WO2018119723A1 - 支撑臂组件及具有该支撑臂组件的云台 - Google Patents

支撑臂组件及具有该支撑臂组件的云台 Download PDF

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Publication number
WO2018119723A1
WO2018119723A1 PCT/CN2016/112556 CN2016112556W WO2018119723A1 WO 2018119723 A1 WO2018119723 A1 WO 2018119723A1 CN 2016112556 W CN2016112556 W CN 2016112556W WO 2018119723 A1 WO2018119723 A1 WO 2018119723A1
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WO
WIPO (PCT)
Prior art keywords
arm
assembly
support arm
pan
holding
Prior art date
Application number
PCT/CN2016/112556
Other languages
English (en)
French (fr)
Inventor
李卫东
赵岩崇
刘国尧
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
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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 CN201680003019.9A priority Critical patent/CN107087423B/zh
Priority to PCT/CN2016/112556 priority patent/WO2018119723A1/zh
Publication of WO2018119723A1 publication Critical patent/WO2018119723A1/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
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B7/00—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections
    • F16B7/04—Clamping or clipping connections
    • F16B7/0406—Clamping or clipping connections for rods or tubes being coaxial
    • 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
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B7/00—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections
    • F16B7/10—Telescoping systems
    • 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
    • F16M11/043—Allowing translations
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/02—Locking means
    • F16M2200/025—Locking means for translational movement

Definitions

  • the present invention relates to the field of cloud platform equipment technology, and in particular, to a support arm assembly and a cloud platform having the same.
  • the photographing device generally includes a pan/tilt head and a photographing component mounted on the pan/tilt head.
  • the pan/tilt is used to achieve the fixation of the camera, adjust the posture of the camera (for example, change the height and direction of the camera), and stably maintain the camera in a certain posture, thereby achieving stable camera, Smooth and multi-angle shooting.
  • the camera can be a VR camera set, a camera or a camera.
  • the existing stabilization pan/tilt needs to be adapted to different types of cameras and accessories.
  • the size of the gimbal is small, which is convenient for operation.
  • a small-sized pan/tilt cannot be installed with a large-sized camera or accessory, and a larger pan/tilt head needs to be replaced.
  • you use a large PTZ you can install a large camera or accessories, but when using a small camera, a large PTZ cannot install a small camera or accessories, and it is not portable enough.
  • the invention provides a support arm assembly and a platform having the support arm assembly.
  • the holding device includes a holding guide sleeve sleeved on the second arm and mounted on the holding guide member for holding the holding guide member to hold the second arm
  • the first arm is fixed to the holding member.
  • a relative telescopic movement can be realized between the first arm and the second arm, and then the first arm and the second arm can be fixed to each other by the holding device, so that the adjustment support arm is realized.
  • the effect of component length By mounting the support arm assembly to the pan/tilt head, the size of the gimbal can be adjusted according to different sizes of the camera, so that the pan/tilt can be applied to various sizes of cameras without having to replace them according to different sizes of cameras.
  • the corresponding size of the gimbal increases the versatility of the gimbal.
  • a cloud platform for carrying a load comprising a load carrying device, at least one power device, and a support arm assembly driven by each of the at least one power device, the support arm assembly Rotating about a rotating shaft, the support arm assembly includes a first arm and a second arm coupled to the first arm, the first arm being telescopically movable relative to the second arm to enable the load carrying device Pan back and forth along the direction of the axis of rotation.
  • each power device drives a respective support arm assembly to rotate about a rotation axis, and each support arm assembly can realize the effect of adjusting the length of the support arm assembly through relative telescopic movement between the first arm and the second arm.
  • the size of the gimbal can be adjusted according to different sizes of the camera, so that the gimbal can be applied to various sizes of cameras without having to replace the corresponding size according to different sizes of cameras.
  • the gimbal has increased the versatility of the gimbal.
  • FIG. 1 is a perspective view of a support arm assembly according to an embodiment of the invention.
  • FIG. 2 is an exploded perspective view of the support arm assembly shown in FIG. 1.
  • FIG. 3 is a perspective view of a cross roller assembly using the support arm assembly shown in FIG. 1 according to an embodiment of the invention.
  • FIG. 4 is an exploded perspective view of the roll shaft assembly shown in FIG. 3.
  • FIG. 5 is a perspective view of a translational shaft assembly using the support arm assembly shown in FIG. 1 according to an embodiment of the invention.
  • Figure 6 is an exploded perspective view of the translational shaft assembly of Figure 5.
  • FIG. 7 is a schematic perspective view of a three-axis pan/tilt head in an actual application according to an embodiment of the invention.
  • FIG. 8 is a schematic perspective view of another three-axis pan/tilt head according to an embodiment of the present invention.
  • FIG. 1 is a perspective view of a support arm assembly according to an embodiment of the present invention.
  • 2 is an exploded perspective view of the support arm assembly shown in FIG. 1.
  • the support arm assembly 100 of the present invention is mounted on a platform, and the support arm assembly 100 includes:
  • the holding device 3 comprises a holding guide 31 sleeved on the second arm 2 and mounted on the holding guide 31 for holding the holding guide 31 and then the second arm 2 and the first arm 1 A fixed holding member 32.
  • a relative telescopic movement can be realized between the first arm and the second arm, and then the first arm and the second arm can be fixed to each other by the holding device, so that the adjustment support arm is realized.
  • the effect of component length By mounting the support arm assembly to the pan/tilt head, the size of the gimbal can be adjusted according to different sizes of the camera, so that the pan/tilt can be applied to various sizes of cameras without having to replace them according to different sizes of cameras.
  • the corresponding size of the gimbal increases the versatility of the gimbal.
  • the clasping guide 31 comprises: mating with the first arm 1
  • the first end 311 and the second end 312 are sleeved on the second arm 2, wherein the second end 312 of the grip guide 31 is provided with an elastically contractable tightening portion.
  • the second end 312 of the first arm 1 is provided with at least one slot 313 for the grip guide 31 to be gripped by the grip 32.
  • the slot 313 is recessed from the end surface of the second end 312 so that the second end 312 is provided with a portion of the slot 313 as the tightening portion.
  • the holding member 32 includes a fixed end 321 and a holding end 322.
  • the fixed end 321 is fixed to the first arm 1 and the first end 311 of the holding guide 31.
  • the holding end 322 is looped on the holding guide 31.
  • the elastically contractible tightening portion is not limited to being slotted, and may be other structural forms, which are not limited herein.
  • the second end 312 of the grip guide 31 can be appropriately elastically deformed, so that the second end 312 of the grip guide 31 can achieve a certain range of tightening or relaxation.
  • the number of slots 313 can be set according to actual needs, as long as the second end 312 of the grip guide 31 can be tightened or relaxed within a certain range.
  • a limiting plate 315 is further disposed between the first end 311 and the second end 312 of the clasping guide 31, and the position at which the first end 311 of the clasping guide 31 cooperates with the first arm 1 can be limited. Bit.
  • the holding guide 31 is first inserted into the first arm 1 through the first end 311.
  • the first arm 1 abuts against the limiting plate 315, the first end 311 of the holding guide 31 cannot continue to the first end.
  • the limiting plate 315 functions to limit the position at which the first end 311 of the gripping guide 31 is inserted into the first arm 1.
  • the gripping member 32 is then sleeved on the outside of the clasping guide 31, so that the fixed end 321 and the first arm 1 and the clasping guide 31 are One end 311 is fixed, the hooping end 322 is looped on the outside of the second end 312 of the clasping guide 31, and finally the second end 312 of the clasping guide 31 is sleeved on the second arm 2.
  • the grip end 322 of the gripping member 32 holds the second end 312 of the grip guide 31
  • the grip guide 31 is fixed to the second arm 2.
  • the holding end 322 of the holding member 32 releases the second end 312 of the holding guide 31, the second arm 2 can be self-relative with respect to the first arm 1. By telescopic.
  • the gripping end 322 includes a clasp 323 having an open end 326 that holds the clasp guide 31 by compression of the open end 326.
  • the second end 312 in turn fixes the second arm 2.
  • the open end 326 of the holding ring 323 is provided with a threaded hole 324; the holding device 3 further includes a tightening screw 4 that cooperates with the threaded hole 324 of the holding ring 323, and the holding screw 4 can hold the The open end 326 of the tight loop 323 is compressed or relaxed.
  • the tightening screw 4 is inserted into the threaded hole 324 of the open end 326 of the holding ring 323.
  • the open end 326 of the holding ring 323 can be correspondingly obtained.
  • the pressing force or the releasing force presses or relaxes the open end 326 of the holding ring 323 to achieve fixation and relaxation of the second arm 2.
  • the open end 326 of the retaining ring 323 receives a corresponding pressing force, causing the open end 326 of the retaining ring 323 to press against the second end 312 of the gripping guide 31, thereby The second end 312 of the gripping guide 31 is pressed against the second arm 2 to effect fixation of the second arm 2.
  • the open end 326 of the clasp 323 will have a corresponding release force, causing the open end 326 of the clasp 323 to loosen the second end 312 of the clasping guide 31, thereby The second end 312 of the gripping guide 31 is released from the second arm 2, and the second arm 2 is free to expand and contract with respect to the first arm 1.
  • the support arm assembly 100 further includes a limiting screw 5; the first arm 1 is provided with a first limiting hole 11 , and the second arm 2 is provided with a limiting slot 21 , wherein the limiting screw 5 passes through the first limit
  • the position hole 11 extends into the limiting groove 21, so that the second arm 2 can be telescopically moved relative to the first arm 1 in the longitudinal direction of the limiting groove 21. That is, the stopper screw 5 functions to restrict the range of movement of the second arm 2, and the stopper screw 5 limits the range of movement of the second arm 2 within the length of the stopper groove 21.
  • the holding guide 31 is provided with a second limiting hole 314 adapted to the first limiting hole 11 .
  • the retaining member 32 is provided with a third limiting hole 325 adapted to the second limiting hole 314.
  • the position of the limiting plate 315 of the holding guide 31 is such that the first end 311 of the holding guide 31 is inserted into the first arm 1 Thereafter, the second limiting hole 314 of the holding guide 31 coincides with the position of the first limiting hole 11 of the first arm 1 to facilitate the insertion of the limiting screw 5.
  • the limiting screw 5 can pass through the first limiting hole 11, the second limiting hole 314 and the third limiting hole 325. Further, the first arm 1, the holding guide 31, and the holding member 32 are fixed together.
  • the first end 311 of the clasp guide 31 is first inserted into the first arm 1, and then the clasp 32 is sleeved on the outside of the clasp guide 31, and then the grip is guided.
  • the second end 312 of the member 31 is sleeved on the second arm 2 such that the first limiting hole 11 of the first arm 1 is located within the length of the limiting slot 21 of the second arm 2.
  • the limiting screw 5 is passed through the first limiting hole 11 , the second limiting hole 314 and the third limiting hole 325 , thereby fixing the first arm 1 , the holding guide 31 and the holding member 32 . together.
  • the second arm 2 is tightened by tightening the tightening screw 4 so that the second end 2 of the gripping guide 31 is pressed against the second arm 2.
  • the second end 312 of the gripping guide 31 is released from the second arm 2, so that the second arm 2 can freely expand and contract with respect to the first arm 1.
  • the support arm assembly 100 of the present invention can be used as a translational shaft assembly support arm or a roll axle assembly support arm of a three-axis pan/tilt.
  • the support arm assembly 100 further includes a power unit disposed on the other end of the second arm 2 opposite to the end to which the first arm 1 is coupled, or the support arm assembly 100 further includes a first arm 1 and a second arm 2 A power unit on the opposite end of the connected end.
  • the power unit is a stabilizing power unit, a translating shaft assembly power unit 500, a roll shaft assembly power unit 9, or a pitch shaft assembly power unit 7.
  • Figure 3 is a perspective view of a roll axle assembly employing the support arm assembly of Figure 1 in accordance with an embodiment of the present invention.
  • 4 is an exploded perspective view of the roll shaft assembly shown in FIG. 3.
  • the support arm assembly 100 is a support arm of the cross-roll assembly 200, and the support arm assembly 100 further includes an end disposed on the second arm 2 that is coupled to the first arm 1 The pitch axis assembly power unit 7 on the other end.
  • the two support arm assemblies 100 are connected to each other by a connecting member 6, A roll axle assembly 200 is formed.
  • the connecting member 6 includes two connecting arms 61.
  • the other end of the second arm 2 of the supporting arm assembly 100 opposite to the end connected to the first arm 1 is provided with a pitching shaft assembly power unit 7, and the supporting arm assembly 100
  • the other end of the one arm 1 opposite to the end to which the second arm 2 is connected is connected to the connecting arm 61 of the connecting member 6.
  • the connector 6 is also provided with a mounting end 8.
  • the pitch shaft assembly power unit 7 can realize the telescopic movement under the driving of the second arm 2, thereby achieving the effect of adjusting the length of the roll shaft assembly 200.
  • the pitch axis assembly power unit 7 may be disposed at the other end of the first arm 1 opposite to the end to which the second arm 2 is connected, and the support arm The other end of the second arm 2 of the assembly 100 opposite to the end to which the first arm 1 is connected is connected to the connecting arm 61 of the connecting member 6.
  • the connecting arm 61 of the connecting member 6 can be moved by the second arm 2, and the telescopic movement can be realized, and the effect of adjusting the length of the rolling roller assembly 200 can be achieved.
  • Figure 5 is a perspective view of a translational shaft assembly employing the support arm assembly of Figure 1 in accordance with an embodiment of the present invention.
  • Figure 6 is an exploded perspective view of the translational shaft assembly of Figure 5.
  • the support arm assembly 100 is a support arm of the translational shaft assembly 300, and the support arm assembly 100 further includes an opposite end disposed on the first arm 1 and connected to the second arm 2. Roller shaft assembly power unit 9 on the other end.
  • the opposite end of the first arm 1 of the support arm assembly 100 that is connected to the second arm 2 is provided with a cross roller assembly power unit 9 on the second arm 2 of the support arm assembly 100.
  • the other end of the first arm 1 connected to the opposite end is provided with a mounting member 81 for mounting a power unit of the translating shaft assembly to form a translating shaft assembly 300.
  • the mounting member 81 can realize the telescopic movement under the driving of the second arm 2, thereby achieving the effect of adjusting the length of the translational shaft assembly 300.
  • the mounting member 81 may be disposed at the other end of the first arm 1 opposite to the end to which the second arm 2 is connected, and the roll shaft assembly power unit 9 is disposed on the second arm 2 of the support arm assembly 100 and connected to the first arm 1 One end is opposite the other end.
  • the roll shaft assembly power unit 9 can be flexibly moved by the second arm 2, and the effect of adjusting the length of the translation shaft assembly 300 can be achieved.
  • pan/tilt head of the present invention for carrying a load, including a load carrying device, at least one power unit, and a support arm assembly as described in the above embodiments and embodiments, each driven by the at least one power unit,
  • the support arm assembly rotates about a rotational axis, the support arm assembly including a first arm and a second arm coupled to the first arm, the first arm being telescopically movable relative to the second arm to cause the
  • the load carrying device translates back and forth along the direction of the rotating shaft.
  • the power unit is a stabilizing power unit.
  • the at least one power unit is coupled to the respective support arm assembly by a respective mounting assembly.
  • the at least one power unit includes a translating shaft assembly power unit and a cross shaft assembly power unit, the support arm assembly including a translating shaft assembly and a cross roller assembly, the translating shaft assembly power unit capable of driving the The translating shaft assembly rotates about a translational axis, and the crossbar assembly power unit drives the roller shaft assembly to rotate about the roll axis.
  • the pan/tilt is a handheld three-axis pan/tilt.
  • the load is a camera.
  • the load carrying device is a pitch axis assembly.
  • the load is not limited to the camera, but the load can also be other devices, such as sensors.
  • the gimbal is used as a three-axis pan/tilt, and the load is taken as a camera, and the gimbal of the present invention is introduced in conjunction with the drawings.
  • FIG. 7 is a schematic perspective view of a three-axis pan/tilt head according to an embodiment of the present invention.
  • FIG. 8 is a schematic perspective view of another three-axis pan/tilt head according to an embodiment of the present invention.
  • a three-axis gimbal as shown in the embodiment of Figures 7 and 8, including a roll axle assembly 200,
  • the pitch axis assembly 600 on which the camera 400, 401 is mounted and mounted on the roll axis assembly 200, and the translation axis assembly 300 mounted to the roll axis assembly 200, the roll axis assembly 200 and the translation axis assembly 300 are respectively employed as in the above embodiment And the support arm assembly 100 described in the embodiments.
  • the translational shaft assembly 300 is rotated about the translational axis by the drive of the translational shaft assembly power unit 500.
  • the roll axis assembly 200 is rotated about the roll axis by the drive of the roll axis assembly power unit 9, and the pitch axis assembly 600 is powered by the pitch axis assembly.
  • the drive of the device 7 rotates about the pitch axis.
  • the support arm assembly 100, the roll axis assembly 200, the translation shaft assembly 300, the connecting member 6, the pitch axis assembly power unit 7, and the roll shaft assembly power unit are described. 9.
  • the description of the mounting end 8 and the mounting member 81 is equally applicable to the three-axis pan/tilt shown in the embodiment of FIGS. 7 and 8.
  • the roll axle assembly 200 is provided with a mounting end 8 as a mounting assembly; the cross roller assembly power unit 9 is coupled to the mounting end 8.
  • the translating shaft assembly 300 is provided with a mounting member 81 as a mounting assembly; the translating shaft assembly power unit 500 is coupled to the mounting member 81.
  • pan/tilt head of the present invention will be described in detail below by taking the three-axis pan/tilt head shown in FIG. 8 as an example.
  • the direction of the pitch axis is shown
  • the direction of the B-B direction is shown as the roll axis direction
  • the direction of the C-C direction is shown as the direction of the translation axis.
  • the second arm 2 of the two support arm assemblies 100 of the roll axle assembly 200 is respectively mounted with a pitch axis assembly power unit 7, which is mounted between the two pitch axis assembly power units 7.
  • the camera 401 is then mounted on the pitch axis assembly 600 to mount the camera 400 to the roll axle assembly 200.
  • the pitch axis assembly power unit 7 can realize the telescopic movement under the driving of the second arm 2 of the support arm assembly of the roll axis assembly 200, thereby achieving the effect of adjusting the length of the roll axis assembly 200, thereby realizing the size of the pan/tilt head. effect.
  • a translational shaft assembly power unit 500 is mounted on the second arm 2 of the support arm assembly of the translational shaft assembly 300.
  • the first arm 1 of the support arm assembly of the translational shaft assembly 300 is mounted with a roll shaft assembly power unit 9, a roll shaft
  • the component power unit 9 is then mounted to the connector 6 of the roll axle assembly 200 to mount the shifting shaft assembly 300 to the roller axle assembly 200.
  • Translation shaft assembly power pack Under the driving of the second arm 2 of the support arm assembly of the translational shaft assembly 300, the telescopic movement can be realized, thereby achieving the effect of adjusting the length of the translational shaft assembly 300, thereby achieving the effect of adjusting the size of the gimbal.
  • the power station of the present invention drives each of the support arm assemblies to rotate about the rotating shaft, and each of the support arm assemblies can pass between the first arm and the second arm.
  • the relative telescopic movement realizes the effect of adjusting the length of the support arm assembly, thereby realizing the effect of adjusting the size of the gimbal.
  • the size of the gimbal can be adjusted according to different sizes of the camera, so that the gimbal can be applied to various sizes of cameras.
  • the versatility of the gimbal is increased. For example, in the embodiment shown in FIG. 7, the volume of the camera 400 is small, and in the embodiment shown in FIG.
  • the pan/tilt head of the present invention can change the size of the roll axis assembly 200 and the translation axis assembly 300 by adjusting the length of the support arm assembly 100, so that the pan/tilt head of the present invention can be applied to the photographing shown in FIG.
  • the device 400 can be applied to the camera 401 shown in FIG.

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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  • General Physics & Mathematics (AREA)
  • Accessories Of Cameras (AREA)

Abstract

一种支撑臂组件及具有该支撑臂组件的云台，支撑臂组件(100)包括：第一臂(1)、部分的穿设于第一臂(1)内并相对第一臂(1)可做伸缩移动的第二臂(2)以及将第一臂(1)与第二臂(2)固定的抱紧装置(3)；抱紧装置(3)包括套设在第二臂(2)上的抱紧导向件(31)以及安装在抱紧导向件(31)上用于将抱紧导向件(31)抱紧进而将第二臂(2)与第一臂(1)固定的抱紧件(32)。本发明的支撑臂组件，可以通过调节第一臂和第二臂的位置再通过抱紧装置进行固定，来实现了调节支撑臂组件长度的效果。将该支撑臂组件安装到云台上，就可根据不同大小的拍摄器调节云台的尺寸，使云台能适用于不同大小的拍摄器，增加了云台的通用性。

Description

支撑臂组件及具有该支撑臂组件的云台 技术领域
本发明涉及云台设备技术领域，特别涉及一种支撑臂组件及具有该支撑臂组件的云台。
背景技术
目前，拍摄装置一般包括云台和搭载在云台上的拍摄组件。其中，云台用以实现所述拍摄器的固定、调节所述拍摄器的姿态(例如：改变拍摄器的高度和方向)和使拍摄器稳定保持在确定姿态上，从而实现拍摄器的稳定、流畅且多角度拍摄。所述拍摄器可以为VR相机组、照相机或拍摄器。
但是，现有的增稳云台，需要适配不同型号的相机及配件，安装小相机时需要云台的体积小，这样方便操作。但是安装较大的摄影机或者配件时，体积小的云台就无法安装大体积的摄影机或配件了，就需要更换体积更大的云台。同理，如果使用体积大的云台时，可以安装大的摄影机或配件，但是在使用小相机时，体积大的云台就无法安装小体积的摄影机或配件了，也不够便携。
发明内容
本发明提供一种支撑臂组件及具有该支撑臂组件的云台。
根据本发明实施例的第一方面，提供一种支撑臂组件，安装在云台上，该支撑臂组件包括：
第一臂、部分的穿设于所述第一臂内并相对所述第一臂可做伸缩移动的第二臂以及将所述第一臂与所述第二臂固定的抱紧装置；其中，所述抱紧装置包括套设在所述第二臂上的抱紧导向件以及安装在所述抱紧导向件上用于将所述抱紧导向件抱紧进而将所述第二臂与所述第一臂固定的抱紧件。
本发明的支撑臂组件，第一臂和第二臂之间可实现相对伸缩移动，然后通过所述抱紧装置可以实现将第一臂和第二臂相互固定，这样，就实现了调节支撑臂组件长度的效果。将该支撑臂组件安装到云台上，就可以根据不同大小的拍摄器来调节云台的尺寸，使云台能够适用于各种不同大小的拍摄器，而不必再根据不同大小的拍摄器更换相应尺寸的云台，增加了云台的通用性。
根据本发明实施例的第二方面，提供一种云台，用于搭载负载，包括负载搭载装置、至少一动力装置和由所述至少一动力装置各自驱动的支撑臂组件，所述支撑臂组件绕着转轴旋转，所述支撑臂组件包括第一臂和与所述第一臂连接的第二臂，所述第一臂能够相对于所述第二臂做伸缩移动以使所述负载搭载装置沿着所述转轴的方向来回平移。
本发明的云台，各动力装置分别驱动各自的支撑臂组件绕着转轴旋转，各支撑臂组件又可以通过第一臂和第二臂之间的相对伸缩移动，实现调节支撑臂组件长度的效果，进而实现调节云台大小的效果，可以根据不同大小的拍摄器来调节云台的尺寸，使云台能够适用于各种不同大小的拍摄器，而不必再根据不同大小的拍摄器更换相应尺寸的云台，增加了云台的通用性。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描 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性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例示出的一种支撑臂组件的立体示意图。
图2是图1所示的支撑臂组件的分解示意图。
图3是本发明实施例示出的一种采用图1所示的支撑臂组件的横滚轴组件的立体示意图。
图4是图3所示的横滚轴组件的分解示意图。
图5是本发明实施例示出的一种采用图1所示的支撑臂组件的平移轴组件的立体示意图。
图6是图5所示的平移轴组件的分解示意图。
图7是本发明实施例示出的一种三轴云台在实际应用中的立体示意图。
图8是本发明实施例示出的另一种三轴云台在实际应用中的立体示意图。
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。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或 相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
在本发明使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
下面结合附图，对本发明的支撑臂组件及具有该支撑臂组件的云台进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
参见图1和图2所示，图1是本发明实施例示出的一种支撑臂组件的立体示意图。图2是图1所示的支撑臂组件的分解示意图。本发明的支撑臂组件100，安装在云台上，该支撑臂组件100包括：
第一臂1、部分的穿设于第一臂1内并相对第一臂1可做伸缩移动的第二臂2，以及将第一臂1与第二臂2固定的抱紧装置3；其中，抱紧装置3包括套设在第二臂2上的抱紧导向件31以及安装在抱紧导向件31上用于将抱紧导向件31抱紧进而将第二臂2与第一臂1固定的抱紧件32。
本发明的支撑臂组件，第一臂和第二臂之间可实现相对伸缩移动，然后通过所述抱紧装置可以实现将第一臂和第二臂相互固定，这样，就实现了调节支撑臂组件长度的效果。将该支撑臂组件安装到云台上，就可以根据不同大小的拍摄器来调节云台的尺寸，使云台能够适用于各种不同大小的拍摄器，而不必再根据不同大小的拍摄器更换相应尺寸的云台，增加了云台的通用性。
在本发明的一个实施方式中，抱紧导向件31包括：与第一臂1配合 的第一端311以及套设在第二臂2上的第二端312，其中抱紧导向件31的第二端312设有可弹性收缩的收紧部。可选地，第一臂1的第二端312设有至少一使抱紧导向件31可被抱紧件32抱紧的开槽313。该开槽313自第二端312的端面向内凹陷形成，以使第二端312设有该开槽313的部分作为所述收紧部。抱紧件32包括：固定端321及抱紧端322，固定端321与第一臂1和抱紧导向件31的第一端311相固定，抱紧端322环设在抱紧导向件31的第二端312的外部。当然，所述可弹性收缩的收紧部并不仅限为开槽，也可以是其他的结构形式，在此并不作限定。
由于设置了开槽313，使抱紧导向件31的第二端312能够进行适当的弹性形变，因此，抱紧导向件31的第二端312能够实现一定范围内的收紧或放松。当然，开槽313的数量可以根据实际需要进行相应的设置，只要保证抱紧导向件31的第二端312能够实现一定范围内的收紧或放松即可。
进一步地，抱紧导向件31的第一端311和第二端312之间还设有限位板315，可以对抱紧导向件31的第一端311与第一臂1相配合的位置进行限位。
实际应用中，抱紧导向件31先通过第一端311插入第一臂1内，当第一臂1抵靠在限位板315上，抱紧导向件31的第一端311无法继续向第一臂1内移动，限位板315起到了对抱紧导向件31的第一端311插入第一臂1内的位置进行限位的作用。第一臂1和抱紧导向件31的位置固定好之后，然后抱紧件32再套设在抱紧导向件31的外部，使固定端321与第一臂1以及抱紧导向件31的第一端311相固定，使抱紧端322环设在抱紧导向件31的第二端312的外部，最后再将抱紧导向件31的第二端312套设在第二臂2上。当抱紧件32的抱紧端322抱紧所述抱紧导向件31的第二端312时，抱紧导向件31与第二臂2固定。当抱紧件32的抱紧端322松开抱紧导向件31的第二端312时，第二臂2就可以相对于第一臂1进行自 由伸缩了。
在本发明的一个实施方式中，抱紧端322包括抱紧圈323，抱紧圈323具有一开放端326，抱紧圈323通过开放端326的压紧而抱紧所述抱紧导向件31的第二端312进而固定第二臂2。其中，抱紧圈323的开放端326设有螺纹孔324；所述抱紧装置3还包括与该抱紧圈323的螺纹孔324配合的抱紧螺钉4，所述抱紧螺钉4能够使抱紧圈323的开放端326压紧或放松。
实际应用中，将抱紧螺钉4穿设于抱紧圈323的开放端326的螺纹孔324内，通过拧紧或松开抱紧螺钉4，就可以使抱紧圈323的开放端326得到相应的压紧力或放松力，进而使抱紧圈323的开放端326压紧或放松，实现对第二臂2的固定和放松。当拧紧抱紧螺钉4的时候，抱紧圈323的开放端326就会得到相应的压紧力，使抱紧圈323的开放端326压紧抱紧导向件31的第二端312，进而使抱紧导向件31的第二端312得以压紧第二臂2，实现对第二臂2的固定。当松开抱紧螺钉4的时候，抱紧圈323的开放端326就会得到相应的放松力，使抱紧圈323的开放端326松开抱紧导向件31的第二端312，进而使抱紧导向件31的第二端312得以松开第二臂2，第二臂2就可以相对于第一臂1进行自由伸缩了。
进一步地，支撑臂组件100还包括限位螺钉5；第一臂1上设有第一限位孔11，第二臂2上设有限位槽21，其中该限位螺钉5穿过第一限位孔11并伸入限位槽21内，使得第二臂2可以在限位槽21的长度方向上相对第一臂1做伸缩移动。即，限位螺钉5起到限制第二臂2的移动范围的作用，限位螺钉5将第二臂2的移动范围限制在限位槽21的长度范围内。
为了将第一臂1、抱紧导向件31以及抱紧件32固定在一起，相应地，抱紧导向件31上设有与第一限位孔11相适配的第二限位孔314，抱紧件32上设有与第二限位孔314相适配的第三限位孔325。抱紧导向件31的限位板315的设置位置使抱紧导向件31的第一端311插入第一臂1内之 后，抱紧导向件31的第二限位孔314与第一臂1的第一限位孔11的位置重合，便于限位螺钉5穿设。这样，抱紧件32套设在抱紧导向件31的外部之后，就可以通过将限位螺钉5穿过该第一限位孔11、第二限位孔314以及第三限位孔325，进而将第一臂1、抱紧导向件31以及抱紧件32固定在一起。
本发明的支撑臂组件组装时，先将抱紧导向件31的第一端311插入第一臂1内，然后将抱紧件32套设在抱紧导向件31的外部，再将抱紧导向件31的第二端312套设在第二臂2上，使第一臂1的第一限位孔11位于第二臂2的限位槽21的长度范围内。最后，将限位螺钉5穿过该第一限位孔11、第二限位孔314以及第三限位孔325，进而将第一臂1、抱紧导向件31以及抱紧件32固定在一起。使用时，通过拧紧抱紧螺钉4使抱紧导向件31的第二端312压紧第二臂2，实现对第二臂2的固定。通过松开抱紧螺钉4使抱紧导向件31的第二端312松开第二臂2，使第二臂2可以相对于第一臂1进行自由伸缩。
在实际应用中，本发明的支撑臂组件100，可以用作为三轴云台的平移轴组件支撑臂或横滚轴组件支撑臂。支撑臂组件100还包括设置在第二臂2上与第一臂1相连接的一端相对的另一端上的动力装置，或支撑臂组件100还包括设置在第一臂1上与第二臂2相连接的一端相对的另一端上的动力装置。可选地，所述动力装置为增稳动力装置、平移轴组件动力装置500、横滚轴组件动力装置9或俯仰轴组件动力装置7。
参见图3和图4所示，图3是本发明实施例示出的一种采用图1所示的支撑臂组件的横滚轴组件的立体示意图。图4是图3所示的横滚轴组件的分解示意图。在图3和图4所示的实施方式中，支撑臂组件100为横滚轴组件200的支撑臂，支撑臂组件100还包括设置在第二臂2上与第一臂1相连接的一端相对的另一端上的俯仰轴组件动力装置7。
在该实施方式中，两个支撑臂组件100之间通过连接件6相互连接， 形成一个横滚轴组件200。其中，连接件6包括两个连接臂61，支撑臂组件100的第二臂2上与第一臂1相连接的一端相对的另一端设置有俯仰轴组件动力装置7，支撑臂组件100的第一臂1上与第二臂2相连接的一端相对的另一端与连接件6的连接臂61连接。此外，连接件6上还设有安装端8。俯仰轴组件动力装置7在第二臂2的带动下，可以实现伸缩移动，进而达到调节横滚轴组件200的长度的效果。
当然，支撑臂组件100为横滚轴组件200的支撑臂时，也可以将俯仰轴组件动力装置7设置在第一臂1上与第二臂2相连接的一端相对的另一端，将支撑臂组件100的第二臂2上与第一臂1相连接的一端相对的另一端与连接件6的连接臂61连接。在这种情况下，使连接件6的连接臂61在第二臂2的带动下，可以实现伸缩移动，同样可以达到调节横滚轴组件200的长度的效果。
参见图5和图6所示，图5是本发明实施例示出的一种采用图1所示的支撑臂组件的平移轴组件的立体示意图。图6是图5所示的平移轴组件的分解示意图。在图5和图6所示的实施方式中，支撑臂组件100为平移轴组件300的支撑臂，支撑臂组件100还包括设置在第一臂1上与第二臂2相连接的一端相对的另一端上的横滚轴组件动力装置9。
在该实施方式中，支撑臂组件100的第一臂1上与第二臂2相连接的一端相对的另一端设置有横滚轴组件动力装置9，支撑臂组件100的第二臂2上与第一臂1相连接的一端相对的另一端设置有用于安装平移轴组件的动力装置的安装件81，形成一个平移轴组件300。安装件81在第二臂2的带动下，可以实现伸缩移动，进而达到调节平移轴组件300的长度的效果。
当然，支撑臂组件100为平移轴组件300的支撑臂时，也可以将安装件81设置在第一臂1上与第二臂2相连接的一端相对的另一端，将横滚轴组件动力装置9设置在支撑臂组件100的第二臂2上与第一臂1相连接 的一端相对的另一端。在这种情况下，使横滚轴组件动力装置9在第二臂2的带动下，可以实现伸缩移动，同样可以达到调节平移轴组件300的长度的效果。
下面介绍本发明的云台，用于搭载负载，包括负载搭载装置、至少一动力装置和由所述至少一动力装置各自驱动的如上述实施例和实施方式中所述的支撑臂组件，所述支撑臂组件绕着转轴旋转，所述支撑臂组件包括第一臂和与所述第一臂连接的第二臂，所述第一臂能够相对于所述第二臂做伸缩移动以使所述负载搭载装置沿着所述转轴的方向来回平移。
需要说明的是，在如上所述的实施例和实施方式中关于支撑臂组件的描述同样适用于本发明提供的云台。
在本发明的一个实施方式中，所述动力装置为增稳动力装置。所述至少一动力装置与各自的所述支撑臂组件通过各自的安装组件连接。可选地，所述至少一动力装置包括平移轴组件动力装置和横滚轴组件动力装置，所述支撑臂组件包括平移轴组件和横滚轴组件，所述平移轴组件动力装置能够驱动所述平移轴组件绕平移轴转动，所述横滚轴组件动力装置驱动所述横滚轴组件绕横滚轴转动。
在本发明的一个实施方式中，云台为手持式三轴云台。
在本发明的一个实施方式中，负载为拍摄器。相应地，所述负载搭载装置为俯仰轴组件。当然，负载并不仅限为拍摄器，负载还可以为其他装置，比如感测器等等。下面以云台为三轴云台，并以负载为拍摄器为例，结合附图对本发明的云台进行介绍。
参见图7和图8所示，图7是本发明实施例示出的一种三轴云台在实际应用中的立体示意图。图8是本发明实施例示出的另一种三轴云台在实际应用中的立体示意图。
如图7和图8的实施例所示的三轴云台，包括横滚轴组件200、用 于搭载拍摄器400,401并安装在横滚轴组件200上的俯仰轴组件600以及安装到横滚轴组件200上的平移轴组件300，横滚轴组件200和平移轴组件300分别采用如上述实施例和实施方式中所述的支撑臂组件100。其中，平移轴组件300通过平移轴组件动力装置500的驱动绕平移轴转动，横滚轴组件200通过横滚轴组件动力装置9的驱动绕横滚轴转动，俯仰轴组件600通过俯仰轴组件动力装置7的驱动绕俯仰轴转动。需要说明的是，在如上所述的实施例和实施方式中关于支撑臂组件100、横滚轴组件200、平移轴组件300、连接件6、俯仰轴组件动力装置7、横滚轴组件动力装置9、安装端8以及安装件81的描述同样适用于如图7和图8的实施例所示的三轴云台。
进一步地，横滚轴组件200设有安装端8作为安装组件；横滚轴组件动力装置9与该安装端8连接。平移轴组件300设有安装件81作为安装组件；平移轴组件动力装置500与该安装件81连接。
下面以图8所示的三轴云台为例，对本发明的云台进行详细介绍。图8中A-A方向所示表示为俯仰轴方向，B-B方向所示表示为横滚轴方向，C-C方向所示表示为平移轴方向。
如图8所示，横滚轴组件200的两个支撑臂组件100的第二臂2上分别安装有俯仰轴组件动力装置7，俯仰轴组件600安装在两个俯仰轴组件动力装置7之间，拍摄器401再安装在俯仰轴组件600上，进而将拍摄器400安装到横滚轴组件200上。俯仰轴组件动力装置7在横滚轴组件200的支撑臂组件的第二臂2的带动下，可以实现伸缩移动，进而达到调节横滚轴组件200的长度的效果，进而实现调节云台大小的效果。
平移轴组件300的支撑臂组件的第二臂2上安装有平移轴组件动力装置500，平移轴组件300的支撑臂组件的第一臂1上安装有横滚轴组件动力装置9，横滚轴组件动力装置9再安装到横滚轴组件200的连接器6上，进而将平移轴组件300安装到横滚轴组件200上。平移轴组件动力装 置500在平移轴组件300的支撑臂组件的第二臂2的带动下，可以实现伸缩移动，进而达到调节平移轴组件300的长度的效果，进而实现调节云台大小的效果。
通过如上所述的实施例和实施方式，本实用新型的云台，各动力装置分别驱动各自的支撑臂组件绕着转轴旋转，各支撑臂组件又可以通过第一臂和第二臂之间的相对伸缩移动，实现调节支撑臂组件长度的效果，进而实现调节云台大小的效果，可以根据不同大小的拍摄器来调节云台的尺寸，使云台能够适用于各种不同大小的拍摄器，而不必再根据不同大小的拍摄器更换相应尺寸的云台，增加了云台的通用性。例如，在图7所示的实施方式中，拍摄器400的体积较小，而在图8所示的实施方式中，拍摄器401的体积较大。因此，本发明的云台，就可以通过调节支撑臂组件100的长度，来改变横滚轴组件200和平移轴组件300的大小，使本发明的云台既可以适用于图7所示的拍摄器400，又可以适用于图8所示的拍摄器401。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一 般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。

Claims (28)

  1. 一种云台支撑臂组件，其特征在于，该支撑臂组件包括：
    第一臂、部分的穿设于所述第一臂内并相对所述第一臂可做伸缩移动的第二臂以及将所述第一臂与所述第二臂固定的抱紧装置；其中，所述抱紧装置包括套设在所述第二臂上的抱紧导向件以及安装在所述抱紧导向件上用于将所述抱紧导向件抱紧进而将所述第二臂与所述第一臂固定的抱紧件。
  2. 如权利要求1所述的云台支撑臂组件，其特征在于，所述抱紧导向件包括：与所述第一臂配合的第一端以及套设在所述第二臂上的第二端，其中所述第二端设有可弹性收缩的收紧部。
  3. 如权利要求2所述的云台支撑臂组件，其特征在于，所述第二端设有至少一开槽，所述开槽自所述第二端的端面向内凹陷形成，以使所述第二端设有所述开槽的部分作为所述收紧部。
  4. 如权利要求2所述的云台支撑臂组件，其特征在于，所述抱紧件包括：固定端及抱紧端，所述固定端与所述第一臂和所述抱紧导向件第一端相固定，所述抱紧端环设在所述抱紧导向件第二端的外部。
  5. 如权利要求4所述的云台支撑臂组件，其特征在于，所述抱紧端包括具有开放端的抱紧圈，所述抱紧圈通过开放端的压紧而抱紧所述第二端进而固定所述第二臂。
  6. 如权利要求5所述的云台支撑臂组件，其特征在于，所述抱紧端还包括位于所述抱紧圈开放端的螺纹孔；所述抱紧装置还包括与该抱紧圈的螺纹孔配合的抱紧螺钉，所述抱紧螺钉能够使所述开放端压紧或放松。
  7. 如权利要求1所述的云台支撑臂组件，其特征在于，所述支撑臂组件还包括限位螺钉；所述第一臂上设有第一限位孔，所述第二臂上设有限位槽，其中该限位螺钉穿过所述第一限位孔并伸入所述限位槽内，使得所述第二臂在所述限位槽的长度方向上相对所述第一臂做伸缩移动。
  8. 如权利要求7所述的云台支撑臂组件，其特征在于，所述抱紧导向件上设有第二限位孔，所述抱紧件上设有第三限位孔；所述限位螺钉穿过该第一限位孔、第二限位孔以及第三限位孔将所述第一臂、所述抱紧导向件以及所述抱紧件固定在一起。
  9. 如权利要求1所述的云台支撑臂组件，其特征在于，所述支撑臂组件还包括设置在所述第一臂上与所述第二臂相连接的一端相对的另一端上的动力装置。
  10. 如权利要求1所述的云台支撑臂组件，其特征在于，所述支撑臂组件还包括设置在所述第二臂上与所述第一臂相连接的一端相对的另一端上的动力装置。
  11. 如权利要求1所述的云台支撑臂组件，其特征在于，所述支撑臂组件为平移轴组件支撑臂。
  12. 如权利要求1所述的云台支撑臂组件，其特征在于，所述支撑臂组件为横滚轴组件支撑臂。
  13. 一种云台，用于搭载负载，包括负载搭载装置、至少一动力装置和由所述至少一动力装置各自驱动的支撑臂组件，所述支撑臂组件绕着转轴旋转，其特征在于，所述支撑臂组件包括第一臂和与所述第一臂连接的第二臂，所述第一臂能够相对于所述第二臂做伸缩移动以使所述负载搭载装置沿着所述转轴的方向来回平移。
  14. 如权利要求13所述的云台，其特征在于，所述动力装置为增稳动力装置。
  15. 如权利要求14所述的云台，其特征在于，所述至少一动力装置与各自的所述支撑臂组件通过各自的安装组件连接。
  16. 如权利要求15所述的云台，其特征在于，所述至少一动力装置包括平移轴组件动力装置和横滚轴组件动力装置，所述支撑臂组件包括平移轴组件和横滚轴组件，所述平移轴组件动力装置能够驱动所述平移轴组件绕平移轴转动，所述横滚轴组件动力装置能够驱动所述横滚轴组件绕横滚 轴转动。
  17. 如权利要求16所述的云台，其特征在于，所述横滚轴组件设有安装端作为安装组件；所述横滚轴组件动力装置与该安装端连接。
  18. 如权利要求16所述的云台，其特征在于，所述平移轴组件设有安装件作为安装组件；所述平移轴组件动力装置与该安装件连接。
  19. 如权利要求13所述的云台，其特征在于，所述第一臂和所述第二臂通过抱紧装置固定，所述抱紧装置包括套设在所述第二臂上的抱紧导向件以及安装在所述抱紧导向件上用于将所述抱紧导向件抱紧进而将所述第二臂与所述第一臂固定的抱紧件。
  20. 如权利要求19所述的云台，其特征在于，所述抱紧导向件包括：与所述第一臂配合的第一端以及套设在所述第二臂上的第二端，其中所述第二端设有可弹性收缩的收紧部。
  21. 如权利要求20所述的云台，其特征在于，所述第二端设有至少一开槽，所述开槽自所述第二端的端面向内凹陷形成，以使所述第二端设有所述开槽的部分作为所述收紧部。
  22. 如权利要求20所述的云台，其特征在于，所述抱紧件包括：固定端及抱紧端，所述固定端与所述第一臂和所述抱紧导向件第一端相固定，所述抱紧端环设在所述抱紧导向件第二端的外部。
  23. 如权利要求22所述的云台，其特征在于，所述抱紧端包括具有开放端的抱紧圈，所述抱紧圈通过开放端的压紧而抱紧所述第二端进而固定所述第二臂。
  24. 如权利要求23所述的云台，其特征在于，所述抱紧端还包括位于所述抱紧圈开放端的螺纹孔；所述抱紧装置还包括与该抱紧圈的螺纹孔配合的抱紧螺钉，所述抱紧螺钉能够使所述开放端压紧或放松。
  25. 如权利要求19所述的云台，其特征在于，所述支撑臂组件还包括限位螺钉；所述第一臂上设有第一限位孔，所述第二臂上设有限位槽，其中该限位螺钉穿过所述第一限位孔并伸入所述限位槽内，使得所述第二臂 在所述限位槽的长度方向上相对所述第一臂做伸缩移动。
  26. 如权利要求25所述的云台，其特征在于，所述抱紧导向件上设有第二限位孔，所述抱紧件上设有第三限位孔；所述限位螺钉穿过该第一限位孔、第二限位孔以及第三限位孔将所述第一臂、所述抱紧导向件以及所述抱紧件固定在一起。
  27. 如权利要求13所述的云台，其特征在于，所述云台为手持式三轴云台。
  28. 如权利要求13所述的云台，其特征在于，所述负载为拍摄器。
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