁定开关往下滑动并通过弹性件挤压所述定位扣件，在云台绕平移轴转动至所述定位扣件扣部对准所述承载件上预设位置处时，所述定位扣件的扣部在所述弹性件的压力下扣住所述承载件，将云台进行平移轴锁定。
  2. 如权利要求1所述的云台，其特征在于，所述锁定开关还包括一开关帽，所述开关帽与所述锁定开关刚性连接，容纳于转动件上的一开口槽内，供用户拨动以上下滑动所述锁定开关。
  3. 如权利要求1所述的云台，其特征在于，所述弹性件为一弹簧组件，所述弹簧组件一端连接所述锁定开关，另一端连接所述定位扣件。
  4. 如权利要求1所述的云台，其特征在于，所述锁定开关为一端开口的回字形结构，包括一内腔，所述弹性件以及所述定位扣件与弹性件连接的一端设置于所述锁定开关的内腔内，所述定位扣件的另一端穿过所述回字形结构的开口位于所述锁定开关的外侧。
  5. 如权利要求4所述的云台，其特征在于，所述定位扣件与弹性件连接的一端为一T字型结构。
  6. 如权利要求1所述的云台，其特征在于，所述定位扣件扣部通过扣入所述承载件上预设位置处的开口或凹部，将云台进行平移轴锁定。
  7. 一种锁定结构，其特征在于，所述锁定结构设置于一云台平移轴结构的转动件上，包括：
    一扣盖，固定于所述转动件上，与所述转动件之间形成一容纳槽；
    一锁定开关，容纳于所述容纳槽内，并能在所述容纳槽内上下滑动；
    一定位扣件，其一端通过一弹性件与所述锁定开关连接，另一端包括一扣部，所述扣部通过扣住所述平移轴结构上的承载件将云台进行平移轴锁定；
    其中，在所述开关帽被往下拨动时，带动所述锁定开关往下滑动并通过弹性件挤压所述定位扣件，在云台绕平移轴转动至所述定位扣件的扣部对准所述承载件的预设位置时，所述定位扣件扣部在所述弹性件的压力下扣住所述承载件，将云台进行平移轴锁定。
  8. 如权利要求7所述的锁定结构，其特征在于，所述锁定结构还包括一开关帽，所述开关帽与所述锁定开关刚性连接，容纳于转动件上的一开口槽内，供用户拨动以上下滑动所述锁定开关。
  9. 如权利要求7所述的锁定结构，其特征在于，所述弹性件为一弹簧组件，所述弹簧组件一端连接所述锁定开关，另一端连接所述定位扣件。
  10. 如权利要求7所述的锁定结构，其特征在于，所述锁定开关为一端开口的回字形结构，包括一内腔，所述弹性件以及所述定位扣件与弹性件连接的一端设置于所述锁定开关的内腔内，所述定位扣件的另一端穿过所述回字形结构的开口位于所述锁定开关的外侧。
  11. 如权利要求10所述的锁定结构，其特征在于，所述定位扣件与弹性件连接的一端为一T字型结构。
  12. 如权利要求7所述的锁定结构，其特征在于，所述定位扣件扣部通过扣入所述承载件上预设位置处的开口或凹部，将云台进行平移轴锁定。
  13. 一种云台，包括平移轴结构，其特征在于，所述平移轴结构包括：
    转动件；
    承载件，与所述转动件可转动连接；以及
    锁定结构，设于所述转动件及所述承载件中的一个上，用于与所述转动件及所述承载件中的另一个相卡合，以锁定所述转动件与所述承载件的相对转动位置。
  14. 如权利要求13所述的云台，其特征在于，所述锁定结构包括：
    定位扣件，可活动地设于所述转动件及所述承载件中的一个上，用于与所述转动件及所述承载件中的另一个相卡合；
    锁定开关，与所述定位扣件联动，用于带动所述定位扣件运动，使所述定位扣件处于锁定状态或解锁状态；以及
    弹性件，用于提供一弹性回复力给所述定位扣件，使所述定位扣件运动后可自动复位。
  15. 如权利要求14所述的云台，其特征在于，所述锁定开关与所述转动件及所述承载件中的一个滑动连接，并且带动所述定位扣件相对于所述转动件及所述承载件中的另一个滑动，以使所述定位扣件与所述转动件及所述承载件中的另一个相卡合或分离。
  16. 如权利要求15所述的云台，其特征在于，所述定位扣件与所述锁定开关滑动连接，并且所述定位扣件在所述弹性件的弹力作用下相对于所述锁定开关滑动，并且自动处于锁定状态。
  17. 如权利要求15所述的云台，其特征在于，还包括扣盖，所述扣盖固定在所述转动件及所述承载件中的一个，所述锁定开关及所述定位扣件可滑动地设于所述扣盖。
  18. 如权利要求15所述的云台，其特征在于，还包括开关帽，所述开关帽至少部分暴露在所述转动件及所述承载件中的一个的外面，并且所述开关帽与所述锁定开关联动连接。
  19. 如权利要求14所述的云台，其特征在于，所述定位扣件的中部能够绕一转轴转动，并且在所述弹性件的弹力作用下自动复位；所述定位扣件的一端为卡合端，另外一端为驱动端，所述锁定开关推动所述驱动端，使所述卡合端翘起而与所述定位扣件相对于所述转动件及所述承载件中的另一个分离。
  20. 如权利要求19所述的云台，其特征在于，所述定位扣件在所述弹性件的弹力作用下，保持与所述定位扣件相对于所述转动件及所述承载件中的另一个相卡合的状态。
  21. 如权利要求19所述的云台，其特征在于，所述弹性件为用于与所述驱动端连接的压缩弹性件。
  22. 如权利要求14所述的云台，其特征在于，所述定位扣件的中部能够绕一转轴转动，并且在所述弹性件的弹力作用下自动复位；所述定位扣件的一端为卡合端，所述锁定开关推动所述卡合端，使所述卡合端与所述定位扣件相对于所述转动件及所述承载件中的另外一个相卡合。
  23. 如权利要求22所述的云台，其特征在于，所述定位扣件在所述弹性件的弹力作用下，保持与所述定位扣件相对于所述转动件及所述承载件中的另一个相分离的状态。
  24. 如权利要求22所述的云台，其特征在于，所述弹性件为拉伸弹性件，并且与所述定位扣件远离所述卡合端的一端连接。
  25. 如权利要求14所述的云台，其特征在于，当所述承载件相对于所述转动件转动至预设位置时，所述定位扣件在所述弹性件的弹力作用下，自动与所述转动件及所述承载件中的另一个相卡合。
  26. 一种云台的控制方法，其特征在于，所述云台包括一平移轴结构，所述平移轴结构包括转动件、以及与所述转动件可转动连接的承载件，所述方法包括：
    转动所述承载件至预设位置；
    锁定所述承载件相对于所述转动件的转动位置，使所述平移轴结构处于锁定状态。
  27. 如权利要求26所述的控制方法，其特征在于，锁定所述平移轴结构的步骤还包括：
    推动一设置于所述转动件与承载件其中一个上的一定位扣件伸出，使所述定位扣件扣住所述转动件与承载件其中之另一个。
  28. 如权利要求26所述的控制方法，其特征在于，锁定所述平移轴结构的步骤还包括：
    推动一设置于所述转动件与承载件其中一个上的一定位扣件旋转，使所述定位扣件扣住所述转动件与承载件其中之另一个。
  29. 如权利要求27或28所述的控制方法，其特征在于，还包括让定位扣件复位以解锁所述平移轴结构的步骤。
  30. 如权利要求29所述的控制方法，其特征在于，所述让定位扣件复位的步骤包括：利用一与所述定位扣件相连的弹性件提供弹性回复力让定位扣件复位，以解锁所述平移轴结构。
  31. 如权利要求29所述的控制方法，其特征在于，所述让定位扣件复位的步骤包括：利用一锁定开关提起或反向旋转所述定位扣件让定位扣件复位，以解锁所述平移轴结构。
  32. 一种手柄云台，其特征在于，包括：
    手柄，设有用于安装电池的电池仓；
    云台，安装在所述手柄上，所述云台包括：
    平移轴结构，与所述手柄连接；
    横滚轴结构，与所述平移轴结构连接，所述平移轴结构能够带动横滚轴结构转动；
    俯仰轴结构，与所述横滚轴结构连接，所述横滚轴结构能够带动所述俯仰轴结构转动，所述俯仰轴结构用于安装负载，并且能够带动所述负载转动；
    其中，所述平移轴结构设有锁定结构，在所述云台处于非工作状态下，所述平移轴结构带动横滚轴结构转动至预设位置时，所述锁定结构锁定所述平移轴结构。
  33. 如权利要求32所述的手柄云台，其特征在于，所述平移轴结构包括：
    转动件；
    承载件，与所述转动件可转动连接；以及
    锁定结构，设于所述转动件及所述承载件中的一个上，用于与所述转动件及所述承载件中的另一个相卡合，以锁定所述承载件与所述承载件的相对转动位置。
  34. 如权利要求33所述的手柄云台，其特征在于，所述锁定结构包括：
    定位扣件，可活动地设于所述转动件及所述承载件中的一个上，用于与所述转动件及所述承载件中的另一个相卡合；
    锁定开关，与所述定位扣件联动，用于带动所述定位扣件运动，使所述定位扣件处于锁定状态或解锁状态；以及
    弹性件，用于提供一弹性回复力给所述定位扣件，使所述定位扣件运动后可自动复位。
  35. 如权利要求34所述的手柄云台，其特征在于，所述锁定开关与所述转动件及所述承载件中的一个滑动连接，并且带动所述定位扣件相对于所述转动件及所述承载件中的另一个滑动，以使所述定位扣件与所述转动件及所述承载件中的另一个相卡合或分离。
  36. 如权利要求35所述的手柄云台，其特征在于，所述定位扣件与所述锁定开关滑动连接，并且所述定位扣件在所述弹性件的弹力作用下相对于所述锁定开关滑动，并且自动处于锁定状态。
  37. 如权利要求35所述的手柄云台，其特征在于，还包括扣盖，所述扣盖固定在所述锁定开关与所述转动件及所述承载件中的一个，所述锁定开关及所述定位扣件可滑动地设于所述扣盖。
  38. 如权利要求35所述的手柄云台，其特征在于，还包括开关帽，所述开关帽至少部分暴露在所述锁定开关与所述转动件及所述承载件中的一个的外面，并且所述开关帽与所述锁定开关联动连接。
  39. 如权利要求34所述的手柄云台，其特征在于，所述定位扣件的中部能够绕一转轴转动，并且在所述弹性件的弹力作用下自动复位；所述定位扣件的一端为卡合端，另外一端为驱动端，所述锁定开关推动所述驱动端，使所述卡合端翘起而与所述定位扣件相对于所述转动件及所述承载件中的另一个分离。
  40. 如权利要求39所述的手柄云台，其特征在于，所述定位扣件在所述弹性件的弹力作用下，保持与所述定位扣件相对于所述转动件及所述承载件中的另一个相卡合的状态。
  41. 如权利要求39所述的手柄云台，其特征在于，所述弹性件为用于与所述驱动端连接的压缩弹性件。
  42. 如权利要求34所述的手柄云台，其特征在于，所述定位扣件的中部能够绕一转轴转动，并且在所述弹性件的弹力作用下自动复位；所述定位扣件的一端为卡合端，所述锁定开关推动所述卡合端，使所述卡合端与所述定位扣件相对于所述转动件及所述承载件中的另外一个相卡合。
  43. 如权利要求42所述的手柄云台，其特征在于，所述定位扣件在所述弹性件的弹力作用下，保持与所述定位扣件相对于所述转动件及所述承载件中的另一个相分离的状态。
  44. 如权利要求42所述的手柄云台，其特征在于，所述弹性件为拉伸弹性件，并且与所述定位扣件远离所述卡合端的一端连接。
  45. 如权利要求34所述的手柄云台，其特征在于，当所述承载件相对于所述转动件转动至预设位置时，所述定位扣件在所述弹性件的弹力作用下，自动与所述转动件及所述承载件中的另一个相卡合。
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CN204250379U (zh) * 2014-09-24 2015-04-08 深圳市大疆创新科技有限公司 云台及其使用的成像装置、以及无人机
CN204437591U (zh) * 2014-11-28 2015-07-01 深圳市大疆创新科技有限公司 平移轴组件及其使用的云台
CN204403718U (zh) * 2014-12-19 2015-06-17 昆达电脑科技(昆山)有限公司 电动可调相机云台
CN204901224U (zh) * 2015-08-27 2015-12-23 深圳市大疆创新科技有限公司 云台

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CN108591789A (zh) * 2018-07-13 2018-09-28 桂林智神信息技术有限公司 用于稳定器的锁定结构以及稳定器
CN111520599A (zh) * 2020-04-29 2020-08-11 中国人民解放军国防科技大学 一种轻微型光电吊舱及设备
CN111520599B (zh) * 2020-04-29 2022-05-17 中国人民解放军国防科技大学 一种轻微型光电吊舱及设备
WO2022077750A1 (zh) * 2020-10-15 2022-04-21 深圳市大疆创新科技有限公司 图传设备及云台

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