WO2018001288A1 - 可折叠的稳定器及可折叠的稳定器的控制方法 - Google Patents

可折叠的稳定器及可折叠的稳定器的控制方法 Download PDF

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Publication number
WO2018001288A1
WO2018001288A1 PCT/CN2017/090691 CN2017090691W WO2018001288A1 WO 2018001288 A1 WO2018001288 A1 WO 2018001288A1 CN 2017090691 W CN2017090691 W CN 2017090691W WO 2018001288 A1 WO2018001288 A1 WO 2018001288A1
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WO
WIPO (PCT)
Prior art keywords
arm
angle
stabilizer
angle sensor
driving member
Prior art date
Application number
PCT/CN2017/090691
Other languages
English (en)
French (fr)
Inventor
黄守麟
陈敏
殷严刚
Original Assignee
深圳市浩瀚卓越科技有限公司
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.)
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Publication date
Application filed by 深圳市浩瀚卓越科技有限公司 filed Critical 深圳市浩瀚卓越科技有限公司
Publication of WO2018001288A1 publication Critical patent/WO2018001288A1/zh

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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
    • 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
    • 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
    • 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

Definitions

  • the present invention relates to a foldable stabilizer and a method of controlling a collapsible stabilizer.
  • the hand-held stabilizer mainly has two types of three-axis stabilizers and two-axis stabilizers. In each axial direction, there is a corresponding motor, which is controlled by the motor.
  • the photographing device such as a mobile phone on the stabilizer rotates, so that the shooting surface (lens) of the photographing device always faces the subject regardless of how the user's arm moves.
  • a collapsible stabilizer comprising:
  • a first arm having a connecting end and a free end
  • a clamping member for holding the photographing device, one side of the clamping member being rotatably connected to an end of the second arm away from the first arm;
  • a first driving member is disposed on the first arm and connected to a rotating shaft of the second arm;
  • a second driving member disposed on the second arm and connected to the rotating shaft of the clamping member
  • a control system comprising an angle sensor for detecting an angle between the first arm and the second arm, and a central processor, wherein the central processor and the angle sensor respectively The first driving member and the second driving member are connected for opening or not opening the first driving member and the second driving member according to the angle obtained by the angle sensor.
  • Figure 1 is a perspective view of a collapsible stabilizer of an embodiment
  • FIG. 2 is a perspective view of the collapsible stabilizer of an embodiment in a vertical position
  • FIG. 3 is a perspective view of the collapsible stabilizer of an embodiment in a horizontally held manner
  • FIG. 4 is a perspective view of the collapsible stabilizer of an embodiment in a vertical state
  • Figure 5 is a perspective view of the clamping member in use
  • FIG. 6 is a schematic view showing a first arm intersecting a movement trajectory in another embodiment
  • Figure 7 is a partial exploded view of Figure 2;
  • Figure 8 is a partial enlarged view of a portion A in Figure 2;
  • Figure 9 is a partial enlarged view of B in Figure 2;
  • Figure 10 is a schematic view showing the structure of the holding member near the side of the second arm
  • Figure 11 is an exploded view of the limit member
  • Figure 12 is an exploded view of another view of the limit member
  • Figure 13 is a perspective view of the first arm after being inverted
  • Figure 14 is a schematic illustration of a control system.
  • the collapsible stabilizer 10 of an embodiment includes a first arm 11, a second arm 12, a clamping member 13, a first driving member 14, and a second driving.
  • the first arm 11 has a connecting end 11a and a free end 11b.
  • three modes of use of the stabilizer 10 are listed, which are a vertical type (FIG. 2), a horizontal type (FIG. 3), and a vertical type (FIG. 4).
  • the free end 11b is a hand-held end.
  • One end of the second arm 12 is rotatably coupled to the connecting end 11a.
  • the second arm 12 is rotatably connected with the connecting end 11a, and the second arm 12 is used when the external force is used to move (for example, manually dialing) the second arm 12 without opening the stabilizer 10.
  • the arm 12 is rotatable relative to the first arm 11. Specifically, in the present embodiment, the rotation axis of the second arm 12 relative to the first arm 11 is perpendicular to the first arm 11, and the second arm 12 can be in the 360° range with respect to the first arm 11. Rotate inside.
  • the clamping member 13 is used to hold the photographing device.
  • the holder 13 is used to hold a device having a photographing function such as a mobile phone or a tablet. It can be understood that the grip member 13 can also be used to hold a professional photographing device such as a camera.
  • the clamping member 13 is rotatably coupled to an end of the second arm 12 away from the first arm 11. It should be noted that the rotational connection between the clamping member 13 and the second arm 12 means that the clamping member 13 is used when the external force is used to toggle (eg, manually dial) the clamping member 13 without opening the stabilizer 10 . 13 is rotatable relative to the second arm 12. Specifically, in the present embodiment, the rotating shaft of the clamping member 13 relative to the second arm 12 is perpendicular to the second arm 12, and the clamping member 13 is rotatable within 360° with respect to the second arm 12. .
  • the first driving member 14 is disposed on the first arm 11 and connected to the rotating shaft of the second arm 12 . Therefore, the second arm 12 can be rotated in two ways, one is to use the external force to move the second arm 12, and the other is to open the stabilizer 10, and drive the first driving member 14 by electric energy or the like, first The driving member 14 then drives the second arm 12 to rotate.
  • the first driving member 14 is a motor
  • the second arm 12 is connected to the output shaft of the first driving member 14, and the output shaft of the motor is the rotating shaft of the second arm 12.
  • the second driving member 15 is disposed on the second arm 12 and connected to the rotating shaft of the clamping member 13. Thereby The clamping member 13 is rotated in two ways, one is to use an external force to move the clamping member 13, and the other is to open the stabilizer 10, and drive the second driving member 15 by electric energy or the like, the second driving member 15 Then the clamping member 13 is rotated.
  • the second driving member 15 is a motor
  • the clamping member 13 is connected to the output shaft of the second driving member 15, and the output shaft of the motor is the rotating shaft of the clamping member 13.
  • the stabilizer 10 is designed as a foldable structure. Before using the stabilizer 10, it is generally necessary to manually deploy the stabilizer 10 first, so that the first arm 11 and the second arm 12 of the stabilizer 10 are switched from an overlapping state to an angled state. In the present embodiment, when the stabilizer 10 described above is used, it is usually necessary to manually deploy the stabilizer 10 before the stabilizer 10 is opened, that is, the folded state shown in FIG. 1 (the first arm 11 and the second The arm 12 is in an overlapping state) and is converted into an angled state in which the first arm 11 and the second arm 12 shown in FIG.
  • the entire stabilizer can be in equilibrium, which is determined when the stabilizer is originally designed, called the initial balance.
  • the operator holds the free end 11b vertically
  • the holding member 13 faces the operator, faces the operator, and the second arm 12 and the holding member 13
  • the center of gravity of the entire body is located on the rotating shaft of the second arm 12
  • the center of gravity of the holding member 13 is located on the rotating shaft of the holding member 13, and the entire stabilizer 10 is in a vertical initial equilibrium state.
  • the center of gravity of the grip member 13 and the photographing device may be offset due to uneven gravity distribution of the photographing device itself, deviation of the gripping position, and the like, and may not be located in the clip.
  • the initial balance is broken, and the clamping member 13 is rotated about the rotating shaft of the clamping member 13 (taking the viewing angle shown in FIG. 2 as an example, when the center of gravity is to the left, the clamping member 13 rotates counterclockwise. When the center of gravity is to the right, the gripping member 13 rotates clockwise).
  • the newly added photographing device breaks the balance of the second arm 12 and the gripping member 13, that is, the photographing device, the second arm 12 and the gripping member 13
  • the center of gravity of the entirety is not located on the axis of rotation of the second arm 12. Taking the viewing angle shown in FIG.
  • the overall center of gravity of the photographing device, the second arm 12 and the holding member 13 is opposite to the second arm 12
  • the rotation axis is moved forward, causing the second arm 12 to rotate 90° around the first arm 11 toward the side where the operator is located, causing the photographing surface of the photographing device (the surface with the camera) to face downward (toward the ground), The shooting surface of the shooting device cannot be facing the operator.
  • the viewing angle shown in FIG. 2 is a viewing angle in which the camera 10 is held by the stabilizer 10 to perform self-photographing, so that the photographing device is facing the operator, essentially in order to make the photographing device face the subject.
  • the stabilizer In the conventional stabilizer, after the photographing device is installed, the stabilizer is turned on, the first driving member 14 and the second driving member 15 start to work, and the first driving member 14 performs work on the second arm 12 to make the second arm
  • the reverse rotation returns to the initial equilibrium state shown in Fig. 2, and the second driving member 15 works on the holding member 13 to cause the holding member 13 to reversely rotate back to the initial equilibrium state shown in Fig. 2. That is, when the stabilizer is not turned on, after the photographing device is mounted, the photographing surface of the photographing device cannot face the operator to face the operator. After the shooting device is installed, the stabilizer needs to be turned on. After the first driving member 14 and the second driving member 15 work, the shooting device can be directed to the operator to perform shooting. The work of the first driving member and the second driving member necessarily leads to higher power consumption of the stabilizer 10.
  • the manual adjustment is first performed so that the center of gravity of the entire clamp member 13 and the photographing apparatus is located on the rotating shaft of the clamp member 13.
  • the specific process is as follows:
  • the imaging device is manually moved, so that the center of gravity of the clamping member 13 and the imaging device is located on the rotating shaft of the clamping member 13 to achieve New balance.
  • the clamping member 13 is no longer rotated relative to the second arm 12.
  • the gripping member 13 is sandwiched in the middle of the photographing apparatus to be in an equilibrium state.
  • the photographing device is a mobile phone
  • the mobile phone is directly held on the splint 13d of the gripping member 13 in the viewing angle shown in Fig. 2, and the mobile phone is in a vertical state.
  • the second arm 12 can also be moved relative to the first arm 11 such that the center of gravity on the second arm 12 is located on the rotating shaft of the second arm 12, and the movement path of the second arm 12 Intersecting with the second arm 12 (ie not parallel).
  • the movement trajectories are all straight lines. In other embodiments, when the movement trajectory is a non-linear line such as a curve, a broken line, a wavy line, etc., the movement trajectory of the second arm 12 intersects with the second arm 12, which means that the starting point and the end point of the movement trajectory are connected. Intersecting with the second arm 12.
  • the overall center of gravity of the photographing device, the second arm 12 and the holding member 13 is opposed to the second arm 12
  • the shaft will move to the front, that is, toward the operator.
  • a new balance is achieved after the camera is clamped to the front surface of the holder 13 and the second arm 12 is moved rearwardly away from the operator relative to the first arm 11 before the hand is released.
  • the hand is continuously released to detect whether the balance is reached, and after the hand is released, the second arm 12 is no longer rotated with respect to the first arm 11, and the photographing device, the second arm 12 and the clamping are performed at this time.
  • the overall center of gravity of the piece 13 is located on the axis of rotation of the second arm 12, achieving a new balance.
  • the apparent phenomenon of adjusting the center of gravity of the entire imaging device, the second arm 12, and the holder 13 is such that the second arm 12 (that is, the imaging device) approaches or moves away from the subject.
  • the center of gravity of the overall configuration of the photographing device, the second arm 12 and the gripping member 13 is located in the second branch before the energization (ie, before the stabilizer 10 is not turned on).
  • the rotation axis of the arm 12 is such that the photographing surface of the photographing apparatus faces the operator (the subject).
  • the first driving member 14 and the second driving member 15 are not required to perform additional work to make the photographing surface of the photographing apparatus face the operator (the subject). Therefore, the power consumption of the stabilizer 10 of the present embodiment is low.
  • the photographing device may be manually moved only by the manual, so that the center of gravity of the whole of the clamping member 13 and the photographing device is located on the rotating shaft of the clamping member 13, or the second arm is manually moved only manually. 12, so that the center of gravity of the overall configuration of the photographing device, the second arm 12 and the holding member 13 is located on the rotating shaft of the second arm 12, and the other center of gravity is adjusted by the driving member.
  • the second arm 12 when the second arm 12 is perpendicular to the first arm 11, the second arm 12 is perpendicular to the movement trajectory.
  • FIGS. 2-4 and 6 several cases shown in FIGS. 2-4 and 6 are listed.
  • FIG. 2 is a schematic structural view of the operator holding the free end 11b of the stabilizer 10 vertically.
  • the moving trajectory and the vertically disposed second arm 12 and the first arm 11 constitute a three-dimensional Cartesian coordinate system.
  • the first arm 11 is a tilt arm
  • the second arm 12 is a roll arm.
  • FIG. 3 is a schematic structural view of the operator holding the free end 11b of the stabilizer 10.
  • the movement trajectory is parallel to the extending direction of the first arm 11.
  • the first arm 11 is a tilt arm
  • the second arm 12 is a roll arm.
  • FIG. 4 is a schematic structural view when the first arm 11 of the stabilizer 10 is placed on a platform such as a desktop.
  • the movement trajectory and the vertically disposed second arm 12 and the first arm 11 constitute a three-dimensional Cartesian coordinate system.
  • the first arm 11 is a heading arm
  • the first The two arms 12 are roll arms.
  • the moving trajectory may also intersect the extending direction of the first arm 11 (not parallel but vertical).
  • the first arm 11 has a chute a and a chute b on one side of the second arm 12 (please refer to FIG. 6), and the second arm 12 and the first branch
  • the arm 11 is perpendicular to a side of the second arm 12 such that the second arm 12 is necessarily perpendicular to the chute a and the chute b.
  • the chute a and the chute b respectively intersect the extending direction of the first arm 11, and when the moving track coincides with the chute a or the chute b, that is, the moving trajectory intersects with the extending direction of the first arm 11. At this time, when the second arm 12 moves along the movement trajectory, the moving component can also cause the center of gravity of the second arm 12 to be located on the rotating shaft of the second arm 12.
  • the angle between the first arm 11 and the second arm 12 in the viewing angle shown in FIG. 2 is greater than 90° or less than 90°, in order to make the photographing device face the operator, the operator needs to move the position. Either the operator holding the first arm 11 needs to twist the arm, resulting in the operator's hand holding the first arm 11 being in a twisted state, and the user experience is poor.
  • the second arm 12 is perpendicular to the first arm 11, the second arm 12 is also perpendicular to the movement trajectory, and during the movement of the second arm 12, the second arm 12 will always Vertically with the first arm 11, there is no need to move the subject, and the operator holding the first arm 11 does not need to twist the arm, so that the photographing device and the operator are facing each other, and the user experience is better.
  • the stabilizer 10 further includes a connector 100 and a first locking member 200 .
  • One end of the connecting member 100 is rotatably connected to the first driving member 14, and the other end is provided with a sliding slot 110.
  • One end of the second arm 12 is movable within the chute 110.
  • the first locking member 200 is used to fix the second arm 12 relative to the connecting member 100.
  • the maximum distance that the second arm 12 can move to the other end of the chute 110 is 2 mm to 12 mm. Therefore, the above stabilizer 10 can be applied to different sizes and weights. Different shooting equipment. For example, when the photographing devices are the same size and the weights are different, the greater the weight, the greater the distance the second arm 12 needs to move to achieve balance.
  • the middle portion of the chute 110 has a square shape, and both ends have a circular shape.
  • the connector 100 includes a frame body 120 and a bottom cover 130 and a top cover 140 disposed at both ends of the frame body 120.
  • the frame body 120, the bottom cover 130 and the top cover 140 are enclosed to form a receiving cavity (not shown).
  • the bottom cover 130 is rotatably coupled to the first drive member 14.
  • the chute 110 is disposed on the top cover 140.
  • One end of the second arm 12 passes through the chute 110 and is received in the accommodating cavity.
  • a plastic sheet 142 for shielding the screw 150 is disposed on one end of the top cover 140 away from the sliding slot 110.
  • the plastic sheet 142 is a polycarbonate (Polycarbonate, PC) sheet.
  • the second arm 12 is indirectly received in the accommodating cavity by the arm connecting block 300, and the "locking roller 210 is sleeved on the second arm 12" in the following description.
  • the thread is provided on the outer wall of the second arm 12
  • the mounting groove 12a is provided on the second arm 12
  • the locking roller 210 is sleeved on the arm connecting block 300
  • arm connection The outer wall of the block 300 is provided with a thread” and the "arm connecting block 300 is provided with a mounting groove 12a”. It will be appreciated that in other embodiments, the following description is possible when the second arm 12 is directly received within the receiving cavity.
  • the first locking member 200 includes a locking roller 210.
  • the locking roller 210 is sleeved on the second arm 12 .
  • the inner wall of the locking roller 210 is provided with a thread
  • the outer wall of the second arm 12 is provided with a thread.
  • the locking roller 210 can move along the extending direction of the second arm 12 to abut or be spaced from the top cover 140.
  • the second arm 12 is relatively fixed with the connecting member 100; when the locking roller 210 is spaced from the top cover 140, the second arm 12 can move within the sliding slot 110.
  • the first locking member 200 further includes a wear plate 220.
  • the second arm 12 is provided with a mounting groove 12a.
  • the wear plate 220 is sleeved on the second arm 12 and is locked in the mounting groove 12a.
  • the inside is located between the top cover 140 and the locking roller 210.
  • the arrangement of the wear plate 220 can effectively prevent the lock roller 210 and the second arm 12 from being worn in relation to the movement.
  • the stabilizer 10 in order to facilitate carrying the stabilizer 10, is designed as a foldable structure.
  • the first arm 11 and the second arm 12 can overlap.
  • the clamping member 13 is located between the first arm 11 and the second arm 12. Therefore, the stabilizer 10 is not only convenient to carry, but also can effectively prevent the clamping member 13 from being located on the side of the second arm 12 away from the first arm 11 after the folding, thereby causing a clip to protrude from the second arm 12.
  • the holding member 13 further causes the problem that the folded stabilizer 10 as a whole has a large thickness and is easily scraped against the holding member 13.
  • a clamping member 13a is disposed on a side of the clamping member 13 adjacent to the first arm 11, and the first arm 11 is adjacent to the clamping member.
  • One side of the piece 13 is provided with a card slot 11c, and the clamping member 13a is engaged in the card slot 11c, so that the first arm 11 and the second arm 12 are relatively fixed after being overlapped.
  • the holding member 13 has a rectangular shape.
  • a photographing device such as a mobile phone or the like
  • the holding member 13 usually needs to be placed horizontally (that is, the photographing device is held by the viewing angle as shown in FIG. 5), which requires the gripping member 13 and the photographing.
  • the wide corresponding side of the device needs to be equivalent to the wide size of the photographing apparatus, and the side of the gripping member 13 corresponding to the length of the photographing apparatus can be relatively short, and the gripping requirement can be satisfied.
  • the size of the side of the gripping member 13 corresponding to the width of the photographing device is generally larger than the side of the gripping member 13 corresponding to the length of the photographing device, that is, the length of the gripping member 13
  • the width of the photographing device corresponds to the width of the gripping member 13 corresponding to the length of the photographing device.
  • the clamping member 13a When the stabilizer is folded, when the clamping member 13 is not required to be rotated in advance, the clamping member 13a can be made If it is stuck in the card slot 11c, the two sides corresponding to the length of the clamping member 13 and the imaging device protrude from both sides of the first arm 11, resulting in a wider stabilizer after folding (even if the clamping member 13 and the photographing device The two sides of the corresponding length do not protrude from the two sides of the first arm 11, and it is necessary to increase the width of the first arm 11 at the same time, which also causes the stabilizer after folding to be wider, that is, the stabilizer is bulky. Not conducive to carrying.
  • the holding member 13 is rotatable within 360° with respect to the second arm 12.
  • the holding member 13 has a rectangular shape, and the long side of the holding member 13 is used to correspond to the width of the photographing device, and the wide side of the holding member 13 is used to correspond to the length of the photographing device.
  • the state shown in 5 is the specific use state.
  • the long side of the clamping member 13 corresponds to the length of the second arm 12.
  • the clamping member 13 does not need to be rotated, so that the clamping member can be made. 13a is accurately caught in the card slot 11c.
  • the long side of the holding member 13 is perpendicular to the long side of the second arm 12.
  • the clamping member 13a can be accurately caught in the card slot 11c.
  • the clamping members 13 are square, the number of the clamping members 13a is four, and the four clamping members 13a are respectively disposed at the four corners of the clamping member 13.
  • the number of the card slots 11c is also four, and each of the card slots 11c corresponds to a chucking member 13a.
  • the four angles of the clamping member 13 are fixed so that the first arm 11 and the second arm 12 overlap and are firmly fixed. It can be understood that in other embodiments, the number of the clamping members 13a is appropriately set according to a specific situation.
  • the second driving member is directly protruded from the side of the second arm away from the clamping member (the thickness of the second arm can be thinner, that is, the second arm is smaller in size). ), either directly The second arm is placed in the second arm (the thickness of the second arm needs to be equal to the thickness of the second driving member, that is, the second arm is smaller), both of which will result in a thicker thickness after the stabilizer is folded. Large, not easy to carry.
  • the receiving member 13 is provided with a receiving groove 13b on the side close to the second arm 12.
  • the second driving member 12 has one end located in the accommodating groove 13b, and the other end is located in the second arm 12 or protrudes from the side of the second arm 12 away from the clamping member 13.
  • a receiving groove 13b is defined in the clamping member 13 to share the volume of the second driving member 12, so that the thickness of the stabilizer 10 can be reduced after the folding of the clamping member 13 is kept constant. .
  • the stabilizer 10 further includes an arm connecting block 300 and a second locking member 400.
  • One end of the arm connecting block 300 can move in the chute 110, and the other end is rotatably connected to the second arm 12.
  • the first locking member 200 is used to fix the arm connecting block 300 relative to the connecting member 100.
  • the second locking member 400 is used to fix the second arm 12 to the arm connecting block 300.
  • the rotation axis of the second arm 12 relative to the arm connecting block 300 perpendicularly intersects the second arm 12 .
  • the second arm 12 is toggled so that the second arm 12 is rotated 90° around the first arm 11 toward the side where the subject is located.
  • the side of the second arm 12 facing the operator is converted from the side 12b to the side 12c.
  • the second locking member 400 is released again so that the second arm 12 and the arm connecting block 300 are rotatable.
  • the second arm 12 is toggled such that the second arm 12 rotates about the arm connecting block 300 toward the first arm 11. If the clamping member 13 is in the state shown in FIG.
  • the end surface of the second arm 12 is recessed to form a U-shaped groove 12d.
  • One end of the arm connecting block 300 away from the chute 110 is located in the U-shaped groove 12d.
  • the second locking member 400 includes a screw 410 and a nut 420.
  • the screw 410 is disposed on the arm connecting block 300, and the two ends respectively pass through the two sides of the U-shaped groove 12d.
  • the nut 420 is sleeved on the screw 410.
  • there are two nuts 420 which are respectively a hand-tight nut 422 and a lock nut 424.
  • the screw nut 422 is disposed on one end of the screw 410
  • the lock nut 424 is disposed on the other end of the screw 410.
  • the stabilizer 10 is switched from the folded state to the unfolded state. Specifically, the first arm 11 and the second arm 12 are converted from the overlapping state to the vertical state of the first arm 11 and the second arm 12 . .
  • the stabilizer 10 further includes a stopper 500.
  • the limiting member 500 includes a fixing sleeve 510, a pin 520, an elastic member 530 and a dialing member 540.
  • a second arm 12 has a cavity (not shown) near one end of the first arm 11.
  • the fixing sleeve 510 is disposed in the cavity and is fixed to the second arm 12.
  • the pin 520 is disposed on the fixing sleeve 510 and can reciprocate relative to the fixing sleeve 510 in the extending direction of the second arm 12 .
  • the elastic member 530 is sleeved on the pin 520, and both ends of the elastic member 530 can abut against the fixing sleeve 510 and the convex portion 522 on the pin 520 during the movement of the pin 520.
  • the dialing member 540 is disposed on the second arm 12 and has one end located in the cavity and inserted on one end of the pin 520 for plucking the pin 520 so that the pin 520 is along the second arm 12 The extension direction moves back and forth.
  • the pin 520 is disposed on the hole 512 formed in the fixing sleeve 510.
  • the dialing member 540 passes through the hole 12d formed in the second arm 12 and the hole 514 formed in the fixing sleeve 510, and is engaged with the hole 5222 formed in the convex portion 522.
  • the length of the hole 12d and the hole 514 in the extending direction of the second arm 12 determines the magnitude of the reciprocation of the pin 520 in the extending direction of the second arm 12.
  • the arm connecting block 300 is provided with a first hole 310 and a second hole 320.
  • the center line of the first hole 310 is perpendicular to the center line of the second hole 320.
  • the first hole 310 is for receiving one end of the pin 520 near the first arm 11; when the first arm 11 is perpendicular to the second arm 12,
  • the second hole 320 is for receiving the pin 520 near one end of the first arm 11 .
  • the dial 540 When the stabilizer 10 needs to be converted from the folded state to the unfolded state, the dial 540 is pushed to move the pin 520 away from the arm connecting block 300, so that the pin 520 is removed from the first hole 310.
  • the elastic member 530 is compressed. Pulling the second arm 12 outward to move the second arm 12 away from the first arm 11.
  • one end of the pin 520 near the arm connecting block 300 can be located at the first hole 310 and the arm connecting block 300.
  • the outer wall between the two holes 320 abuts (the dial 540 can be released at this time), and the elastic member 530 is still in a compressed state.
  • the rechargeable battery 16 is provided in the first arm 11, and is specifically provided in the free end 11b.
  • the rechargeable battery 16 is provided with a first input interface 16a and a first output interface 16b.
  • Control system 17 includes an angle sensor and Central processor 17a.
  • the angle sensor, the first driving member 14 and the second driving member 15 are respectively connected to the central processing unit 17a.
  • the angle sensor is used to detect an angle between the first arm 11 and the second arm 12.
  • the central processing unit 17a is for opening or not opening the first driving member 14 and the second driving member 15 according to the angle obtained by the angle sensor.
  • the use of the stabilizer 10 described above includes the following steps:
  • Step A Turning on the power source (that is, turning on the stabilizer 10), the angle sensor detects the angle between the first arm 11 and the second arm 12.
  • the angle sensor may be, but not limited to, a photo sensor, a Hall sensor, or the like.
  • Step B When the angle reaches a preset value, the central processing unit 17a is configured to open the first driving member 14 and the second driving member 15 according to the angle obtained by the angle sensor.
  • the stabilizer 10 can be used for photographing, and the charging line can be connected between the first output interface 16b and the photographing device (the input interface of the photographing device), so that the rechargeable battery 16 supplies power to the photographing device, so that it can be photographed while charging. That is to say, the stabilizer 10 can be used for both shooting and mobile power supply devices such as charging treasures.
  • the stabilizer 10 When the included angle does not reach the preset value, the first driving member 14 and the second driving member 15 do not operate. At this time, the stabilizer 10 is not usable for shooting, and can only be used as a mobile power source device such as a charging treasure.
  • the charging line is connected between the first output interface 16b and the photographing device, so that the rechargeable battery 16 can supply power to the photographing device.
  • the preset value of the included angle is zero.
  • the stabilizer 10 can only be used as a mobile power source device such as a charging treasure.
  • the stabilizer 10 can be used for both shooting and mobile power supply devices such as charging treasures.
  • the preset value of the included angle may also be 10°, 90°, or the like.
  • the charging line connecting the first output interface 16b and the photographing device is generally long, the rotation between the first arm 11 and the second arm 12, and the clamping member 13 and the second The rotation between the arms 12 causes interference.
  • the clamping member A second output interface 13c connected to the rechargeable battery 16 is provided on the 13 . Relative to the first output interface 16b, the second output interface 13c is closer to the photographing device, and the rechargeable battery 16 and the photographing device can be connected using a shorter charging line, thereby preventing the longer charging line from interfering with the first arm 11 and the first Rotation between the arms 12 and rotation between the clamp member 13 and the second arm 12.
  • the angle sensors are two, and are the first angle sensor 17b and the second angle sensor 17c, respectively.
  • the first angle sensor 17b and the second angle sensor 17c are connected to the central processing unit 17a, respectively.
  • the first angle sensor 17b is for detecting an angle change of the first arm 11, and the second angle sensor 17c is for detecting an angle change of the second arm 12.
  • the central processing unit 17a is for obtaining an angle according to an angle change of the first arm 11 and an angular change of the second arm 12.
  • the central processing unit 17a guides the operation of the first driving member 14 according to the change of the angle of the first arm 11, and guides the second according to the change of the angle of the second arm 12.
  • the drive member 15 operates.
  • the clamping member 13 includes a body (not shown) and two clamping plates 13d provided on the body.
  • the two clamping plates 13d are disposed opposite to each other, and the clamping plate 13d is rotatably connected to the main body through an elastic member (not shown) so as to be able to be accommodated in the escape groove 13e opened on the main body.
  • the spacing between the two splints 13d is adjustable, so that it can be used to hold a photographing device of a different size.

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Abstract

一种可折叠的稳定器(10)及可折叠的稳定器的控制方法。该稳定器包括具有连接端(11a)及自由端(11b)的第一支臂(11)，一端与连接端(11a)转动连接的第二支臂(12)，用于夹持拍摄设备的夹持件(13)，夹持件(13)的一侧与第二支臂(12)远离第一支臂(11)的一端转动连接，设于第一支臂(11)上且与第二支臂(12)的转轴连接的第一驱动件(14)，设于第二支臂(12)上且与夹持件(13)的转轴连接的第二驱动件(15)，包括角度传感器以及中央处理器(17a)的控制系统17，角度传感器用于检测第一支臂(11)与第二支臂(12)之间的夹角，中央处理器(17a)用于根据角度传感器获得的夹角开启或不开启第一驱动件(14)及第二驱动件(15)。

Description

可折叠的稳定器及可折叠的稳定器的控制方法 技术领域
本发明涉及一种可折叠的稳定器及可折叠的稳定器的控制方法。
背景技术
越来越多的操作者喜欢自拍，为满足自拍需求，出现了各种类型的自拍杆，但自拍杆容易出现因手抖而导致照片模糊的问题。为了解决自拍杆存在的问题，出现了手持稳定器，手持稳定器主要有三轴稳定器与二轴稳定器两大类，在每一轴向上，都有一与其对应的电机，通过电机控制夹持于稳定器上的手机等拍摄设备旋转，从而无论用户的手臂如何动作，会使拍摄设备的拍摄面(镜头)始终朝向拍摄物。当传统的稳定器的电源开启后，电机即开始工作，开启电机过程相对机械，智能化程度低。
发明内容
一种可折叠的稳定器，包括：
第一支臂，具有连接端及自由端；
第二支臂，一端与所述连接端转动连接；
夹持件，用于夹持拍摄设备，所述夹持件的一侧与所述第二支臂远离所述第一支臂的一端转动连接；
第一驱动件，设于所述第一支臂上，且与所述第二支臂的转轴连接；
第二驱动件，设于所述第二支臂上，且与所述夹持件的转轴连接；以及
控制系统，包括角度传感器以及中央处理器，所述角度传感器用于检测所述第一支臂与所述第二支臂之间的夹角，所述中央处理器分别与所述角度传感器、所述第一驱动件及所述第二驱动件连接，用于根据所述角度传感器获得的所述夹角开启或不开启所述第一驱动件及所述第二驱动件。
本发明的一个或多个实施例的细节在下面的附图和描述中提出。本发明的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为一实施方式的可折叠的稳定器的立体示意图；
图2为一实施方式的可折叠的稳定器处于竖持式下的立体示意图；
图3为一实施方式的可折叠的稳定器处于横持式下的立体示意图；
图4为一实施方式的可折叠的稳定器处于立式下的立体示意图；
图5为夹持件处于使用状态时的立体示意图；
图6为另一实施方式中的第一支臂与移动轨迹相交的示意图；
图7为图2的局部分解图；
图8为图2中A处的局部放大图；
图9为图2中B处的局部放大图；
图10为夹持件靠近第二支臂的一侧的结构示意图；
图11为限位件的分解图；
图12为限位件另一视角的分解图；
图13为第一支臂倒置后的立体示意图；
图14为控制系统的示意图。
具体实施方式
为了便于理解本发明，下面将参照相关附图对可折叠的稳定器及可折叠的稳定器的控制方法进行更全面的描述。附图中给出了可折叠的稳定器及可折叠的稳定器的控制方法的首选实施例。但是，可折叠的稳定器及可折叠的稳定器的控制方法可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对可折叠的稳定器及可折叠的稳定器的控制方法的公开内容更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在可折叠的稳定器及可折叠的稳定器的控制方法的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
如图1、图13及图14所示，一实施方式的可折叠的稳定器10，包括第一支臂11、第二支臂12、夹持件13、第一驱动件14、第二驱动件15、充电电池16以及控制系统17。
如图1及图2所示，第一支臂11具有连接端11a及自由端11b。在本实施方式中，列举了稳定器10的三种使用方式，分别为竖持式(图2)、横持式(图3)及立式(图4)。当稳定器10处于竖持式及横持式时，自由端11b为手持端。
第二支臂12一端与连接端11a转动连接。需要说明的是，第二支臂12与连接端11a转动连接是指，在不开启稳定器10的情况下，当采用外力拨动(例如手动拨动)第二支臂12时，第二支臂12能相对于第一支臂11旋转。具体的，在本实施方式中，第二支臂12相对于第一支臂11旋转的转轴与第一支臂11垂直，而且第二支臂12能相对于第一支臂11在360°范围内旋转。
夹持件13用于夹持拍摄设备。在本实施方式中，夹持件13用于夹持手机、平板等具有拍摄功能的设备。可以理解，夹持件13也可以用于夹持相机等专业的拍摄设备。
夹持件13与第二支臂12远离第一支臂11的一端转动连接。需要说明的是，夹持件13与第二支臂12转动连接是指，在不开启稳定器10的情况下，当采用外力拨动(例如手动拨动)夹持件13时，夹持件13能相对于第二支臂12旋转。具体的，在本实施方式中，夹持件13相对于第二支臂12旋转的转轴与第二支臂12垂直，而且夹持件13能相对于第二支臂12在360°范围内旋转。并且当第二支臂12与第一支臂11垂直时，夹持件13相对于第二支臂12旋转的转轴(夹持件13的转轴)与第二支臂12相对于第一支臂11旋转的转轴(第二支臂12的转轴)垂直。
第一驱动件14设于第一支臂11上，且与第二支臂12的转轴连接。从而可以采用两种方式来使第二支臂12旋转，一种是采用外力拨动第二支臂12的方式，一种是开启稳定器10，通过电能等驱动第一驱动件14，第一驱动件14再带动第二支臂12旋转。具体的，在本实施方式中，第一驱动件14为电机，第二支臂12与第一驱动件14的输出轴连接，电机的输出轴即为第二支臂12的转轴。
第二驱动件15设于第二支臂12上，且与夹持件13的转轴连接。从而可 以采用两种方式来使夹持件13旋转，一种是采用外力拨动夹持件13的方式，一种是开启稳定器10，通过电能等驱动第二驱动件15，第二驱动件15再带动夹持件13旋转。具体的，在本实施方式中，第二驱动件15为电机，夹持件13与第二驱动件15的输出轴连接，电机的输出轴即为夹持件13的转轴。
为了方便携带稳定器10，在实施方式中，将稳定器10设计为可折叠结构。在使用稳定器10前，通常需要先手动展开稳定器10，使得稳定器10的第一支臂11与第二支臂12由重叠状态转换为呈夹角状态。在本实施方式中，在使用上述稳定器10时，在不开启稳定器10前，通常需要先手动展开稳定器10，也即由图1所示的折叠状态(第一支臂11与第二支臂12处于重叠状态)转换为图2所示的第一支臂11与第二支臂12呈夹角状态。
未夹持拍摄设备的稳定器处于展开状态时，整个稳定器能处于平衡状态，这一平衡状态，在最初设计稳定器时就已经确定，称为初始平衡。在本实施方式中，以图2所示的视角为例，操作者竖直握住自由端11b，夹持件13朝向操作者，与操作者正对，第二支臂12与夹持件13构成的整体的重心位于第二支臂12的转轴上，夹持件13的重心位于夹持件13的转轴上，整个稳定器10处于竖直的初始平衡状态。
在夹持件13上夹持拍摄设备后，由于拍摄设备自身重力分布不均，夹持位置存在偏差等原因，夹持件13与拍摄设备构成的整体的重心会发生偏移，而不位于夹持件13的转轴上，初始平衡被打破，夹持件13会绕夹持件13的转轴转动(以图2所示的视角为例，当重心偏左时，夹持件13逆时针旋转，当重心偏右时，夹持件13顺时针旋转)。
当在夹持件13上夹持拍摄设备后，新增的拍摄设备会打破第二支臂12与夹持件13构成的整体的平衡，也即拍摄设备、第二支臂12与夹持件13构 成的整体的重心不位于第二支臂12的转轴上。以图2所示的视角为例，当在夹持件13的前表面夹持拍摄设备后，拍摄设备、第二支臂12与夹持件13构成的整体的重心相对于第二支臂12的转轴向前面移动了，导致第二支臂12绕第一支臂11朝向操作者所在的一侧旋转90°，导致拍摄设备的拍摄表面(具有摄像头的表面)朝下(朝向地面)，拍摄设备的拍摄表面不能与操作者正对。
需要说明的是，图2所示视角为采用稳定器10夹持拍摄设备以进行自拍的视角，使得拍摄设备与操作者正对，本质上是为了使得拍摄设备与拍摄物正对。
在传统的稳定器中，安装好拍摄设备后，开启稳定器，第一驱动件14及第二驱动件15开始工作，第一驱动件14对第二支臂12做功，以使第二支臂12反向旋转回复至图2所示的初始平衡状态，第二驱动件15对夹持件13做功，以使得夹持件13反向旋转回复至图2所示的初始平衡状态。也即在不开启稳定器时，安装好拍摄设备后，拍摄设备的拍摄表面无法朝向操作者以与操作者正对。安装好拍摄设备后，需要开启稳定器，第一驱动件14及第二驱动件15做功后，拍摄设备才能朝向操作者，才能进行拍摄。而第一驱动件及第二驱动件做功势必会导致稳定器10的功耗较高。
为了解决稳定器10功耗较高的问题，在本实施方式中，先手动调节，使得夹持件13与拍摄设备构成的整体的重心位于夹持件13的转轴上。具体过程如下：
以图2所示视角为例，在夹持件13上夹持拍摄设备后，手动移动拍摄设备，使得夹持件13与拍摄设备构成的整体的重心位于夹持件13的转轴上，以达到新的平衡。在移动拍摄设备的过程中，不断松开手检测是否平衡，直 至松开手后，夹持件13相对于第二支臂12不再旋转为止。当拍摄设备形状规则，且自身重力分布均匀时，夹持件13夹在拍摄设备的中部即为平衡状态。
当拍摄设备为手机时，直接在图2所示视角中的夹持件13的夹板13d上夹持手机，手机处于竖直状态。当需要使手机处于横躺状态时，需要先旋转夹持件13，使得夹持件13由图2所示的状态转换为图5所示的状态，在此转动过程中，夹持件13的重心始终位于夹持件13的转轴上，由图2所示的状态转换为图5所示的状态，整个稳定器10仍然会处于平衡状态。
在本实施方式中，第二支臂12还能相对于第一支臂11移动以使第二支臂12上的重心位于第二支臂12的转轴上，并且第二支臂12的移动轨迹与第二支臂12相交(即不平行)。需要说明的是，在本实施方式中，移动轨迹均为直线。而在其他实施方式中，当移动轨迹为曲线、折线、波浪线等非直线时，第二支臂12的移动轨迹与第二支臂12相交是指，移动轨迹的起始点与终点的连线与第二支臂12相交。
以图2所示视角为例，当在夹持件13的前表面上夹持拍摄设备后，拍摄设备、第二支臂12与夹持件13构成的整体的重心相对于第二支臂12的转轴会向前面移动，也即朝向操作者移动。在夹持件13的前表面夹上拍摄设备后，且在松开手之前，使得第二支臂12相对于第一支臂11向后远离操作者移动，即可达到新的平衡。在移动的过程中，不断松开手检测是否平衡，直至松开手后，第二支臂12相对于第一支臂11不再旋转为止，此时拍摄设备、第二支臂12与夹持件13构成的整体的重心位于第二支臂12的转轴上，达到了新的平衡。
在本实施方式中，调节拍摄设备、第二支臂12与夹持件13构成的整体的重心的表观现象为，使得第二支臂12(也即拍摄设备)靠近或远离拍摄物。
在本实施方式中，通过手动调节的方式，在不通电前(也即不开启稳定器10前)，使得拍摄设备、第二支臂12与夹持件13构成的整体的重心位于第二支臂12的转轴上，从而使得拍摄设备的拍摄表面与操作者(拍摄物)正对。在开启稳定器10后，不需要第一驱动件14与第二驱动件15额外做功来使得拍摄设备的拍摄表面与操作者(拍摄物)正对。因此本实施方式的稳定器10的功耗较低。
可以理解，在其他实施方式中，也可以只单独手动移动拍摄设备，以使夹持件13与拍摄设备构成的整体的重心位于夹持件13的转轴上，或者只单独手动移动第二支臂12，以使拍摄设备、第二支臂12与夹持件13构成的整体的重心位于第二支臂12的转轴上，而通过驱动件来调节另一重心。
进一步，在本实施方式中，当第二支臂12与第一支臂11垂直时，第二支臂12与移动轨迹垂直。在本实施方式中，列举了图2-4及图6所示的几种情况。
以图2所示视角为例，图2为操作者竖持稳定器10的自由端11b的结构示意图。在图2所示视角中，移动轨迹与垂直设置的第二支臂12及第一支臂11构成三维直角坐标系。此时，第一支臂11为俯仰臂，第二支臂12为横滚臂。
以图3所示视角为例，图3为操作者横持稳定器10的自由端11b的结构示意图。在图3所示视角中，移动轨迹与第一支臂11的延伸方向平行。此时，第一支臂11为俯仰臂，第二支臂12为横滚臂。
以图4所示视角为例，图4为将稳定器10的第一支臂11放置于桌面等平台上时的结构示意图。在图4所示视角中，移动轨迹与垂直设置的第二支臂12及第一支臂11构成三维直角坐标系。此时，第一支臂11为航向臂，第 二支臂12为横滚臂。
以图6所示视角为例，在其他实施方式中，移动轨迹也可以与第一支臂11的延伸方向相交(不平行但可垂直)。以图2所示的视角为例，假设第一支臂11靠近第二支臂12的一侧面具有滑槽a及滑槽b(请参考图6)，而第二支臂12与第一支臂11靠近第二支臂12的一侧面垂直，从而第二支臂12势必与滑槽a及滑槽b垂直。而滑槽a及滑槽b分别与第一支臂11的延伸方向相交，当移动轨迹与滑槽a或滑槽b重合时，也即移动轨迹与第一支臂11的延伸方向相交。此时，第二支臂12沿移动轨迹移动时，移动的分量也能使第二支臂12的重心位于第二支臂12的转轴上。
当图2所示视角中的第一支臂11与第二支臂12之间的夹角大于90°或小于90°时，为了使得拍摄设备与操作者正对，要么需要操作者移动位置，要么需要握持第一支臂11的操作者扭动手臂，从而导致握持第一支臂11的操作者手处于扭曲状态，用户体验较差。而在本实施方式中，第二支臂12与第一支臂11垂直，第二支臂12与移动轨迹也垂直，且在第二支臂12移动的过程中，第二支臂12始终会与第一支臂11垂直，不需要移动拍摄物，也不需要握持第一支臂11的操作者扭动手臂，即可使拍摄设备与操作者正对，用户体验更好。
进一步，如图2及图7所示，在本实施方式中，上述稳定器10还包括连接件100及第一锁紧件200。连接件100一端与第一驱动件14转动连接，另一端上设有滑槽110。第二支臂12一端能在滑槽110内移动。第一锁紧件200用于使第二支臂12与连接件100相对固定。具体的，在本实施方式中，当第二支臂12与滑槽110的一端接触后，第二支臂12能向滑槽110的另一端移动的最大距离为2mm～12mm。从而上述稳定器10能适用于大小不同、重量 不同的拍摄设备。例如，当拍摄设备大小相同，而重量不同时，重量越大，第二支臂12需要移动越大的距离才能实现平衡。
进一步，在本实施方式中，在移动轨迹上，滑槽110的中部呈方形，两端呈圆形。
进一步，在本实施方式中，连接件100包括框体120以及设于框体120两端的底盖130及顶盖140。框体120、底盖130及顶盖140围合形成容置腔(图未标)。底盖130与第一驱动件14转动连接。滑槽110设于顶盖140上。第二支臂12一端穿过滑槽110并容置于容置腔内。其中，顶盖140远离滑槽110的一端上设有用于遮挡螺钉150的塑胶片142。具体的，在本实施方式中，塑胶片142为聚碳酸酯(Polycarbonate，PC)片。
需要说明的是，在本实施方式中，第二支臂12通过臂杆连接块300间接容置于容置腔内，以下描述中的“锁紧滚轮210套设于第二支臂12上”、“第二支臂12的外壁上设有螺纹”以及“第二支臂12上设有安装槽12a”实际为“锁紧滚轮210套设于臂杆连接块300上”、“臂杆连接块300的外壁上设有螺纹”以及“臂杆连接块300上设有安装槽12a”。可以理解，在其他实施方式中，当第二支臂12直接容置于容置腔内时，以下描述是可行的。
第一锁紧件200包括锁紧滚轮210。锁紧滚轮210套设于第二支臂12上。锁紧滚轮210的内壁上设有螺纹，第二支臂12的外壁上设有螺纹，锁紧滚轮210能沿第二支臂12的延伸方向移动以与顶盖140抵接或间隔。当锁紧滚轮210与顶盖140抵接时，第二支臂12与连接件100相对固定；当锁紧滚轮210与顶盖140间隔时，第二支臂12能在滑槽110内移动。
进一步，在本实施方式中，第一锁紧件200还包括耐磨片220。第二支臂12上设有安装槽12a。耐磨片220套设于第二支臂12上，卡于安装槽12a 内，且位于顶盖140与锁紧滚轮210之间。耐磨片220的设置可以有效防止锁紧滚轮210与第二支臂12在相对于运动中发生磨损。
如图1所示，在本实施方式中，为方便携带稳定器10，将稳定器10设计为可折叠结构。具体的，在本实施方式中，第一支臂11与第二支臂12能重叠。当第一支臂11与第二支臂12重叠时，夹持件13位于第一支臂11与第二支臂12之间。从而使得上述稳定器10不仅便于携带，而且能有效避免折叠后，夹持件13位于第二支臂12远离第一支臂11的一侧上，而导致第二支臂12上凸出一块夹持件13，进而导致折叠后的稳定器10整体厚度较大且容易刮碰到夹持件13的问题。
稳定器10折叠后，在携带过程中，容易出现第一驱动件14及第二驱动件15随意转动，导致第一支臂11与第二支臂12从重叠状态转换为展开状态的情况。为了解决上述问题，如图2及图7-9所示，在本实施方式中，夹持件13靠近第一支臂11的一侧设有卡紧件13a，第一支臂11靠近夹持件13的一侧设有卡槽11c，卡紧件13a卡于卡槽11c内，从而使得第一支臂11与第二支臂12重叠后相对固定。
夹持件13呈长方形。在拍摄时，夹于夹持件13上的拍摄设备(如手机等)通常需要横放(也即采用如图5所示的视角来夹持拍摄设备)，这就要求夹持件13与拍摄设备的宽对应的边需要与拍摄设备的宽的尺寸相当，而夹持件13与拍摄设备的长对应的边可以相当较短，能满足夹持要求即可。为了使得夹持件13的尺寸相对较小，夹持件13与拍摄设备的宽对应的边的尺寸通常大于夹持件13与拍摄设备的长对应的边，也即夹持件13的长与拍摄设备的宽对应，夹持件13的宽与拍摄设备的长对应。
在折叠稳定器时，当不需要预先旋转夹持件13，即可使得卡紧件13a准 确卡于卡槽11c内，会导致夹持件13与拍摄设备的长对应的两边凸出于第一支臂11两侧，导致折叠后的稳定器较宽(即使夹持件13与拍摄设备的长对应的两边不凸出于第一支臂11两侧，此时需要增加第一支臂11的宽度，同样会导致折叠后的稳定器较宽)，也即导致稳定器体积较大，不利于携带。
为解决上述问题，在本实施方式中，夹持件13能相对于第二支臂12在360°范围内旋转。夹持件13呈长方形，夹持件13的长边用于与拍摄设备的宽对应，夹持件13的宽边用于与拍摄设备的长对应。当第一支臂11与第二支臂12重叠，夹持件13位于第一支臂11与第二支臂12之间，且夹持件13的长边与第二支臂12的长对应时，卡紧件13a卡于卡槽11c内。
具体的，如图2及图5所示，在使用图2所示的稳定器夹持拍摄设备后，需要旋转夹持件13才能使得位于夹持件13上的拍摄设备横放，也即图5所示状态才是具体的使用状态。在图2中，夹持件13的长边与第二支臂12的长对应，此时如果需要折叠图2中的稳定器时，不需要再旋转夹持件13，即可使得卡紧件13a准确卡于卡槽11c内。而在图5中，夹持件13的长边与第二支臂12的长边垂直，此时如果要需要折叠图5中的稳定器，需要旋转夹持件13，使其处于图1所示状态，卡紧件13a才能准确卡于卡槽11c内。
具体的，在本实施方式中，夹持件13呈方形，卡紧件13a的数目为四个，四个卡紧件13a分别设于夹持件13的四个角落。卡槽11c的数目也为四个，每一卡槽11c与一卡紧件13a对应。夹持件13的四个角度都被固定住，从而使得第一支臂11与第二支臂12重叠后牢固固定。可以理解，在其他实施方式中，卡紧件13a的数目根据具体情况来合理设置。
在传统的稳定器中，第二驱动件要么直接凸设于第二支臂远离夹持件的一侧上(此时第二支臂的厚度可以较薄，也即第二支臂尺寸较小)，要么直接 容置于第二支臂中(此时第二支臂的厚度需要与第二驱动件的厚度相当，也即第二支臂尺寸较小)，这两种方式都会导致稳定器折叠后厚度较大，不便于携带。
为了解决上述问题，如图2及图10所示，在本实施方式中，夹持件13靠近第二支臂12的一侧上设有容置槽13b。第二驱动件12一端位于容置槽13b内，另一端位于第二支臂12内或凸出于第二支臂12远离夹持件13的一侧上。在夹持件13上开设容置槽13b，以分担部分第二驱动件12的体积，从而可以在保持夹持件13厚度不变的前提下，使得稳定器10折叠后厚度较小，便于携带。
进一步，如图2及图7所示，在本实施方式中，上述稳定器10还包括臂杆连接块300及第二锁紧件400。臂杆连接块300一端能在滑槽110内移动，另一端与第二支臂12转动连接。第一锁紧件200用于使臂杆连接块300与连接件100相对固定。第二锁紧件400用于使第二支臂12与臂杆连接块300相对固定。其中，第二支臂12相对于臂杆连接块300转动的转轴与第二支臂12垂直相交。
以图2及图5所示视角为例，在折叠上述稳定器10时，拨动第二支臂12，使得第二支臂12绕第一支臂11朝向拍摄物所在的一侧旋转90°，从而使得第二支臂12与操作者正对的侧面，由侧面12b转换为侧面12c。再松开第二锁紧件400，使得第二支臂12与臂杆连接块300之间可转动。拨动第二支臂12，使得第二支臂12绕臂杆连接块300朝向第一支臂11转动。如果夹紧件13处于图5所示状态，还需要再拨动夹紧件13，使得夹紧件13绕第二支臂12转动90°，使得夹紧件13的长边与第二支臂12的长边对应。最后卡紧件13a卡于卡槽11c内。
进一步，在本实施方式中，第二支臂12的端面内陷形成U形槽12d。臂杆连接块300远离滑槽110的一端位于U形槽12d内。第二锁紧件400包括螺杆410及螺母420，螺杆410穿设于臂杆连接块300上，且两端分别穿过U形槽12d的两侧。螺母420套设于螺杆410上。具体的，在本实施方式中，螺母420为两个，分别为手拧螺母422与锁紧螺母424，拧螺母422设于螺杆410一端上，锁紧螺母424设于螺杆410另一端上。
在本实施方式中，稳定器10从折叠状态转换为展开状态，具体为，第一支臂11与第二支臂12从重叠状态转换为第一支臂11与第二支臂12呈垂直状态。
为了确保每次转动90°，如图2、图11及图12所示，在本实施方式中，稳定器10还包括限位件500。限位件500包括固定套510、销杆520、弹性件530及拨动件540。第二支臂12靠近第一支臂11的一端具有空腔(图未示)，固定套510设于空腔内，并固定于第二支臂12上。销杆520穿设于固定套510上，且能相对于固定套510沿第二支臂12的延伸方向往返移动。弹性件530套设于销杆520上，且在销杆520移动的过程中，弹性件530的两端能分别与固定套510及销杆520上的凸部522抵接。拨动件540设于第二支臂12上，且一端位于空腔内，并插于销杆520的一端上，用于拨动销杆520，以使销杆520沿第二支臂12的延伸方向往返移动。
具体的，在本实施方式中，销杆520穿设于开设于固定套510上的孔512上。拨动件540依次穿过开设于第二支臂12上的孔12d及开设于固定套510上的孔514，并卡于开设于凸部522上的孔5222上。其中，孔12d及孔514在第二支臂12的延伸方向上的长度决定了销杆520沿第二支臂12的延伸方向往返移动的幅度。
臂杆连接块300上设有第一孔310及第二孔320，第一孔310的中心线与第二孔320的中心线垂直。当第一支臂11与第二支臂12重合时，第一孔310用于容置销杆520靠近第一支臂11的一端；当第一支臂11与第二支臂12垂直时，第二孔320用于容置销杆520靠近第一支臂11的一端。
当需要将稳定器10从折叠状态转换为展开状态时，拨动拨动件540，带动销杆520朝向远离臂杆连接块300的方向移动，使得销杆520从第一孔310中移出，此时弹性件530被压缩。再向外拉动第二支臂12以使第二支臂12远离第一支臂11，此时销杆520靠近臂杆连接块300的一端可以与臂杆连接块300位于第一孔310与第二孔320之间的外壁抵接(此时可以松开拨动件540)，弹性件530仍然处于被压缩状态。当销杆520靠近臂杆连接块300的一端与第二孔320正对时，在弹性件530的作用下，销杆520靠近臂杆连接块300的一端容置于第二孔320中，此时第二支臂12与第一支臂11垂直。
可以理解，当对拨动件540施加较大的力时，在上述过程中，销杆520靠近臂杆连接块300的一端也可以不与臂杆连接块300抵接。当第二支臂12与第一支臂11大致垂直时，再松开拨动件540，在弹性件530的作用下，销杆520靠近臂杆连接块300的一端容置于第二孔320中。
传统的稳定器功能单一，通常只能作为稳定器使用。而拍摄设备(例如手机)在长时间使用后，通常会存在电量不足的问题，如果不能及时充电，就会导致拍摄终止。即使携带了充电宝等移动电源装置，也不便于边充电边拍摄，而且额外携带充电宝等移动电源装置会增加用户的负担。
为了解决上述问题，如图7、图13及图14所示，在本实施方式中，充电电池16设于第一支臂11内，具体设于自由端11b内。充电电池16上设有第一输入接口16a以及第一输出接口16b。控制系统17包括角度传感器以及 中央处理器17a。角度传感器、第一驱动件14及第二驱动件15分别与中央处理器17a连接。角度传感器用于检测第一支臂11与第二支臂12之间的夹角。中央处理器17a用于根据角度传感器获得的夹角开启或不开启第一驱动件14及第二驱动件15。
使用上述稳定器10包括如下步骤：
步骤A：打开电源(也即开启稳定器10)，角度传感器检测第一支臂11与第二支臂12之间的夹角。其中，角度传感器可以为但不限于光敏传感器、霍尔传感器等。
步骤B：当夹角达到预设值，中央处理器17a用于根据角度传感器获得的夹角开启第一驱动件14及第二驱动件15。此时稳定器10可以用于拍摄，同时可以在第一输出接口16b与拍摄设备(拍摄设备的输入接口)之间连接充电线，使得充电电池16为拍摄设备供电，从而可以边充电边拍摄。也即此时稳定器10既可以用于拍摄，又可以作为充电宝等移动电源装置使用。
当夹角未达到预设值，第一驱动件14及第二驱动件15不工作。此时稳定器10不可以用于拍摄，只能作为充电宝等移动电源装置使用，在第一输出接口16b与拍摄设备之间连接充电线，即可使得充电电池16为拍摄设备供电。
具体的，在本实施方式中，夹角的预设值为零。当稳定器10处于折叠状态时，稳定器10只能作为充电宝等移动电源装置使用。而当稳定器10展开后，稳定器10既可以用于拍摄，又可以作为充电宝等移动电源装置使用。可以理解，在其他实施方式中，夹角的预设值也可以为10°、90°等。
在边充电边拍摄过程中，连接第一输出接口16b与拍摄设备的充电线通常较长，会对第一支臂11与第二支臂12之间的转动，以及夹持件13与第二支臂12之间的转动造成干扰。为了解决该问题，在本实施方式中，夹持件 13上设有与充电电池16连接的第二输出接口13c。相对于第一输出接口16b，第二输出接口13c离拍摄设备更近，可以使用较短充电线来连接充电电池16与拍摄设备，从而可以避免较长的充电线干扰第一支臂11与第二支臂12之间的转动，以及夹持件13与第二支臂12之间的转动。
进一步，在本实施方式中，角度传感器为两个，分别为第一角度传感器17b及第二角度传感器17c。第一角度传感器17b及第二角度传感器17c分别与中央处理器17a连接。第一角度传感器17b用于检测第一支臂11的角度变化，第二角度传感器17c用于检测第二支臂12的角度变化。中央处理器17a用于根据第一支臂11的角度变化及第二支臂12的角度变化获得夹角。
当第一驱动件14及第二驱动件15开启后时，中央处理器17a根据第一支臂11的角度变化指导第一驱动件14工作，并根据第二支臂12的角度变化指导第二驱动件15工作。
进一步，如图5所示，在本实施方式中，夹紧件13包括本体(图未标)及设于本体上的两块夹板13d。两块夹板13d正对设置，且夹板13d与本体通过弹性元件(图未示)转动连接，以能容置于开设于本体上的避让槽13e。而且，两块夹板13d之间的间距可调，从而可以用于夹持不用尺寸的拍摄设备。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干 变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (14)

  1. 一种可折叠的稳定器，包括：
    第一支臂，具有连接端及自由端；
    第二支臂，一端与所述连接端转动连接；
    夹持件，用于夹持拍摄设备，所述夹持件的一侧与所述第二支臂远离所述第一支臂的一端转动连接；
    第一驱动件，设于所述第一支臂上，且与所述第二支臂的转轴连接；
    第二驱动件，设于所述第二支臂上，且与所述夹持件的转轴连接；以及
    控制系统，包括角度传感器以及中央处理器，所述角度传感器用于检测所述第一支臂与所述第二支臂之间的夹角，所述中央处理器分别与所述角度传感器、所述第一驱动件及所述第二驱动件连接，用于根据所述角度传感器获得的所述夹角开启所述第一驱动件及所述第二驱动件。
  2. 根据权利要求1所述的可折叠的稳定器，其特征在于，还包括充电电池，所述充电电池设于所述第一支臂内，用于为所述第一驱动件及所述第二驱动件供电，所述充电电池包括第一输入接口以及第一输出接口，所述充电电池能通过所述第一输入接口充电，且能通过所述第一输出接口为所述拍摄设备供电。
  3. 根据权利要求1所述的可折叠的稳定器，其特征在于，所述夹持件上设有与所述充电电池连接的第二输出接口，所述充电电池还能通过所述第二输出接口为所述拍摄设备供电。
  4. 根据权利要求1所述的可折叠的稳定器，其特征在于，所述角度传感器为两个，分别为第一角度传感器及第二角度传感器，所述第一角度传感器及所述第二角度传感器分别与所述中央处理器连接，所述第一角度传感器用 于检测所述第一支臂的角度变化，所述第二角度传感器用于检测所述第二支臂的角度变化，所述中央处理器用于根据所述第一支臂的角度变化及所述第二支臂的角度变化获得所述夹角；
    当所述第一驱动件及所述第二驱动件开启后时，所述中央处理器根据所述第一支臂的角度变化指导所述第一驱动件工作，并根据所述第二支臂的角度变化指导所述第二驱动件工作。
  5. 根据权利要求1所述的可折叠的稳定器，其特征在于，所述第二支臂还能相对于所述第一支臂移动以使所述第二支臂上的重心位于所述第二支臂的转轴所在的直线上，并且所述第二支臂的移动轨迹与所述第二支臂相交。
  6. 根据权利要求5所述的可折叠的稳定器，其特征在于，当所述第二支臂与所述第一支臂垂直时，所述第二支臂与所述移动轨迹垂直。
  7. 根据权利要求5所述的可折叠的稳定器，其特征在于，还包括连接件及第一锁紧件，所述连接件一端与所述第一驱动件转动连接，另一端上设有滑槽，所述第二支臂一端能在所述滑槽内移动，所述第一锁紧件用于使所述第二支臂与所述连接件相对固定。
  8. 根据权利要求7所述的可折叠的稳定器，其特征在于，还包括臂杆连接块及第二锁紧件，所述臂杆连接块一端能在所述滑槽内移动，另一端与所述第二支臂转动连接，所述第一锁紧件用于使所述臂杆连接块与所述连接件相对固定，所述第二锁紧件用于使所述第二支臂与所述臂杆连接块相对固定；其中，所述第二支臂相对于所述臂杆连接块转动的转轴与所述第二支臂垂直相交。
  9. 根据权利要求8所述的可折叠的稳定器，其特征在于，所述连接件包括框体以及设于所述框体两端的底盖及顶盖，所述框体、所述底盖及所述顶 盖围合形成容置腔，所述底盖与所述第一驱动件转动连接，所述滑槽设于所述顶盖上，所述臂杆连接块一端穿过所述滑槽并容置于所述容置腔内；所述第一锁紧件包括锁紧滚轮，所述锁紧滚轮套设于所述臂杆连接块上，所述锁紧滚轮的内壁上设有螺纹，所述臂杆连接块的外壁上设有螺纹，所述锁紧滚轮能沿所述第二支臂的延伸方向移动以与所述顶盖抵接或间隔；
    所述第二支臂的端面内陷形成U形槽，所述臂杆连接块远离所述滑槽的一端位于所述U形槽内，所述第二锁紧件包括螺杆及螺母，所述螺杆穿设于所述臂杆连接块上，且两端分别穿过所述U形槽的两侧，所述螺母套设于所述螺杆上。
  10. 根据权利要求8所述的可折叠的稳定器，其特征在于，还包括限位件，所述限位件包括固定套、销杆、弹性件及拨动件，所述第二支臂靠近第一支臂的一端具有空腔，所述固定套设于所述空腔内，并固定于所述第二支臂上，所述销杆穿设于所述固定套上，且所述销杆能相对于所述固定套沿所述第二支臂的延伸方向往返移动，所述弹性件套设于所述销杆上，且在所述销杆移动的过程中，所述弹性件的两端能分别与所述固定套及所述销杆上的凸部抵接，所述拨动件设于所述第二支臂上，且一端位于所述空腔内，并插于所述销杆的一端上，用于拨动所述销杆，以使所述销杆沿所述第二支臂的延伸方向往返移动；
    所述臂杆连接块上设有第一孔及第二孔，所述第一孔的中心线与所述第二孔的中心线垂直，当所述第一支臂与所述第二支臂重合时，所述第一孔用于容置所述销杆靠近所述第一支臂的一端，当所述第一支臂与所述第二支臂垂直时，所述第二孔用于容置所述销杆靠近所述第一支臂的一端。
  11. 根据权利要求1所述的可折叠的稳定器，其特征在于，所述夹持件 靠近所述第二支臂的一侧上设有容置槽，所述第二驱动件一端位于所述容置槽内，另一端位于所述第二支臂内或凸出于所述第二支臂上。
  12. 一种可折叠的稳定器的控制方法，包括：
    开启如权利要求1-11中任一项所述的可折叠的稳定器；
    角度传感器检测第一支臂与第二支臂之间的夹角；以及
    当第一支臂与第二支臂之间的夹角大于预设角度时，所述控制系统控制第一驱动件及第二驱动件工作。
  13. 根据权利要求12所述的可折叠的稳定器的控制方法，其特征在于，所述预设角度为0°～10°。
  14. 根据权利要求12所述的可折叠的稳定器的控制方法，其特征在于，所述所述角度传感器为两个，分别为第一角度传感器及第二角度传感器，所述第一角度传感器及所述第二角度传感器分别与所述中央处理器连接，所述第一角度传感器用于检测所述第一支臂的角度变化，所述第二角度传感器用于检测所述第二支臂的角度变化，所述中央处理器用于根据所述第一支臂的角度变化及所述第二支臂的角度变化获得所述夹角；
    当所述第一驱动件及所述第二驱动件开启后时，所述中央处理器根据所述第一支臂的角度变化指导所述第一驱动件工作，并根据所述第二支臂的角度变化指导所述第二驱动件工作。
PCT/CN2017/090691 2016-07-01 2017-06-29 可折叠的稳定器及可折叠的稳定器的控制方法 WO2018001288A1 (zh)

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