WO2018023550A1 - 手持云台及其手持结构 - Google Patents

手持云台及其手持结构 Download PDF

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Publication number
WO2018023550A1
WO2018023550A1 PCT/CN2016/093275 CN2016093275W WO2018023550A1 WO 2018023550 A1 WO2018023550 A1 WO 2018023550A1 CN 2016093275 W CN2016093275 W CN 2016093275W WO 2018023550 A1 WO2018023550 A1 WO 2018023550A1
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WO
WIPO (PCT)
Prior art keywords
hand
held
handheld
pan
axis
Prior art date
Application number
PCT/CN2016/093275
Other languages
English (en)
French (fr)
Inventor
马天航
赵岩崇
赵喜峰
Original Assignee
深圳市大疆灵眸科技有限公司
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 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to CN201680012466.0A priority Critical patent/CN107690546A/zh
Priority to PCT/CN2016/093275 priority patent/WO2018023550A1/zh
Publication of WO2018023550A1 publication Critical patent/WO2018023550A1/zh
Priority to US16/163,932 priority patent/US11085574B2/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
    • F16M11/041—Allowing quick release of the apparatus
    • 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
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • 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
    • 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
    • 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
    • F16M11/16—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
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2057—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for tilting and rolling
    • 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
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/563—Camera grips, handles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage

Definitions

  • the invention relates to a handheld cloud platform and a handheld structure thereof.
  • Handheld PTZ can be used with a variety of portable shooting equipment, widely used in television, movies, reality shows, sports shooting, aerial photography, security monitoring and other scenarios.
  • a handheld gimbal typically has three axes: a yaw (YAW) axis, a roll axis, and a pitch axis.
  • the movement of each axis of the handheld gimbal is controlled by the motor, which can operate the pan/tilt for three weeks to rotate freely, and can make the gimbal move in the opposite direction to the movement trend, thus ensuring that the gimbal is relatively stationary in the three-space space. Achieve the effect of stabilizing.
  • the one-handed hand-held pan/tilt has a single structure in the form of a handle, mainly because the pan/tilt is above or in front of the handle, and the visual sense is large, especially when the handle is equipped with a large cloud such as a mobile phone cloud platform or a single-lens cloud platform. Taiwan gives a top-heavy feeling.
  • a hand-held structure for a handheld cloud platform comprising a hand-held structure body, wherein the hand-held structure body is provided with a function button extending from a direction downward of the hand-held structure body away from the hand-held structure body Holding the structure, the side of the hand-held structure body is provided with a connection structure for connecting the main body of the gimbal.
  • a handheld cloud platform includes a hand-held structure and a pan-tilt body, the hand-held structure being the hand-held structure described above.
  • the handheld structure and the handheld pan/tilt are disposed on the side of the main body of the hand-held structure, and the handheld cloud platform can be prevented from being heavy.
  • FIG. 1 is a perspective view of a handheld pan/tilt provided by an embodiment of the present invention.
  • FIG. 2 is a perspective view of the handheld structure of the handheld head shown in FIG. 1.
  • FIG. 3 to FIG. 2 are perspective views of another perspective view of the handheld structure of the handheld head.
  • FIG. 4 is a side elevational view of the handheld structure of the handheld head shown in FIG. 1.
  • FIGS. 5 to 1 A perspective view of the gimbal body of the handheld pan/tilt shown in FIGS. 5 to 1.
  • Fig. 6 is a side view of the pan/tilt head shown in Fig. 5.
  • Fig. 7 is a disassembled view showing an assembly structure of a pan/tilt main body and an electronic device according to an embodiment of the present invention.
  • Fig. 8 is a perspective view showing the main body of the pan/tilt head shown in Fig. 7 in combination with an electronic device.
  • Fig. 9 is a side elevational view showing the assembled structure between the pan/tilt head and the electronic device shown in Fig. 7 in an unlocked position.
  • Fig. 10 is a cross-sectional view taken along line X-X of the pan/tilt main body and the electronic device shown in Fig. 8 in an unlocked position.
  • Figure 11 is a side elevational view of the assembled structure between the platform main body and the electronic device shown in Figure 7 in a locked position.
  • Fig. 12 is a cross-sectional view taken along line X-X of the pan/tilt main body and the electronic device shown in Fig. 8 in a locked position.
  • Handheld gimbal 1 Handheld structure 10 defensive equipment 100 Handheld structure body 101 Grip structure 102 Anti-slip 1020 First connection 104 bottom 1040 Zhou wall 1041 Assembly hole 1042 Connector 1043 Buckle 1044 Opening 1045 Action department 1046 function button 106 Battery compartment 108 PTZ main body 20 P-axis rack assembly twenty one First motor department 210 Fixtures 2100 Buckle 2102 First turning part 211 First support arm 212 Second support arm 213 First mount 214 R-axis rack assembly twenty two Second motor department 220 Third support arm 221 Fourth support arm 222 Second mount 223 Y-axis rack assembly twenty three Third motor department 230 Fifth support arm 231 case 30 First mating part 50 Moving parts 51 Operating part 510 Operation department 5100 Set up department 5102 Middleware 512 Assembly hole 5120 Responsible department 513 External thread 5130 Protruding 5132 Fastener 52 Fixed hole 520 Threaded through hole 522 Ball plunger mounting hole 524 Sliding portion 526 Ball plunger 54 Second mating part 32 Resistant part 320 Groove 322
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • the invention provides a handheld cloud platform, which can be used with various portable electronic devices, and is widely used in scenes such as television, movies, reality shows, sports shooting, aerial photography, security monitoring and the like.
  • the handheld pan/tilt can be a two-axis, three-axis, four-axis, and the like.
  • a three-axis pan/tilt is taken as an example, and an electronic device is taken as an example.
  • the handheld head 1 includes a handheld structure 10 and a platform body 20 fixedly coupled to the handheld structure 10 .
  • the pan/tilt main body 20 is configured to support an electronic device (not labeled) thereon, and the electronic device is rotatably coupled to the pan/tilt main body 20, around one of the axes of the pan/tilt main body 20, such as a horizontal The roll axis rotates.
  • the electronic device can be installed in a casing 30, and the casing 30 can be detachably connected to the pan/tilt main body 20, thereby achieving detachable connection between the electronic device and the pan/tilt main body 20.
  • an electronic device holding portion for supporting the electronic device may be disposed on the pan/tilt main body 20, and the electronic device holding portion is rotatably connected to the pan/tilt main body.
  • the electronic device can be a camera, a mobile phone or a portable electronic device (such as an iPad) or the like.
  • FIG. 2 to FIG. 4 illustrate a handheld structure of a handheld pan/tilt according to an embodiment of the present invention.
  • the handheld structure 10 includes a guard 100, a hand-held structural body 101, a grip 102, and a first connecting portion 104.
  • the opposite ends of the protection device 100 are respectively fixed on the hand-held structure main body 101, and a handle that is sleeved on the wrist of the user is formed between the two ends.
  • the two ends of the guard device 100 are respectively fixed at upper and lower ends of the hand-held structure body 101, and the guard device 100 extends longitudinally along the hand-held structure body 101. It can be understood that in other embodiments, the two ends of the guard device 100 may also be respectively disposed at other suitable positions of the hand-held structure main body 101, such as a central portion or a position near the middle portion.
  • the guard device 100 may also be a wristband structure, the two ends of which are respectively fixed on the hand-held structural body 101 or the holding structure 102, and the middle portion thereof may be sleeved on the wrist of the user. Wristband.
  • the wristband may extend longitudinally along the extending direction of the gripping structure 102 (ie, from top to bottom), or may extend in a direction different from the extending direction of the gripping structure 102, such as a wraparound The periphery of the grip structure 102 extends laterally (ie, substantially perpendicular to the direction in which the grip structure 102 extends).
  • the guard device 100 can also be a flexible wristband structure that can further enhance wearing comfort.
  • the hand-held structural body 101 is provided with a plurality of function buttons 106 for facilitating the one-hand operation of the function buttons 106 when the user holds the protection device 100.
  • a controller (not shown) may be disposed in the handheld structure main body 101. The controller is electrically connected to the function button 106, and the controller is capable of generating an operation instruction according to the function button 106. Corresponding control commands are sent to the pan/tilt head 20 for the control command.
  • the function button 106 may include a power button for controlling the on and off of the overall power of the handheld structure 10 and a work control button for controlling the working state of the handheld platform.
  • the function button 106 can be a toggle switch, a rotary switch, a slide switch, a physical touch button or a virtual touch button on the touch screen, and an input device such as a joystick.
  • the function button 106 is disposed near the guard device 100 so that the function button 106 can be manipulated by one hand when the user holds the guard device 100.
  • the button 106 can also be a button for controlling recording, photographing or playback of a camera, a mobile phone or a portable electronic device (such as an ipad) supported by the PTZ body 20.
  • the handheld structure main body 101 can be powered by a power supply unit (for example, a battery) disposed in the handheld structure main body 101, and the power supply unit can be a rechargeable battery fixed in the handheld structure main body 101. It can also be a replaceable battery, for example by opening the battery compartment 108 shown in Figure 3.
  • a power supply unit for example, a battery
  • the power supply unit can be a rechargeable battery fixed in the handheld structure main body 101. It can also be a replaceable battery, for example by opening the battery compartment 108 shown in Figure 3.
  • the grip portion 102 extends away from the hand-held structure body 101 in a downward direction of the hand-held structure body 101.
  • the grip portion 102 is provided with an anti-skid device 1020.
  • the anti-skid device 1020 is a holding groove adapted to the hand grip.
  • the first connecting portion 104 is disposed at a side of the handheld structure body 101 for connecting the pan/tilt main body 20 to the handheld structure 10 .
  • the first connecting portion 104 is disposed on a side of the hand-held structure 10 opposite the guard 100.
  • the first connecting portion 104 includes a bottom portion 1040 fixedly disposed on the hand-held structure body 101 and a peripheral wall 1041 extending from the bottom portion 1040 away from the hand-held structure body 101.
  • the bottom portion 1040 is substantially circular, and the peripheral wall 1041 is surrounded by a hollow cylindrical shape.
  • the bottom portion 1040 is provided with a mounting hole 1042 and a connector 1043 that is electrically connected to the pan/tilt main body 20 mounted on the first connecting portion 104.
  • a plurality of fastening portions 1044 are spaced apart along the circumference of the peripheral wall 1041, and an opening 1045 is formed between each of the two fastening portions 1044.
  • the acting portion 1046 is disposed outside the first connecting portion 104 for rotating the peripheral wall 1041 for use by an external force.
  • the pan/tilt main body 20 is disposed at the first connecting portion 104.
  • the pan/tilt main body 20 is a three-axis pan/tilt head, which includes three rotating shaft mechanisms.
  • Each of the rotating shaft mechanisms includes a frame assembly, and the three frame assemblies are respectively a P-axis (pitch axis) frame assembly 21 for controlling pitch motion and an R-axis (roll axis) frame for controlling roll motion.
  • the pan/tilt main body 20 is coupled to the first connecting portion 104 by one of the shafts.
  • An axis of the shaft coupled to the first connecting portion 104 is substantially perpendicular to an extending direction of the hand-held structure 102.
  • the P-axis frame assembly 21 is fixed to the first connecting portion 104 of the handheld structure 10 .
  • the P-axis frame assembly 21 is capable of freely rotating the electronic device relative to the handheld structure 10 about a P-axis (pitch axis).
  • the P-axis frame assembly 21 can include a first motor portion 210, a first rotating portion 211 rotatably coupled to the first motor portion 210, a first support arm 212, a second support arm 213, and a second
  • the first fixing seat 214 on the support arm 213 is away from the first support arm 212.
  • the first rotating portion 210 is substantially cylindrical, and the first supporting arm 212 extends radially from a side of the outer peripheral wall of the first rotating portion 210.
  • the second supporting arm 213 extends from an end of the first supporting arm 212 away from the first rotating portion 210 toward a direction away from the first motor portion 200, and a direction in which the second supporting arm 213 extends and an axis of the first rotating portion 210 Roughly parallel.
  • the P-axis frame assembly 21 is generally L-shaped.
  • the R-axis frame assembly 22 is disposed on an end of the P-axis frame assembly 21 away from the first rotating portion 210.
  • the R-axis frame assembly 22 is capable of freely rotating the electronic device relative to the hand-held structure 10 about an R-axis (roller axis).
  • the R-axis frame assembly 22 can include a second motor portion 220, a third support arm 221, a fourth support arm 222, and a second mount 223 rotatably coupled to the first mount 203.
  • the second motor portion 220 is substantially cylindrical, the third support arm 221 extends radially from a side of the outer peripheral wall of the second motor portion 204, and the fourth support arm 222 is from the third support
  • An end of the arm 221 remote from the first fixing seat 214 extends away from the first fixing seat 214 and extends in a direction substantially parallel to an axis of the second motor portion 220.
  • the R-axis frame assembly 22 is generally L-shaped.
  • the first motor portion 210 and the second motor portion 220 are disposed on the same side of the second support arm 213.
  • the length of the third support arm 221 is smaller than the length of the second support arm 213, so that the second fixed seat 223, the third motor portion 230, and the first motor portion 210 and the first rotating portion 211 are not Interfere with each other.
  • the Y-axis frame assembly 23 is disposed on an end of the R-axis frame assembly 22 away from the first mount 214.
  • the Y-axis frame assembly 23 is capable of freely rotating the electronic device relative to the handheld structure 10 about a Y-axis (heading axis).
  • the Y-axis frame assembly 23 can include a third motor portion 230 and a fifth support arm 231 rotatably coupled to the second mount 223.
  • the third motor portion 230 is substantially cylindrical, and the fifth support arm 231 is away from a side of the outer peripheral wall of the third motor portion 230 in a direction substantially parallel to an axis of the third motor portion 230.
  • the direction of the second fixing seat 223 extends.
  • the fifth support arm 231 is substantially parallel to the third support arm 221.
  • the Y-axis frame assembly is generally L-shaped.
  • the fourth support arm 222 has a shorter length such that the fifth support arm 231 is adjacent to the third support arm 221.
  • the third motor portion 230 and the first motor portion 210 are respectively disposed at two sides of the second fixing base 223 such that the Y-axis frame assembly 23 and the P-axis frame assembly 21 do not mutually Interference, and the Y-axis frame assembly 23 is disposed within the L-shaped enclosure of the R-axis frame assembly 22.
  • the P axis, the R axis, and the Y axis are respectively a pitch axis, a roll axis, and a heading axis of the pan/tilt head 20; specifically, the P axis is orthogonal to the R axis, The R axis is orthogonal to the Y axis, and the P axis and the Y axis may be coincident, oblique, and orthogonal.
  • the electronic device is mounted on an end of the fifth support arm 231 of the Y-axis frame assembly away from the second fixing base 223.
  • the axis of the third motor portion 230 is The fifth support arm 231, the third support arm 221, and the second support arm 213 are parallel, such that an axis of the third motor portion 230 is parallel to an axis of the first motor portion 210, and the P axis
  • the Y-axis overlaps, and the pan/tilt main body 20 can be regarded as a two-axis pan/tilt at this time, for example, the state shown in FIG.
  • the pan/tilt main body 20 is a three-axis pan/tilt head, for example, the state shown in FIG.
  • the R-axis frame assembly 22 and the Y-axis frame assembly 23 are at least partially disposed in the L-shaped enclosure space of the P-axis frame assembly 21, and The Y-axis frame assembly 23 is disposed in the L-shaped enclosure of the R-axis frame assembly 22.
  • the PTZ main body 20 is in a folded state for convenient carrying or storage.
  • the P-axis frame assembly 21 is provided with a positioning post 2100 and a latching portion 2102.
  • the positioning post 2100 corresponds to the mounting hole 1040 on the first connecting portion 104.
  • the latching portion 2102 corresponds to the latching portion 1042 on the first connecting portion 104.
  • the P-axis frame assembly 21 When the P-axis frame assembly 21 is mounted to the first connecting portion 104, first, an external force is applied to the acting portion 1046 to rotate the peripheral wall 1043 about the central axis of the peripheral wall 1043, when rotated to a At a predetermined position, a portion of the first motor portion 210 of the P-axis frame assembly 21 is inserted into a cylindrical cylinder formed by the peripheral wall 1043 such that the positioning post 2100 is inserted into the fitting hole 1040 while the buckle The portion 2102 is aligned with the opening 1044 between the engaging portions 1042; then the external force applied to the acting portion 1046 is released, the peripheral wall 1043 returns to the initial position, and the buckle portion 2102 is engaged by the engaging portion The portion 1042 is fastened to lock the P-axis frame assembly 21 to the first connecting portion 104.
  • a first mating structure 50 for mounting the electronic device may be disposed on the fifth support arm 231.
  • the first mating structure 50 is for mating with the housing of the electronic device to fix the electronic device thereon.
  • FIG. 7 is an illustration of a first mating structure 50 and a mating structure thereof with the housing 30 .
  • the first mating structure 50 is for mating with the second mating portion 32 provided on the housing 30.
  • the first mating portion 50 includes a movable member 51 and a fixing member 52.
  • the fixing member 52 is fixedly connected to the fifth supporting arm 231 , and the movable member 51 is disposed between the fifth supporting arm 231 and the fixing member 52 .
  • the fixing member 52 is disposed at an end of the fifth supporting arm 231 away from the third motor portion 230.
  • the movable member 51 includes an operating member 510, an intermediate member 512, and a resisting portion 513.
  • the operating member 510 includes an operating portion 5100 and a sleeve portion 5102.
  • the operation portion 5100 is a protruding handle.
  • the operating member 510 can be rotated on the operating portion 5100 by applying an external force.
  • the sleeve portion 5102 has a hollow annular shape and is internally provided with an internal thread.
  • the outer edge of the intermediate member 512 is provided with an external thread, and the external thread can cooperate with the internal thread in the sleeve portion 5102 to fix the intermediate member 512 to the operating member 510.
  • the intermediate member 512 is provided with a mounting hole 5120.
  • An outer thread 5130 is disposed on an outer side of the abutting portion 513, and a protruding portion 5132 is disposed on a side of the intermediate member 512.
  • the protruding portion 5132 is adapted to the shape of the mounting hole 5120 of the intermediate member 512. It is accommodated in the fitting hole 5120 of the intermediate member 512 such that the abutting portion 513 can rotate with the rotation of the intermediate member 512.
  • the fixing member 52 can be fixed to the fifth support arm 231 through a fixing hole 520. It can be understood that in other embodiments, the fixing member 52 can also be fixed to the fifth supporting arm 231 by other means, such as a snap connection or the like, as long as the fixing member 52 can be fixed at the fifth.
  • the support arm 231 can be used.
  • the fixing member 52 is recessed with a threaded through hole 522.
  • the threaded through hole 522 can cooperate with the external thread 5130 of the abutting portion 513, so that the abutting portion 513 is bored in the threaded through hole. 522.
  • a sliding portion 526 is disposed on a side of the fixing member 52 facing the second fitting portion 32.
  • the second mating portion 32 is fixed to the back surface of the casing 30.
  • the second engaging portion 32 is provided with two opposite resisting portions 320 , and a recess 322 is formed between the two resisting portions 320 .
  • the sliding portion 526 of the fixing member 52 can slide into the groove 322 from one side of the groove under an external force.
  • the other side of the recess 322 is provided with a stopping portion 324 for preventing the fixing member 52 from sliding out of the other side when the sliding portion 526 of the fixing member 52 slides in the recess 322.
  • the groove 322 is described.
  • the groove 322 and the sliding portion 526 are both dovetail-shaped, so that both sides of the sliding portion 526 can be resisted by the resisting portion 320.
  • the first mating portion 50 may further include a ball plunger 151 mounted on the fixing member through a ball plunger mounting hole 524 on the fixing member 52. 52.
  • a limiting hole 326 is defined in the recess 322 of the second engaging portion 32.
  • the protruding portion 5132 of the abutting portion 513 of the movable member 51 is first passed through the fitting hole 5120 of the intermediate member 512, and then the intermediate member 512 is threaded through the outer side thereof and the internal thread of the operating member 510.
  • the intermediate member 512 is fixed to the operating member 510 in cooperation, thereby completing the assembly of the movable member 51.
  • the movable member 51 is screwed with the threaded through hole 522 of the fixing member 52 through the external thread 5130 of the abutting portion 513, and the ball plunger 54 is mounted through the ball plunger mounting hole 524 on the fixing member.
  • the assembly of the first fitting portion is completed.
  • the first mating portion 50 is fixed to the fifth support arm 231 through a fixing hole 520 on the fixing member 52.
  • the first mating portion 50 and the second mating portion 32 are unlocked before and after.
  • the external thread 5130 of the abutting portion 513 does not protrude from the threaded through hole 522 of the fixing member 52.
  • the first mating portion 50 is free to slide within the recess 322.
  • the operating portion 5100 of the operating member is operated, the operating member 510 is rotated about a central axis of the sleeve portion 5102, thereby driving the intermediate member 512 and the abutting portion 513 along with the operating member 510.
  • the operating portion 5100 of the operating member 510 is operated in the reverse position, the operating member 510 is rotated about the central axis of the sleeve portion 5102, thereby driving the intermediate member 512 and the The holding portion 513 rotates together with the operating member 510 such that the outer thread of the abutting portion 513 is axially moved away from the groove 322 in the threaded through hole 522 of the fixing member 52, so that the abutting portion
  • the external thread 5130 of the 513 is retracted into the threaded through hole 522 and no longer resists the bottom surface of the groove 322. Accordingly, the side edge of the sliding portion 526 of the fixing member 52 is no longer resisted.
  • the abutting portion 320 is abutted so that the sliding portion 526 of the fixing member 52 can freely slide in the groove 322, that is, the fixing member 52 is in the locking position.
  • first connecting portion 104 of the handheld structure 10 and the P-axis stator of the pan/tilt main body 20 can also be fixed by any other suitable manner, such as screws, snaps, shape fits, screwing, etc. .
  • pan/tilt main body 20 is not limited to being connected to the handheld structure 10 through the P-axis stator, and may also be connected to the pan/tilt main body 20 through the Y-axis stator, and the electronic device It is disposed on the P-axis rotor of the gimbal body.
  • the cooperation between the middle member 512 and the operating member 510 is not limited to a threaded fit, and may be other fixed connection manners, such as a buckle, a form fit, and the like;
  • the cooperation between the intermediate member 512 and the abutting portion 513 is not limited to the shape fit shown in the figure, and may be other matching manners, as long as the resisting portion 513 can be made along with the middle member 512. It suffices to rotate with the rotation of the operating member 510.
  • the intermediate member 512 can be omitted, and the abutting portion 513 is fixedly coupled with the operating member 510 such that the abutting portion 513 can rotate with the operating member 510. And rotate.
  • the abutting portion 513 and the operating member 510 may be integrally formed.
  • the housing 30 can also be fixed on the main body of the gimbal. When the handheld gimbal is used, it is only necessary to install the electronic device in the housing 30. When not in use, the electronic device may be taken out from the casing. It can be understood that the housing 30 can also be modified into a bracket whose length or width can be adjusted, instead of being limited to the housing shape shown in the figure, so as to accommodate electronic devices supporting various shapes.
  • the mating structure of the gimbal body and the electronic device is not limited to the structure shown above, and may be any suitable quick-release structure, as long as the electronic device can be quickly assembled and locked in the gimbal body. 20, and the electronic device can be quickly unlocked and separated from the pan/tilt main body 20.
  • the pan/tilt main body 20 is disposed on the side of the hand-held structure 102, and is disposed on the upper side or the front side to avoid the top-heavy feeling, and is more convenient to operate, convenient for right and left hand switching and one-handed manipulation of the handheld cloud platform 1.

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Abstract

一种手持结构(10)，用于手持云台(1)，手持结构(10)包括手持结构主体(101)，手持结构主体(101)上设置有功能按键(106)，自手持结构主体(101)下方向远离手持结构主体(101)的方向延伸有握持结构(102)，手持结构主体(101)侧边设置有用于连接云台主体(20)的第一连接部(104)。

Description

手持云台及其手持结构 技术领域
本发明涉及一种手持云台及其手持结构。
背景技术
手持云台可搭配各种便携式拍摄设备使用，广泛运用于电视、电影、真人秀、运动拍摄、航拍、安防监控等场景。手持云台一般有三个轴：偏航（YAW）轴、横滚（Roll）轴、俯仰（Pitch）轴。手持云台每个轴的运动由电机控制，即可一操作云台三个周自由转动，又可以让云台做与运动趋势方向相反的运动，从而保证云台在三位空间内相对静止以达到增稳的效果。
目前现有单手手持云台因手柄结构形式很单一，主要是云台在手柄上方或前方，视觉上感觉体积较大，特别是当手柄搭载手机云台、单反云台等体积较大的云台时给人一种头重脚轻的感觉。
发明内容
有鉴于此，有必要提供一种便于单手手持且便携的手持云台及其手持结构。
一种手持结构，用于手持云台，所述手持结构包括手持结构主体，所述手持结构主体上设置有功能按键，自所述手持结构主体下方向远离所述手持结构主体的方向延伸有握持结构，所述手持结构主体侧边设置有用于连接云台主体的连接结构。
一种手持云台，包括手持结构及云台主体，所述手持结构为上所述的手持结构。
上所述手持结构及手持云台将所述连接云台主体的连接结构设置在所述手持结构主体侧边，能够避免手持云台头重脚轻。
 附图说明
图1是本发明实施方式提供的一种手持云台的立体图。
图2是图1所示的手持云台的手持结构的立体图。
图3至图2所示的手持云台的手持结构另一视角的立体图。
图4是图1所示的手持云台的手持结构的侧视图。
图5至图1所示的手持云台的云台主体的立体图。
图6为图5所示的云台主体的侧视图。
图7为本发明一实施方式的云台主体与电子装置的装配结构拆解图。
图8是图7所示的云台主体与电子装置结合时的立体图。
图9为图7所示的云台主体与电子装置之间的装配结构在解锁位置的侧视图。
图10为图8所示的云台主体与电子装置在解锁位置时沿X-X线的剖视图。
图11为图7所示的云台主体与电子装置之间的装配结构在锁定位置的侧视图。
图12为图8所示的云台主体与电子装置在锁定位置时沿X-X线的剖视图。
主要元件符号说明
手持云台 1
手持结构 10
防护装置 100
手持结构主体 101
握持结构 102
防滑部 1020
第一连接部 104
底部 1040
周壁 1041
装配孔 1042
连接器 1043
扣合部 1044
开口处 1045
作用部 1046
功能按键 106
电池仓 108
云台主体 20
P轴机架组件 21
第一电机部 210
固定装置 2100
卡扣部 2102
第一转动部 211
第一支撑臂 212
第二支撑臂 213
第一固定座 214
R轴机架组件 22
第二电机部 220
第三支撑臂 221
第四支撑臂 222
第二固定座 223
Y轴机架组件 23
第三电机部 230
第五支撑臂 231
壳体 30
第一配合部 50
活动件 51
操作件 510
操作部 5100
套设部 5102
中间件 512
装配孔 5120
抵持部 513
外螺纹 5130
突出部 5132
固定件 52
固定孔 520
螺纹通孔 522
球头柱塞安装孔 524
滑动部 526
球头柱塞 54
第二配合部 32
抵挡部 320
凹槽 322
止挡部 324
限位孔 326
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做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
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。本文中在本发明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。
本发明提供一种手持云台，所述手持云台可搭配各种便携式电子设备使用，广泛运用于电视、电影、真人秀、运动拍摄、航拍、安防监控等场景。所述手持云台可以为二轴、三轴、四轴等云台，为便于描述，以下实施例中以三轴云台为例、电子设备以手机为例进行说明。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1，所述手持式云台1包括手持结构10及固定连接于所述手持结构10的云台主体20。所述云台主体20用于支撑一电子装置（未标示）于其上，所述电子装置能够转动地连接于所述云台主体20，绕所述云台主体20的其中一个轴，比如横滚（roll）轴旋转。所述电子装置可装设在一壳体30中，所述壳体30与所述云台主体20能够可分离地连接，从而实现所述电子装置与所述云台主体20的可分离地连接。在其他实施例中，也可以是在所述云台主体20上设置一用于支撑所述电子设备的电子装置固持部，所述电子装置固持部与所述云台主体转动连接。
可以理解的是，所述电子装置可以为相机、手机或便携式电子装置（如ipad）等。
请参阅图2至图4所示，为本发明一实施例的手持云台的手持结构。所述手持结构10包括防护装置100、手持结构主体101、握持部102及第一连接部104。
所述防护装置100两相对端分别固定在所述手持结构主体101上，两端之间形成一便于套设在使用者手腕上的把手。在图示的实施例中，所述防护装置100两端分别固定在所述手持结构主体101的上下两端，所述防护装置100沿着所述手持结构主体101纵向延伸。可以理解，在其他实施例中，所述防护装置100的两端也可以分别设置在所述手持结构主体101的其他适宜位置，例如中部或靠近中部的位置。在其他实施例中，所述防护装置100还可以是腕带结构，其两端分别固定在所述手持结构主体101或所述握持结构102上，其中部形成可以套设在使用者手腕上的腕带。在一些实施例中，所述腕带可以沿所述握持结构102的延伸方向（即从上向下）纵向延伸，也可以沿不同于所述握持结构102的延伸方向延伸，例如绕所述握持结构102的周缘横向延伸（即与所述握持结构102的延伸方向大致垂直）。在一些实施例中，所述防护装置100还可以为具有一定弹性的腕带结构，可以进一步提升佩戴舒适度。
所述手持结构主体101上设置有若干功能按键106，便于使用者手持所述防护装置100时可以单手操作该等功能按键106。所述手持结构主体101内还可以设置有控制器（图未示），所述控制器与所述功能按键106电性连接，所述控制器能够根据所述功能按键106所接收的操作指令生成相应的控制指令，并向所述云台主体20发送所述控制指令。
具体地，所述功能按键106可包括有控制所述手持结构10整体电源的通断的电源按键及控制所述手持云台工作状态的工作控制按键。所述功能按键106可以是拨动开关，转动开关，滑动开关，触摸屏上的实体触摸按键或虚拟触摸按键，控制摇杆等输入设备。所述功能按键106设置在所述防护装置100附近，以便于使用者手持所述防护装置100时能单手操控所述功能按键106。
可以理解的是，所述按键106也可以为用于控制云台主体20支撑的相机、手机或便携式电子装置（如ipad）进行录像、拍照或回放的按键。
所述手持结构主体101可通过设置在所述手持结构主体101内的电源供应单元（例如：电池）供电，所述电源供应单元可以是固设在所述手持结构主体101内的可充电电池，也可以是可以更换的电池，例如通过开启图3所示的电池仓108更换电池。
所述握持部102自所述手持结构主体101下方向远离所述手持结构主体101的方向延伸。所述握持部102上设有防滑装置1020。本实施例中，所述防滑装置1020为适应手撑握持的握持凹槽。
所述第一连接部104设置于所述手持结构主体101的侧边，用于连接所述云台主体20于所述手持结构10。在图所示的实施例中，所述第一连接部104设置在所述手持结构10上与所述防护装置100相对的一侧。所述第一连接部104包括固定设置在所述手持结构主体101上的底部1040及自所述底部1040向远离所述手持结构主体101的方向延伸的周壁1041。所述底部1040大致呈圆形，所述周壁1041围设成中空的圆柱筒形。所述底部1040上设有装配孔1042及提供电性连接至装配在所述第一连接部104上的云台主体20的连接器1043。多个扣合部1044沿着所述周壁1041周缘间隔设置，每两个扣合部1044之间形成一开口处1045。所述作用部1046设置在所述第一连接部104的外侧，用于在外力所用下转动所述周壁1041。
所述云台主体20设置于所述第一连接部104。在本实施方式中，所述云台主体20为三轴云台，其包括三个转轴机构。每个所述转轴机构均包括一个机架组件，三个所述机架组件分别为控制俯仰运动的P轴(pitch轴)机架组件21、控制横滚运动的R轴(roll轴)机架组件22、以及控制航向运动的Y轴(yaw轴)机架组件23。所述云台主体20通过其中一个轴连接于所述第一连接部104。与所述第一连接部104连接的轴的轴线与所述手持结构102的延伸方向大致垂直。
请参阅图5至图6所示，所述P轴机架组件21固定于所述手持结构10的所述第一连接部104。所述P轴机架组件21能够使所述电子装置相对所述手持结构10绕一P轴(俯仰轴)自由转动。所述P轴机架组件21可包括第一电机部210、转动连接在所述第一电机部210上的第一转动部211及第一支撑臂212、第二支撑臂213及设置在第二支撑臂213上远离所述第一支撑臂212的一端上的第一固定座214。所述第一转动部210大致呈圆柱形，所述第一支撑臂212自所述第一转动部210的外周壁的一侧径向延伸。所述第二支撑臂213自所述第一支撑臂212远离所述第一转动部210的一端朝向远离第一电机部200的方向延伸，其延伸的方向与所述第一转动部210的轴线大致平行。所述P轴机架组件21大致呈L形。
所述R轴机架组件22设置在所述P轴机架组件21上远离所述第一转动部210的一端。所述R轴机架组件22能够使所述电子装置相对所述手持结构10绕一R轴(横滚轴)自由转动。所述R轴机架组件22可包括转动连接在所述第一固定座203上的第二电机部220、第三支撑臂221、第四支撑臂222及第二固定座223。所述第二电机部220大致呈圆柱形，所述第三支撑臂221自所述第二电机部204的外周壁的一侧径向延伸，所述第四支撑臂222自所述第三支撑臂221上远离所述第一固定座214的一端朝向远离所述第一固定座214的方向延伸，其延伸的方向与所述第二电机部220的轴线大致平行。所述R轴机架组件22大致呈L形。所述第一电机部210与所述第二电机部220设置在所述第二支撑臂213的同侧。所述第三支撑臂221的长度小于所述第二支撑臂213的长度，从而使得所述第二固定座223、第三电机部230与所述第一电机部210及第一转动部211不互相干涉。
所述Y轴机架组件23设置在所述R轴机架组件22上远离所述第一固定座214的一端。所述Y轴机架组件23能够使所述电子装置相对所述手持结构10绕一Y轴(航向轴)自由转动。所述Y轴机架组件23可包括转动连接在所述第二固定座223上的第三电机部230及第五支撑臂231。所述第三电机部230大致呈圆柱形，所述第五支撑臂231自所述第三电机部230的外周壁的一侧沿与所述第三电机部230的轴线大致平行的方向向远离所述第二固定座223的方向延伸。所述第五支撑臂231与所述第三支撑臂221大致平行。所述Y轴机架组件大致呈L形。优选地，所述第四支撑臂222的长度较短以使得所述第五支撑臂231临近所述第三支撑臂221。所述第三电机部230与所述第一电机部210分别设置在所述第二固定座223的两侧，从而使得所述Y轴机架组件23与所述P轴机架组件21不互相干涉，且所述Y轴机架组件23设置在所述R轴机架组件22的L形围设空间内。
其中，所述P轴、所述R轴及所述Y轴分别为所述云台主体20的俯仰轴、横滚轴及航向轴；具体地，所述P轴与所述R轴正交，所述R轴与所述Y轴正交，所述P轴与所述Y轴可以重合、斜交、正交。所述电子装置装设于所述Y轴机架组件的第五支撑臂231上远离所述第二固定座223的一端上。当所述R轴机架组件22相对所述P轴机架组件21旋转，至所述第三支撑臂221与所述第二支撑臂213大致平行时，所述第三电机部230的轴线与所述第五支撑臂231、第三支撑臂221及第二支撑臂213平行，从而，所述第三电机部230的轴线与所述第一电机部210的轴线平行，所述P轴与所述Y轴重合，此时所述云台主体20可视为二轴云台，例如图5所示的状态。
当所述R轴机架组件22相对所述P轴机架组件21旋转，至所述第三支撑臂221与所述第二支撑臂213大致垂直时，由于所述所述第三电机部230的轴线与所述第五支撑臂231及第三支撑臂221，所述第一电机部210的轴线与第二支撑臂213平行，从而，所述第三电机部230的轴线与所述第一电机部210的轴线大致垂直，此时，所述云台主体20为三轴云台，例如图1所示的状态。
由于所述第二电机部220与所述第一电机部210均位于所述第二支撑臂213的同侧，且所述第三支撑臂221的长度小于所述第二支撑臂213的长度，从而使得在图5所示的状态下，所述R轴机架组件22及所述Y轴机架组件23至少部分地设置在所述P轴机架组件21的L形围设空间内，而所述Y轴机架组件23设置在所述R轴机架组件22的L形围设空间内，此时，所述云台主体20处于折叠状态，便于携带或收纳。
所述P轴机架组件21上设置有定位柱2100及卡扣部2102。所述定位柱2100与所述第一连接部104上的装配孔1040相对应。所述卡扣部2102与所述第一连接部104上的扣合部1042相对应。安装所述P轴机架组件21至所述第一连接部104时，首先，施加外力在所述作用部1046上，使所述周壁1043绕所述周壁1043的中心轴线旋转，当旋转到一预定位置时，将所述P轴机架组件21的第一电机部210的部分插入所述周壁1043形成的圆柱筒中，以使得所述定位柱2100插入所述装配孔1040，同时所述卡扣部2102对准所述扣合部1042之间的开口处1044；然后释放施加在所述作用部1046上的外力，所述周壁1043回复到初始位置，所述卡扣部2102被所述扣合部1042扣合，从而锁固所述P轴机架组件21于所述第一连接部104上。
所述第五支撑臂231上可设置有用于装设所述电子装置的第一配合结构50。第一配合结构50用于与电子装置的壳体配合而固定所述电子装置于其上。
请参阅图7所示，为一种例示的第一配合结构50及其与壳体30之间的配合结构图。所述第一配合结构50用于与所述壳体30上设置的第二配合部32配合。所述第一配合部50包括活动件51及固定件52。所述固定件52与所述第五支撑臂231固定连接，所述活动件51设置在所述第五支撑臂231与所述固定件52之间。在本实施例中，所述固定件52设置在所述第五支撑臂231远离所述第三电机部230的一端。
所述活动件51包括操作件510、中间件512及抵持部513。所述操作件510包括操作部5100及套设部5102。所述操作部5100为突出的手柄。通过施加外力在所述操作部5100上，可转动所述操作件510。所述套设部5102为中空的圆环状，其内设置有内螺纹。所述中间件512外缘设置有外螺纹，所述外螺纹可以与所述套设部5102内的内螺纹配合从而固定所述中间件512于所述操作件510。所述中间件512上设有装配孔5120。所述抵持部513外侧设有外螺纹5130，其面向所述中间件512的一侧设有突出部5132，所述突出部5132与所述中间件512的装配孔5120的形状相适应，能够容设在所述中间件512的装配孔5120中，从而使得所述抵持部513能随着所述中间件512的转动而转动。
所述固定件52可通过固定孔520固定在所述第五支撑臂231。可以理解，在其他实施方式中，所述固定件52也可以通过其他方式固定在所述第五支撑臂231，例如卡扣连接等，只要能使得所述固定件52能固定在所述第五支撑臂231上即可。所述固定件52上凹设有螺纹通孔522，所述螺纹通孔522可与所述抵持部513的外螺纹5130配合，从而使得所述抵持部513穿设在所述螺纹通孔522中。所述固定件52面向所述第二配合部32的一侧设置有滑动部526。
所述第二配合部32固定在所述壳体30背面。所述第二配合部32上设有相对的两抵挡部320，两抵挡部320之间形成一凹槽322。所述固定件52的滑动部526能在外力作用下从所述凹槽的一侧滑入所述凹槽322。所述凹槽322另一侧设有止挡部324，用于当所述固定件52的滑动部526在所述凹槽322内滑动时防止所述固定件52从该另一侧滑出所述凹槽322。在所述实施例中，所述凹槽322与所述滑动部526均呈燕尾状，从而使得所述滑动部526的两侧能够被所述抵挡部320所抵持。
在一些实施例中，所述第一配合部50还可包括一球头柱塞54，所述球头柱塞通过所述固定件52上的球头柱塞安装孔524安装在所述固定件52上。所述第二配合部32的凹槽322上设置有限位孔326，当所述固定件52的滑动部526滑动至与所述止挡部324抵触时，所述球头柱塞54顶入所述限位孔326而限位。通过该球头柱塞54的限位可提供一种特殊的“到位”手感。
装配时，先将活动件51的抵持部513的突出部5132穿设所述中间件512的装配孔5120，然后将所述中间件512通过其外侧的螺纹与所述操作件510的内螺纹配合而固定所述中间件512至所述操作件510，从而完成活动件51的装配。接着将活动件51通过所述抵持部513的外螺纹5130与所述固定件52的螺纹通孔522螺合，所述球头柱塞54通过固定件上的球头柱塞安装孔524安装至所述固定件52，从而完成述第一配合部的装配。最后，将所述第一配合部50通过所述固定件52上的固定孔520固定至所述第五支撑臂231。
请参阅图8至图12所示，为所述第一配合部50与所述第二配合部32解锁前后的图。当处于解锁位置时，所述抵持部513的外螺纹5130未突出于所述固定件52的螺纹通孔522。所述第一配合部50可以在所述凹槽322内自由滑动。当操作所述操作件的操作部5100时，所述操作件510绕所述套设部5102的中心轴线旋转，从而带动所述中间件512及所述抵持部513跟着所述操作件510一起旋转，从而使得所述抵持部513的外侧螺纹所述固定件52的螺纹通孔522内朝向所述凹槽322轴向移动，使得所述抵持部513的外螺纹5130突出于所述螺纹通孔522而与所述凹槽322的底面相抵持，相应地，所述固定件52的滑动部526的侧缘被所述抵持在所述抵挡部320所抵持，从而使得所述固定件52被固定于所述凹槽322内不能再自由滑动，也即所述固定件52处于锁定位置。反之，当处于锁定位置时，反向操作所述操作件510的操作部5100时，所述操作件510绕所述套设部5102的中心轴线旋转，从而带动所述中间件512及所述抵持部513跟着所述操作件510一起旋转，从而使得所述抵持部513的外侧螺纹所述固定件52的螺纹通孔522内远离所述凹槽322轴向移动，使得所述抵持部513的外螺纹5130缩回所述螺纹通孔522内而不再与所述凹槽322的底面相抵持，相应地，所述固定件52的滑动部526的侧缘不再被所述抵持在所述抵挡部320所抵持，从而使得所述固定件52的滑动部526能够在所述凹槽322内自由滑动，也即所述固定件52处于锁定位置。
可以理解的是，所述手持结构10的第一连接部104与所述云台主体20的P轴定子还可通过其他任意适宜的方式固定，例如螺钉、卡扣固定、形状配合、螺合等。
可以理解的是，所述云台主体20并不限于通过所述P轴定子与所述手持结构10连接，还可以通过所述Y轴定子与所述云台主体20连接，而所述电子装置设置在所述云台主体的P轴转子上。
可以理解，在上所示出的实施例中，所述中间件512与所述操作件510之间的配合不限于螺纹配合，还可以是其他的固定连接方式，例如卡扣、形状配合等；所述中间件512与所述抵持部513之间的配合也不限于图所示的形状配合，还可以是其他配合方式，只要能使得所述抵持部513能随着所述中间件512与所述操作件510的旋转而旋转即可。可以理解，在一些实施方式中，所述中间件512可以省略，而所述抵持部513与所述操作件510固定连接以使得所述抵持部513能随着所述操作件510的旋转而旋转。在一些实施例中，所述抵持部513与所述操作件510可以一体成型。
可以理解，所述壳体30也可以是固定在所述云台主体上的，每次使用该手持云台时，只需要将所述电子装置装设在所述壳体30中即可，当不使用时，从所述壳体取出所述电子装置即可。可以理解，所述壳体30也可以不限于图所示的壳体形状，而改成长度或宽度可以调节的支架，从而可以容纳支撑各种不同形状的电子装置。
可以理解的是，云台主体与电子装置的配合结构并不限于上所示出的结构，还可以是任意适宜的快拆结构，只要能便于所述电子装置快速装配锁定在所述云台主体20上，且可快速将所述电子装置从所述云台主体20解锁分离。
所述云台主体20设置在所述手持结构102的侧边，相较设置在上边或前边，可以避免头重脚轻的感觉，且更便于操作，方便左右手切换及单手操控所述手持云台1。
另外，对于本领域的普通技术人员来说，可以根据本发明的技术构思做出其它各种相应的改变与变形，而所有这些改变与变形都应属于本发明权利要求的保护范围。

Claims (42)

  1. 一种手持结构，用于手持云台，其特征在于：所述手持结构包括手持结构主体，所述手持结构主体上设置有功能按键，自所述手持结构主体下方向远离所述手持结构主体的方向延伸有握持结构，所述手持结构主体侧边设置有用于连接云台主体的连接结构。
  2. 如权利要求1所述的手持结构，其特征在于：所述按键临近所述握持结构设置。
  3. 如权利要求1所述的手持结构，其特征在于：所述手持结构主体上还设置有可套设在手腕上的防护装置。
  4. 如权利要求3所述的手持结构，其特征在于：所述防护装置的两相对端分别固定在所述手持结构主体及所述握持结构上，且所述防护装置沿所述握持结构延伸方向纵向延伸。
  5. 如权利要求3所述的手持结构，其特征在于：所述防护装置的两相对端固定在所述手持结构主体或所述握持结构上，且所述防护装置绕所述手持结构主体或所述握持结构延伸，其延伸方向不同于所述握持结构的延伸方向。
  6. 如权利要求3所述的手持结构，其特征在于：所述防护装置为两端固定在所述手持结构主体上的腕带。
  7. 如权利要求1所述的手持结构，其特征在于：所述手持结构主体内设有控制单元，所述控制单元与所述功能按键通信连接，用于根据所述功能按键接收的指令控制所述手持云台的运作。
  8. 如权利要求1所述的手持结构，其特征在于：所述手持结构主体内设置有电源供应单元，所述电源供应单元能够为所述手持云台供电。
  9. 如权利要求1所述的手持结构，其特征在于：所述手持结构通过所述连接结构与所述云台主体固定连接。
  10. 如权利要求1所述的手持结构，其特征在于：所述云台主体为三轴云台，所述手持结构连接至所述云台主体的其中一个轴。
  11. 如权利要求10所述的手持结构，其特征在于：所述三轴分别为俯仰轴、横滚轴、航向轴，所述手持结构连接至所述俯仰轴或所述航向轴。
  12. 如权利要求10所述的手持结构，其特征在于：其中与所述手持结构相连接的云台主体的该轴的轴线与所述手持结构的手柄延伸方向大致垂直。
  13. 一种手持云台，包括手持结构及连接于手持结构的云台主体，其特征在于：所述手持结构包括手持结构主体，所述手持结构主体上设置有功能按键，自所述手持结构主体下方向远离所述手持结构主体的方向延伸有握持结构，所述云台主体设置于所述手持结构主体侧边。
  14. 如权利要求13所述的手持云台，其特征在于：所述云台主体为三轴云台，所述手持结构连接至所述云台主体的其中一个轴。
  15. 如权利要求14所述的手持云台，其特征在于：所述三轴分别为俯仰轴、横滚轴、航向轴，所述手持结构连接至所述俯仰轴。
  16. 如权利要求15所述的手持云台，其特征在于：所述云台主体的航向轴上设置有用于支撑电子装置的连接结构。
  17. 如权利要求13所述的手持云台，其特征在于：其中与所述手持结构相连接的云台主体的该轴的轴线与所述手持结构的手柄延伸方向大致垂直。
  18. 如权利要求13所述的手持云台，其特征在于：所述云台主体包括连接在所述手持结构的P轴机架组件、支撑电子装置的Y轴机架组件及连接所述P轴机架组件与所述Y轴机架组件的R轴机架组件。
  19. 如权利要求18所述的手持云台，其特征在于：所述R轴机架组件大致呈L形，所述Y轴机架组件设置在所述L形围设空间内。
  20. 如权利要求19所述的手持云台，其特征在于：所述P轴机架组件大致呈L形，当所述手持云台处于折叠状态时，所述Y轴机架组件的旋转轴线与所述R轴机架组件的旋转轴线平行，所述Y轴机架组件及所述R轴机架组件至少部分地设置在所述L形围设空间内。
  21. 如权利要求13所述的手持云台，其特征在于：所述云台主体上固定有第一配合部，所述第一配合部与一用于装设所述电子装置的壳体能够分离地固定。
  22. 如权利要求21所述的手持云台，其特征在于：所述壳体背面设置有第二配合部，所述第一配合部与所述第二配合部通过快拆解锁结构能够分离地固定。
  23. 如权利要求22所述的手持云台，其特征在于：所述第一配合部包括固定设置在所述云台主体上的固定件及设置在所述云台主体与所述固定件之间的活动件，通过操作所述活动件能够使得所述固定件在所述壳体背面的一解锁位置与一锁定位置之间切换。
  24. 如权利要求23所述的手持云台，其特征在于：所述第二配合部包括凸设在所述壳体背面的抵挡部，所述抵挡部与壳体背面之间形成凹槽，所述固定件能够在所述凹槽内滑动。
  25. 如权利要求24所述的手持云台，其特征在于：所述固定件上设有滑动部，所述滑动部能够在所述凹槽内滑动。
  26. 如权利要求24所述的手持云台，其特征在于：所述滑动部与所述凹槽内形状相适应，所述抵挡部能够阻止所述滑动部从远离所述壳体的方向退出所述凹槽。
  27. 如权利要求24所述的手持云台，其特征在于：在所述锁定位置，所述固定件与所述抵挡部相抵持而阻碍所述固定件在所述凹槽内的滑动；在所述解锁位置，所述固定件能够在所述凹槽内自由滑动。
  28. 如权利要求25所述的手持云台，其特征在于：所述活动件包括操作件及与操作件固定配合的抵持部，所述操作件能够在外力作用下旋转而带动所述抵持部旋转，所述抵持部外侧设置有外螺纹，所述固定件上设置有对应的螺纹通孔，所述抵持部旋转能够使得所述外螺纹在所述螺纹孔内轴向移动。
  29. 如权利要求28所述的手持云台，其特征在于：在所述解锁位置，所述外螺纹未突出于所述固定件面向所述壳体的一侧；在所述锁定位置，所述外螺纹突出于所述固定件面向所述壳体的一侧。
  30. 如权利要求28所述的手持云台，其特征在于：所述活动件还包括中间件，所述中间件设置在所述操作件与所述抵持部之间，用于传递所述操作件的旋转力至所述抵持部。
  31. 如权利要求30所述的手持云台，其特征在于：所述操作件包括操作部及固定连接于所述操作部的套设部，所述中间件套设在所述套设部中并能够随着所述操作件的旋转而旋转。
  32. 如权利要求31所述的手持云台，其特征在于：所述中间件与所述抵持部形状配合，从而使得所述抵持部能随着所述中间件的旋转而旋转。
  33. 如权利要求32所述的手持云台，其特征在于：所述中间件中间设有装配孔，所述抵持部面向所述中间件的一侧凸设有突出部，所述突出部与所述装配孔形状相适应能够容设在所述装配孔中。
  34. 如权利要求24所述的手持云台，其特征在于：所述第二配合结构包括止挡部，所述止挡部能够阻碍所述固定件从与凹槽上的滑入侧相对的一侧滑出所述凹槽。
  35. 如权利要求23所述的手持云台，其特征在于：所述固定件上安装有球头柱塞，所述球投柱塞在所述固定件运动至锁定位置时顶入所述壳体上设置的限位孔而限位。
  36. 如权利要求13所述的手持云台，其特征在于：所述手持结构主体上还设置有可套设在手腕上的防护装置。
  37. 如权利要求13所述的手持云台，其特征在于：所述防护装置的两相对端分别固定在所述手持结构主体及所述握持结构上，且所述防护装置沿所述握持结构延伸方向纵向延伸。
  38. 如权利要求13所述的手持云台，其特征在于：所述防护装置的两相对端固定在所述手持结构主体或所述握持结构上，且所述防护装置绕所述手持结构主体或所述握持结构延伸，其延伸方向不同于所述握持结构的延伸方向。
  39. 如权利要求13所述的手持云台，其特征在于：所述防护装置为两端固定在所述手持结构主体上的腕带。
  40. 如权利要求13所述的手持云台，其特征在于：所述手持结构主体内设有控制单元，所述控制单元与所述功能按键通信连接，用于根据所述功能按键接收的指令控制所述手持云台的运作。
  41. 如权利要求13所述的手持云台，其特征在于：所述手持结构主体内设置有电源供应单元，所述电源供应单元能够为所述手持云台供电。
  42. 如权利要求13所述的手持云台，其特征在于：所述手持结构通过所述连接结构与所述云台主体固定连接。
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