WO2019134151A1 - 手持云台设备 - Google Patents

手持云台设备 Download PDF

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Publication number
WO2019134151A1
WO2019134151A1 PCT/CN2018/071680 CN2018071680W WO2019134151A1 WO 2019134151 A1 WO2019134151 A1 WO 2019134151A1 CN 2018071680 W CN2018071680 W CN 2018071680W WO 2019134151 A1 WO2019134151 A1 WO 2019134151A1
Authority
WO
WIPO (PCT)
Prior art keywords
handheld
pan
handle
tilt
bracket
Prior art date
Application number
PCT/CN2018/071680
Other languages
English (en)
French (fr)
Inventor
田小雨
朱智辉
赵岩崇
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to JP2020536992A priority Critical patent/JP7186232B2/ja
Priority to PCT/CN2018/071680 priority patent/WO2019134151A1/zh
Priority to CN201880012265.XA priority patent/CN110291323B/zh
Priority to EP18897988.4A priority patent/EP3736483A4/en
Publication of WO2019134151A1 publication Critical patent/WO2019134151A1/zh
Priority to US16/919,902 priority patent/US20200333693A1/en

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Classifications

    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45F—TRAVELLING OR CAMP EQUIPMENT: SACKS OR PACKS CARRIED ON THE BODY
    • A45F5/00—Holders or carriers for hand articles; Holders or carriers for use while travelling or camping
    • A45F5/10—Handles for carrying purposes
    • 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
    • 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
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • 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
    • F16M11/2071—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for panning 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
    • 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
    • F16M11/2085—Undercarriages with or without wheels comprising means allowing sideward adjustment, i.e. left-right translation of the head relatively to the undercarriage
    • 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
    • F16M11/2092—Undercarriages with or without wheels comprising means allowing depth adjustment, i.e. forward-backward translation of the head relatively to the undercarriage
    • 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
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45F—TRAVELLING OR CAMP EQUIPMENT: SACKS OR PACKS CARRIED ON THE BODY
    • A45F2200/00—Details not otherwise provided for in A45F
    • A45F2200/05—Holder or carrier for specific articles
    • A45F2200/0533—Cameras, e.g. reflex, digital, video camera
    • 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

  • This application relates to pan/tilt and handheld devices.
  • the handheld pan/tilt is small in size and easy to carry, and can be mounted with a small camera such as a video camera, a camera, a smart phone, etc., and can quickly and stably control the effect of the camera being maintained in a certain posture when shooting while moving.
  • a small camera such as a video camera, a camera, a smart phone, etc.
  • the existing handheld pan/tilt cannot be easily connected to an external device, such as a focus, etc., and has a single function and is inconvenient to use.
  • the present application provides a handheld cloud platform device to solve the above technical problems.
  • a handheld cloud platform device includes: a cloud platform; and a pan/tilt handle connected to the cloud platform, the pan/tilt handle includes: a handle body, and an external interface The handle body is connected to an external device through the external interface; a handle is detachably mounted to the handle body.
  • the handheld cloud platform device of the present application includes a PTZ handle connected to the PTZ, and an external interface is disposed on the handle body of the PTZ handle, and the PTZ is connected to an external device through an external interface, and the function of the PTZ can be expanded.
  • FIG. 1 is a perspective view of an embodiment of a handheld pan/tilt head device of the present application.
  • FIG. 2 is a perspective view of another perspective of the handheld head unit shown in FIG. 1.
  • FIG. 3 is an enlarged schematic view of a portion of the handheld pan/tilt head device shown in FIG. 1.
  • FIG. 4 is a schematic diagram of a fixing device of the handheld pan/tilt head device shown in FIG. 1.
  • FIG. 5 is a perspective view of an embodiment of the pan/tilt handle of the present application, wherein the handle body of the pan/tilt handle and the handle are assembled.
  • FIG. 6 is another perspective view of the handle of the pan/tilt head shown in FIG. 5, wherein the handle body of the pan/tilt handle is separated from the handle.
  • Figure 7 is a side elevational view of the upper cover of the handle shown in Figure 6.
  • Fig. 8 is a plan view of the upper cover shown in Fig. 6.
  • Figure 9 is a plan view of the handle shown in Figure 6.
  • Figure 10 is a partial longitudinal cross-sectional view of the head of the platform shown in Figure 5.
  • Figure 11 is a side elevational view of the locking mechanism of the pan/tilt handle shown in Figure 5.
  • Figure 12 is a plan view of the locking mechanism of the pan/tilt handle shown in Figure 5.
  • Figure 13 is a perspective view of another embodiment of the pan/tilt handle of the present application.
  • Figure 14 is an exploded perspective view of the handle body and the locking mechanism of the pan/tilt handle shown in Figure 13;
  • Figure 15 is a perspective view of the handle of the pan/tilt handle shown in Figure 13.
  • Figure 16 is a longitudinal cross-sectional view of the head of the platform shown in Figure 13 with the locking mechanism unlocked.
  • Figure 17 is a partial enlarged view of the head of the pan/tilt head shown in Figure 16;
  • Fig. 18 is another partial enlarged view of the head of the pan/tilt head shown in Fig. 16.
  • Figure 19 is a longitudinal cross-sectional view of the head of the platform shown in Figure 13 with the locking mechanism locked.
  • Figure 20 is a partial enlarged view of the head of the pan/tilt head shown in Figure 19.
  • Figure 21 is a front elevational view of the follower of the handheld head unit of the present application.
  • Figure 22 is a side view of the follower shown in Figure 21.
  • Figure 23 is another side view of the follower shown in Figure 21.
  • the handheld cloud platform device of the embodiment of the present application includes: a cloud platform; and a pan/tilt handle connected to the cloud platform, the pan/tilt handle includes: a handle body, and an external interface, wherein the handle body passes through the external interface
  • the external device is connected; the handle is detachably mounted to the handle body.
  • the handheld PTZ device includes a PTZ handle connected to the PTZ, and an external interface is disposed on the handle body of the PTZ handle.
  • the PTZ is connected to an external device through an external interface, and the function of the PTZ can be expanded.
  • the present invention provides a handheld cloud platform device 200 .
  • the handheld cloud platform device 200 includes a cloud platform 100 and a pan/tilt handle 10 connected to the cloud platform 100 .
  • the cloud platform 100 is used to carry an imaging device (not shown), which may be a camera, a video camera or a smart phone or the like.
  • the pan/tilt handle 10 can be held by the user during shooting.
  • the pan/tilt handle 20 includes a handle body 21, a handle 22 and a locking mechanism 23 that locks or unlocks the handle body 21 and the handle 22 to disassemble the handle body 21 and the handle 22.
  • the handle body 21 is provided with an external interface 211 through which the platform 100 is connected to an external device.
  • the handle 22 is detachably mounted to the handle body 21.
  • the external device includes at least one of a follower, a sub-handle, a U disk, a display screen, and a microphone, but is not limited thereto.
  • the function of the PTZ 100 can be extended through the external interface 211 according to specific needs. .
  • the handle body 21 is mounted with an interface module 210 , and the external interface 211 is disposed on the interface module 210 .
  • the handle body 21 is provided with a groove 212, and the interface module 210 is installed in the groove 212.
  • the interface module 210 is substantially square, and the external interface 211 is disposed at an intermediate position of the interface module 210.
  • the four corners of the interface module 210 are provided with mounting holes 213 and fasteners ( The interface module 210 is fixed in the recess 212 of the handle body 21 through the mounting hole, so that processing and installation are very convenient.
  • the positioning holes 2140 are disposed on the left and right sides of the external interface 211, and the positioning of the external device is matched with the positioning structure of the external device.
  • the upper and lower sides of the external interface 211 are provided with fixing holes 215 for passing through the fasteners.
  • the fixing hole 215 fixes the external device at the interface module 210, which is convenient and reliable.
  • the handheld pan-tilt device 200 further includes a follower 60 for focusing the imaging device, including the external interface 211.
  • the mating interface 61 is provided with a plurality of contacts 611 on the docking interface 61.
  • a pair of positioning posts 66 are disposed on the left and right sides of the docking interface 61 to cooperate with the positioning holes 2140 on the interface module 210.
  • the through hole 68 is configured to receive the positioning and fixing post 67.
  • the fixing post 67 is used to cooperate with the fixing hole 215 of the interface module 210 to fix the follower 60.
  • the fixing post 67 is a screw.
  • the follower 60 also includes a follower wheel 65 for quickly adjusting the focus of the imaging device, a display screen 62 for displaying pan/tilt parameters, and a control button 63 for adjusting the parameters of the platform 100.
  • the pan/tilt parameters displayed by the follower 60 include speed, velocity, operating mode, power, and the like.
  • the follower 60 includes a button 64 that also includes a lens for mapping different focal lengths.
  • the handle body 21 is provided with a mode switching button 216 for switching the working mode of the platform 100.
  • the mode switching button 216 is configured to receive an operation command of the user, and control the working mode of the platform 100 according to the operation command.
  • the pan/tilt head 100 includes, but is not limited to, the following three modes of operation: a follow mode, a free mode, and a motion mode, wherein the follow mode refers to the pan/tilt 100 adjusting according to the movement of the pan-tilt handle 20, the free mode It is said that the pan/tilt head 100 is adjusted according to the movement of the target, and the motion mode means that the response speed of the pan/tilt head 100 is fast.
  • the mode switching button 216 is provided with two, and one of the mode switching buttons 216 is pressed.
  • the pan/tilt head 100 can be switched between the above three working modes.
  • pressing another mode switching button 216 can set a certain parameter of the pan-tilt head 100 in the working mode.
  • the platform 100 may also include one, two, or more modes of operation.
  • the handle body 21 is provided with a status display lamp 2170 that displays the state of the platform 100.
  • the status display lamp 2170 is provided with three.
  • the three states of the light can display different states of the platform 100. For example, when the system is normal, one of the status display lights 2170 is always on, and Green light; when the system is abnormal, the three status display lights 2170 are always on and are red; when the system alarms, one of the status display lights 2170 is always on, and is yellow, and so on.
  • the number of status display lights 217 can be set according to specific needs.
  • the handle body 21 is provided with a rocker 27 for operating the pan/tilt head 100, and the operation of the pan/tilt head 100 is realized by operating the rocker 27 according to the shooting scene and shooting requirements.
  • the handle body 21 is further provided with a camera button 2180 and a camera button 2190.
  • the platform 100 When the platform 100 carries the camera, the user performs related operations on the camera through the camera button 2180.
  • the platform 100 carries the camera the user passes the camera button 2190. Perform related operations on the camera.
  • the handle 22 supplies power to the pan/tilt head 100.
  • the battery core 22 is integrated with the battery core, thus reducing the instability of the battery core during assembly and disassembly.
  • the lower end of the handle body 21 is provided with an interface (not shown) that cooperates with the battery core.
  • the handle 22 can be removed according to the needs of the specific use scenario, and the pan/tilt 100 can be installed on the vehicle through the interface.
  • the installation scenario installed on the ropeway can also install a large two-hand handle through the interface, and the like, and is not limited thereto, thereby further expanding the function of the pan/tilt head 100.
  • the pan/tilt head 100 includes at least one of a pitch axis mechanism 30, a roll axis mechanism 40, and a heading axis mechanism 50. That is, the pan/tilt head 100 may be an axis pan/tilt head, a two-axis pan/tilt head, or a three-axis cloud. station.
  • the pan/tilt head 100 is a three-axis pan/tilt head, including a pitch axis mechanism 30, a roll axis mechanism 40, and a heading axis mechanism 50, a pitch axis mechanism 30, a roll axis mechanism 40, and a heading mechanism 50. Connected in turn.
  • the pitch axis mechanism 30 includes a first bracket 31 and a first motor 33 and a carrying device 80 mounted on the first bracket 31.
  • the carrying device 80 is slidable relative to the first bracket 31, and the carrying device 80 includes A sliding seat 81 mated by a bracket 31, a mounting seat 83 disposed on the sliding seat 81, and a locking assembly 85 for locking the sliding seat 81 to a predetermined position of the first bracket 31.
  • the sliding seat 81 is provided with a passage 811 matching the first bracket 31, and the sliding seat 81 is slidably mounted to the first bracket 31 through the passage 811.
  • the locking assembly 85 includes a rotating handle 851 and a locking body (not shown) that is screwed to the rotating handle 851.
  • the locking body is located in the sliding seat 81 to cooperate with the first bracket 31, and the rotating handle 851 is rotated.
  • the locking body can be pressed against the first bracket 31 to fix the carrier device 80 to the first bracket 31.
  • the rotating handle 851 is reversely rotated, so that the locking body is disengaged from the first bracket 31, and at this time, the sliding seat 81 can slide relative to the first bracket 31.
  • the mounting seat 83 is slidably disposed on the sliding seat 81.
  • the top of the sliding seat 81 is provided with a sliding slot 815 matching the mounting seat 83.
  • the mounting seat 83 is slidably disposed on the sliding seat 81.
  • the sliding seat 81 is further provided with a receiving slot 816 communicating with the sliding slot 815.
  • the receiving slot 816 is provided with a buckle 817 capable of locking the mounting seat 83 to a predetermined position.
  • the buckle 817 is rotatably disposed in the receiving slot 816. One end of the buckle 817 extends out of the receiving slot 816, and the other end is provided with a cam structure (not shown).
  • the cam The structure presses the side wall of the mount 83 to lock the mount 83.
  • the cam structure is disengaged from the side wall of the mounting seat 83, and the position of the mounting seat 83 can be adjusted as needed.
  • a pad 87 is disposed on the mounting seat 83, and the imaging device can be fixed to the pad 87 by screws, so that the lens of the imaging device can be prevented from hitting the mounting seat 83.
  • the first bracket 31 is further provided with a fixture 90 opposite the carrier 80.
  • the fixing device 90 includes a post 91 disposed on the first bracket 31, a fixing plate 93 disposed on the post 91, and a knob assembly 95 mated with the fixing plate 93.
  • the fixing device 90 fixes the imaging device above the imaging device, so that the installation of the imaging device on the platform 100 is more stable and reliable, thereby ensuring that the captured image is more stable and clear.
  • the knob assembly 95 includes a knob 951, a first clamping member 953 that is threadedly engaged with the knob 951, and a second clamping member 955 that mates with the first clamping member 953.
  • the metal flange of the hot shoe on the image forming device is positioned between the first clamping member 953 and the second clamping member 955, and then the knob 951 is rotated such that the first clamping member 953 Moving toward the second clamping member 955, the metal flange of the hot shoe is clamped between the first clamping member 953 and the second clamping member 955.
  • the fixing plate 93 is provided with a longitudinal groove 931 which is opened along the longitudinal direction of the fixing plate 93, and the knob assembly 95 can slide in the longitudinal groove 931 to adjust the knob assembly according to the position of the imaging device. 95 location.
  • the material of the fixing plate 93 is aluminum alloy, and the fixing plate 93 is further provided with a through hole 932 to achieve the effect of weight reduction.
  • the fixed plate 93 is also provided with a cold shoe structure 933, which can be installed according to specific needs, such as a microphone, a fill light, and the like.
  • the fixing plate 93 is locked to the pillar 91 by the locking mechanism 92.
  • the fixing plate 93 includes a mounting portion 934.
  • the mounting portion 934 surrounds the pillar 91, and there is a certain relationship between the two mating ends of the mounting portion 934. a gap, the locking mechanism 92 passes through the two mating ends, when the locking mechanism 92 is operated, the two mating ends are relatively moved against each other, thereby locking the fixing plate 93 to the strut 91, reverse
  • the fixing plate 93 can be loosened by the fixing plate 93, so that the height of the fixing plate 93 can be adjusted according to the height of the image forming apparatus, and the operation is convenient and the applicability is strong.
  • the first motor 33 includes a first stator 331 and a first rotor 333, and the first bracket 31 is coupled to the first rotor 333.
  • the first rotor 333 is slidably disposed on the first bracket 31 , and the first rotor 333 is fixable to the first bracket 31 by the first locking mechanism 34 .
  • the roll mechanism 40 includes a second bracket 41 and a second motor 43.
  • the second motor 43 includes a second stator 431 and a second rotor 433.
  • the second bracket 41 has a first end and a first motor 33.
  • the stator 331 is connected and the other end is connected to the second rotor 433 of the second motor 43.
  • the second rotor 433 is slidably disposed on the second bracket 41 , and the second rotor 433 is fixed to the second bracket 41 by the second locking mechanism 44 .
  • the heading mechanism 50 includes a third bracket 51 and a third motor 53.
  • the third motor 53 includes a third stator 531 and a third rotor 533.
  • One end of the third bracket 51 and the second stator of the second motor 43 The other end is connected to the third rotor 533 of the third motor 53.
  • the third rotor 533 is slidably disposed on the third bracket 51, and the third rotor 533 is fixed to the third bracket 51 by the third locking mechanism 54.
  • the angle between the axis of the second motor 43 and the axis of the third motor 53 is less than 90 degrees.
  • the second bracket 41 is inclined obliquely downward by a certain angle such that the second motor 43 is tilted. This non-orthogonal arrangement makes the second support of the pan-tilt 100 avoid the monitoring screen of the imaging device, and does not obstruct the user's line of sight during use.
  • the angle between the axis of the second motor 43 and the axis of the third motor 53 includes 55 degrees.
  • the angle between the axis of the second motor 43 and the axis of the third motor 53 further includes 50 degrees, 51 degrees, 52 degrees, 53 degrees, 54 degrees, 56 degrees, 57 degrees, 58 degrees.
  • Degree, 59 degrees, 60 degrees, etc. is not limited thereto, and can be set according to specific needs.
  • the pan/tilt handle supporting the pan/tilt head 100 described above has two embodiments, and the specific structures of the two embodiments will be separately described below.
  • the top of the handle body 11 has a circular cross section and can be docked with the bottom end of the pan.
  • the lower portion of the handle body 11 is a shape obtained by longitudinally cutting a part of the cylinder, and includes a rounded side surface 112 and a flat side 113 connected to the rounded side surface 112.
  • the operating member 111 can be disposed on the flat side 113.
  • the handle body 11 can have other shapes.
  • the handle 12 can be held by the user.
  • a battery (not shown) can be accommodated in the handle 12 to supply power to the gimbal.
  • the handle 12 includes a battery compartment 121 and an upper cover 122 that is disposed over the battery compartment 121.
  • the top of the battery compartment 121 has an opening, and the upper cover 122 covers the opening at the top of the battery compartment 121.
  • a battery can be installed in the battery compartment 121.
  • the battery can include a multi-section cylindrical battery that is removably mounted within the battery compartment 121.
  • the bottom of the battery compartment 121 is open, and the handle 12 includes a bottom cover 123 that covers the opening at the bottom of the battery compartment 121.
  • the battery can be inserted from the bottom opening of the battery compartment 121.
  • the side of the battery compartment 121 is open and the battery can be inserted from the side opening.
  • the handle 12 is integrated with a battery core, and the handle 12 serves as a grip structure for the user to hold while powering the pan/tilt as a battery. When the pan/tilt needs to replace the battery, the handle 12 is directly The handle body 11 is detached and replaced.
  • the battery compartment 121 includes a cartridge body 1211 and a connection portion 1212 disposed at the top end of the cartridge body 1211.
  • a battery is mounted in the cartridge body 1211, and a bottom cover 123 is disposed at the bottom of the cartridge body 1211.
  • the cartridge body 1211 has a generally flat rod shape, and its cross section may be a shape surrounded by a plurality of circular arcs. In other embodiments, the cartridge body 1211 can be other ergonomic, grip-friendly shapes. The length of the cartridge body 1211 can be set longer to facilitate gripping by both hands.
  • a button 1215 and an indicator light 1216 may be disposed on a side of the cartridge body 1211.
  • the button 1215 is located at the lower portion of the cartridge body 1211 and can be used to switch the battery.
  • An indicator light 1216 can be located at a lower portion of the cartridge body 1211 for displaying the battery status. The indicator light 1216 can be placed below or above the button 1215.
  • the connecting portion 1212 has a shape that gradually contracts inwardly from the top to the bottom, which is advantageous for gripping and supporting.
  • the connecting portion 1212 includes an arcuate side 1213 and a beveled side 1214 that is coupled to the arcuate side 1213.
  • the upper portion of the beveled side surface 1214 is generally planar and the lower portion has a degree of curvature that is coupled to the top edge of the cartridge body 1211.
  • the arc of the arc side 1213 is larger than the arc of the beveled side 1214.
  • the rounded side 1213 and the beveled side 1214 can be rounded to form a circumscribed side.
  • the outer contour of the top surface of the connecting portion 1212 coincides with the outer contour of the bottom surface of the handle body 11.
  • the arcuate side surface 1213 of the connecting portion 1212 abuts the rounded side surface 112 of the handle body 11, and the inclined side surface 1214 of the connecting portion 1212 abuts against the flat side surface 113 of the handle body 11.
  • the connecting portion 1212 can be integrally formed with the cartridge body 1211.
  • the outer side of the connecting portion 1212 can be covered with a hand-held glue, and the hand-held rubber can cover the connecting portion 1212 in a full circle for improving the grip feeling.
  • the gripping hand gel may include a soft rubber material such as silicone rubber or rubber.
  • Fig. 7 is a side elevational view of the upper cover 122, as seen from the side of the oblique side 1214 of the connecting portion 1212.
  • the upper cover 122 includes a cover plate 1221 and a mounting portion 1222 projecting downward from the bottom surface of the cover plate 1221.
  • the cover plate 1221 covers the top surface of the battery compartment 121.
  • the mounting portion 1222 can be retained within the opening at the top of the battery compartment 121.
  • the mounting portion 1222 includes a glue channel that is sealingly coupled to the opening of the battery cartridge 121.
  • the outer side of the mounting portion 1222 is provided with a sealing ring that is sealingly coupled to the opening of the battery compartment 121.
  • the upper cover 122 includes a raised portion 1223 that projects upwardly from the top surface of the cover plate 1221.
  • the raised portion 1223 includes a left side segment 12231 and a right side segment 12232 extending forwardly from a rear side of the upper cover 122 (ie, a side opposite the angled side 1214 of the connecting portion 1212).
  • the left side section 12231 and the right side section 12232 of the raised portion 1223 are symmetrically disposed with respect to the axis of the cover plate 1221 and are located substantially at a middle position between the left and right sides of the cover plate 1221.
  • the raised portion 1223 further includes a rear side section 12233 extending between the left side section 12231 and the right side section 12232 and adjacent the rear side edge of the cover plate 1221.
  • the raised portion 1223 encloses a rectangular frame that is open on one side and opens toward the oblique side surface 1214 of the connecting portion 1212.
  • FIG. 8 is a plan view of the upper cover 122.
  • the outer contour of the upper cover 122 coincides with the outer contour of the top surface of the connecting portion 1212.
  • the upper cover 122 is formed with a plurality of threaded holes 1224-1228.
  • the upper cover 122 can be screwed into the threaded holes 1224 and 1225 by screws to be fixedly coupled to the battery cartridge 121.
  • the threaded holes 1224 and 1225 are symmetrically disposed relative to the axis of the upper cover 122.
  • the threaded holes 1224 and 1225 pass through the boss 1223.
  • the upper cover 122 can be fixedly mounted to the battery compartment 121 by other means.
  • FIG. 9 shows a top view of the handle 12.
  • the handle 12 includes a contact plate 123 mounted on the top surface of the upper cover 122 and a protective plate 124 attached to the contact plate 123.
  • the contact plate 123 and the protective plate 124 can be screwed into the threaded holes 1226-1228 of the upper cover 122 by screws and fixedly mounted to the upper cover 122.
  • the contact plate 123 and the protective plate 124 may be fixedly mounted to the upper cover 122 by other means.
  • the raised portion 1223 of the upper cover 122 protrudes from the outside of the contact plate 123 and the protective plate 124. In the illustrated embodiment, the raised portion 1223 protrudes from the rear side and the left and right sides of the contact plate 123 and the protective plate 124.
  • the contact plate 123 can be electrically connected to the battery as an electrical signal interface.
  • the contact plate 123 includes electrode contacts 1231 and 1232 electrically connected to the battery and the handle body 11, and can be electrically connected to the pan/tilt via the handle body 11, thereby electrically connecting the battery to the pan/tilt.
  • the contact plate 123 includes signal contacts 1233 and 1234 for transmitting signals for communication with the handle body 11.
  • the protective plate 124 is fixed to the contact plate 123 for protecting the contact plate 123, and exposes the electrode contacts 1231, 1232 and the signal contacts 1233, 1234 of the contact plate 123, and is electrically connectable to the handle body 11.
  • a card slot 15 is formed in one of the handle body 11 and the handle 12, and the card slot 15 has a first abutting wall 151 extending obliquely with respect to a bottom surface of the card slot 15.
  • the locking mechanism 13 is disposed on the other of the handle body 11 and the handle 12 and extends into the card slot 15.
  • the top of the handle 12 is formed with a card slot 15 having a first abutment wall 151.
  • the card slot 15 is formed in the upper cover 122 of the handle 12.
  • the card slot 15 can be symmetrically disposed with respect to the axis of the upper cover 122. At least a portion of the card slot 15 extends from the rear side to the front side of the upper cover 122.
  • the card slot 15 is recessed inwardly from the outer side of the raised portion 1223 of the upper cover 122.
  • the card slot 15 is open to the outside.
  • the card slot 15 is formed in the left side segment 12231 and the right side segment 12232 of the raised portion 1223, extending along the direction in which the left side segment 12231 and the right side segment 12232 of the raised portion 1223 extend.
  • the rear side section 12233 of the raised portion 1223 can also form a card slot 15.
  • the top surface of the card slot 15 extends obliquely from top to bottom and from the outside to the inside to form a first abutting wall 151.
  • the bottom surface of the card slot 15 is the top surface of the cover plate 1221 of the upper cover 122.
  • the first abutting wall 151 is inclined to the top surface of the cover plate 1221.
  • the locking mechanism 13 is mounted to the handle body 11 and at least partially extends into the card slot 15 when the handle body 11 and the handle 12 are mated.
  • Figure 10 is a partial longitudinal cross-sectional view of the head handle 10. Referring to FIG. 6 , the bottom of the handle body 11 is provided with an engaging portion 114 that cooperates with the card slot 15 , and the engaging portion 114 is inserted into the card slot 15 .
  • the engaging portion 114 has an inclined side wall that can abut against the first abutting wall 151 of the card slot 15 . In the illustrated embodiment, the engaging portion 114 projects laterally inwardly from the bottom of the handle body 11 to engage with the outwardly open card slot 15.
  • the engaging portion 114 and the protruding portion 1223 can abut each other, and the engaging portion 114 can abut the convex portion 1223 inwardly.
  • the card slot 15 is a dovetail slot and the engaging portion 114 is dovetail shaped.
  • An operation groove 115 is opened on one side of the bottom of the handle body 11, and the operation groove 115 extends forward and backward along the side wall of the handle body 11.
  • the locking mechanism 13 at least partially protrudes into the operation groove 115 to cooperate with the card slot 15 and is movable within the operation groove 115.
  • the card slot 15 is formed at the bottom of the handle body 11, and the locking mechanism 13 is mounted to the top of the handle 12.
  • the engaging portion 114 is formed at the top of the handle 12 and cooperates with the card slot 15.
  • Figure 11 shows a side view of the locking mechanism 17.
  • the locking mechanism 13 includes a second abutting wall 131 extending obliquely with respect to the bottom surface of the card slot 15 .
  • the locking mechanism 13 moves relative to the card slot 15 to make the first abutting wall 151 and the second abutting.
  • Wall 131 abuts or separates.
  • the engaging portion 114 is abutted in the card slot 15 , thereby locking the handle body 11 and the grip 12 .
  • the locking mechanism 13 rotates relative to the card slot 15 to move the second abutting wall 131 relative to the first abutment wall 151 to abut or separate from the first abutment wall 151.
  • Figure 12 shows a top view of the locking mechanism 13.
  • the locking mechanism 13 includes a locking cam 132 and a wrench 133 coupled to the locking cam 132.
  • the second abutment wall 131 is at least a portion of a side wall of the locking cam 132.
  • the locking cam 132 includes an eccentric.
  • the side wall of the eccentric extends obliquely with respect to the bottom surface of the eccentric.
  • the side walls of the eccentric are gradually inclined outward from the top to the bottom, and the eccentric is gradually enlarged from the top to the bottom.
  • the locking cam 132 is generally frustoconical with the angle of inclination of the side walls constant.
  • the second resisting wall 131 has at least one slope that coincides with the slope of the first resisting wall 151.
  • the slope of the sidewall of the locking cam 132 coincides with the slope of the first abutment wall 151.
  • the locking cam 132 includes an eccentric that changes the angle of inclination of the sidewall of the eccentric.
  • the side on which the eccentric wheel protrudes has at least one slope that coincides with the slope of the first abutting wall 151 and can abut against the first abutting wall 151.
  • the locking cam 132 includes an eccentric wheel, the side of the eccentric is provided with a pressing block, and the pressing block has a second abutting wall 131.
  • the eccentric can be a generally cylindrical eccentric having a side wall that can be perpendicular to its bottom surface.
  • the pressing block may be disposed on one side of the eccentric wheel.
  • the locking cam 132 includes a non-eccentric cam, and the angle of inclination of the sidewall of the non-eccentric cam changes.
  • the portion of the non-eccentric cam having a large inclination may be abutted against the first abutting wall 151.
  • the locking cam 132 can include a ramped cam with a variable slope, such as an involute ramp cam, or other cam having an asymmetrical shape.
  • the wrench 133 protrudes from the outside of the handle body 11, and the locking cam 132 can be rotated by pulling the wrench 133.
  • the wrench 133 extends from the operation groove 115 of the handle body 11 out of the handle body 11 for the user to operate.
  • the wrench 133 has a certain arc.
  • the wrench 133 can be straight shank shaped.
  • the locking mechanism 13 includes a shaft member 134 which, as shown in Figure 6, passes through the locking cam 132 and mounts the locking cam 132 to one of the handle body 11 and the handle 12 such that the cam 132 is The operating slot 115 is rotatable about the axis.
  • the locking cam 132 and the wrench 133 are rotatably mounted to the handle body 11 by a shaft member 134.
  • the shaft member 134 can include a bolt.
  • the locking mechanism 13 is rotated counterclockwise, and the top of the handle 12 and the bottom of the handle body 11 are inserted.
  • the engaging portion 114 is inserted into the card slot 15 rearward and forward.
  • the resilient conductive terminal 116 (shown in FIG. 10) at the bottom of the handle body 11 slides relative to the protective plate 124 on the upper cover 122 of the handle 12 while being compressed until it contacts the corresponding contact on the contact plate 123 after sliding in place. 1231-1234 is turned on.
  • the wrench 133 is pulled clockwise, that is, the wrench 133 is pulled to the rear side of the handle body 11, so that the locking cam 132 rotates clockwise, and the second resisting wall 131 of the locking cam 132 continuously approaches the first abutment of the card slot 15.
  • the handle wall 151 is held until the second abutment wall 131 abuts against the first abutment wall 151, thereby pressing the engaging portion 114 into the card slot 15, thus locking the handle body 11 and the handle 12.
  • the locking cam 132 is pressed against the dead point of the locking cam 132 to realize reverse self-locking.
  • the locking mechanism 13 is rotated counterclockwise, so that the second abutting wall 131 is away from the first abutting wall 151, and the locking cam 132 is no longer pressed into the card slot 15, the card
  • the joint portion 114 and the card slot 15 are loosened, and the engaging portion 114 can be slidably pulled out along the card slot 15.
  • the resilient conductive terminal 116 at the bottom of the handle body 11 slides relative to the contact plate 123 and the protective plate 124 on the upper cover 122 of the handle 12, and is offset from the contacts 1231-1234 on the contact plate 123 to open the circuit. The handle body 11 and the grip 12 are thus separated.
  • the assembly and disassembly of the handle 12 and the handle body 11 can be achieved by rotating the locking mechanism 13, which can be quickly and easily disassembled.
  • the handle 12 is detached from the handle body 11, which is convenient for storage and has better portability. And it is easy to replace the battery to meet the long-term shooting needs.
  • the handle body 11 can be kept connected to the pan/tilt, and the control chip of the handle body 11 can still control the gimbal operation when externally supplied with power.
  • the grip 12 can be made longer, and the overall length is also greatly shortened after splitting, which can balance the portability and the comfort of the grip, and is advantageous for the user to hold the hands.
  • the locking structure is reliable in connection, can be self-locking, has no virtual position, is favorable for shooting quality, and does not limit the overall shape of the pan/tilt handle 10.
  • the locking mechanism 13 has few parts and simple processing, and the cost advantage is obvious.
  • FIG. 13 is a perspective view of another embodiment of the pan/tilt handle 20 in which the handle body 21 of the pan/tilt handle 20 and the handle 22 are detached.
  • Fig. 14 is an exploded perspective view showing the handle main body 21 and the locking mechanism 23 of the pan/tilt handle 20 shown in Fig. 13.
  • Figure 15 is a perspective view showing the grip 22 of the pan/tilt handle 20 shown in Figure 13 .
  • Figure 16 is a longitudinal cross-sectional view of the head handle 20 shown in Figure 13 .
  • 17 is an enlarged view of a partial region 100 of the pan/tilt handle 20 shown in FIG.
  • the pan/tilt handle 20 is similar to the pan/tilt handle 10 shown in Figures 5-13. Compared with the PTZ handle 10, the main differences of the PTZ handle 20 shown in Figure 13-17 are as follows:
  • the locking mechanism 23 moves relative to the card slot 25 to move the second abutting wall 231 up and down relative to the first abutting wall 251, so that the second abutting wall 231 and the first abutting wall 251 are resisted. Hold or separate.
  • the locking mechanism 23 includes a wrench 233, a transmission member 234 coupled to the wrench 233, and a movable clamp 235 coupled to the transmission member 234.
  • the movable clamp 235 has a second offset. Hold the wall 231.
  • the wrench 233 and the transmission member 234 are rotated to move the movable clamp 235 up and down.
  • the wrench 233 is formed with a wrench pin 2331
  • the transmission member 234 is formed with a transmission pin 2341 that meshes with the wrench pin 2331.
  • the wrench 233 rotates the transmission member through the wrench pin 2331 and the transmission pin 2341.
  • one end of the wrench 233 is formed with a through hole 2332
  • a wrench pin 2331 is formed in the through hole 2332.
  • a wrench latch 2331 is formed on the inner side wall of the through hole 2332.
  • One end of the transmission member 234 is inserted into the through hole 2332.
  • the transmission member 234 is inserted outside the first end in the through hole 2332 to form a transmission pin 2341.
  • the wrench teeth 2331 and the drive teeth 2341 extend longitudinally and mesh with each other.
  • the second end is formed with an external thread (not shown), and is movably connected to the movable clamp 235 by an external thread.
  • the movable clamp 235 is provided with a through hole, and the through hole is provided with an internal thread (not shown). Engaging with an external thread formed by the second end.
  • the wrench 233 is pulled to drive the transmission member 234 to rotate, thereby driving the movable pressing block 235 to move up and down, so that the second resisting wall 231 of the movable pressing block 235 abuts or separates from the first abutting wall 251 of the card slot 25.
  • the movement stroke of the wrench 233 can be easily designed according to the desired movement stroke of the movable clamp 235, thereby determining the size of the operation groove 215.
  • the wrench 233 and the transmission member 234 are fixedly coupled.
  • the transmission member 234 rotates together with the wrench 233.
  • the wrench 233 and the transmission member 234 can be integrally formed.
  • the locking mechanism 23 is mounted on the handle body 21, and the card slot 25 is formed in the handle 22.
  • the handle body 21 includes a manipulation portion 217 and a bottom plate 218 fixedly assembled to the bottom of the manipulation portion 217.
  • the control unit 217 can be mounted with a pan/tilt head, and is provided with an operating member, a control chip, a conductive terminal, and the like.
  • the wrench 233 is clamped between the operating portion 217 and the bottom plate 218 and is rotatable relative to the bottom plate 218.
  • the transmission member 234 is coupled to the wrench 233 above the bottom plate 218, and passes through the bottom plate 218 from above the bottom plate 218 to be coupled to the movable clamp 235 located below the bottom plate 218.
  • a spacer 219 may be disposed between the transmission member 234 and the top surface of the bottom plate 218, and the spacer 219 may be annular to reduce friction between the transmission member 234 and the bottom plate 218.
  • the bottom surface of the bottom plate 218 protrudes downwardly from the engaging portion 214 , and the engaging portion 214 cooperates with the card slot 25 to be inserted into the card slot 25 .
  • the engaging portion 214 is disposed substantially symmetrically with respect to the axis of the bottom plate 218.
  • the engaging portion 214 of one side is provided with a notch 2141.
  • the movable pressing block 235 is located in the notch 2141 and moves up and down within the notch 2141.
  • the engaging portion 214 is located at a middle position on the left and right sides of the bottom plate 218 and extends in the front-rear direction, and the outward side wall of the engaging portion 214 is inclined with respect to the bottom surface of the bottom plate 218.
  • the movable clamp 235 is generally rectangular in shape with a slanted second abutment wall 231 formed on one side. The second abutting wall 231 is aligned with the inclined side wall of the one side engaging portion 214 in which the notch 2141 is formed, and has the same inclination angle and faces the same side.
  • the top of the handle 22 is formed with a raised portion 2223 that includes a left side segment 22231, a right side segment 22232, and a front side segment 22233 that surrounds the formation opening 2220, the left side segment 22231, the right side section 22232 and the front side section 22233 form a recess 2229 at the top of the handle 22, and the opposite side walls of the left side section 22231 and the right side section 22232 are recessed to form a card slot 25.
  • the protrusion 2223 may be disposed in the same manner as the protrusion 1223 in the foregoing embodiment.
  • the outer side wall of the protrusion 2223 may be smoothly connected to the side wall of the connection portion 2212 of the handle 22. .
  • the card slot 25 is disposed on the handle body 21, and the protrusion portion 2223 is protruded from the bottom surface of the bottom plate 218 of the handle body 21, and the engaging portion 214 is formed on the top surface of the handle 22.
  • FIG. 18 is an enlarged view of a partial region 200 of the pan/tilt handle 20 shown in FIG.
  • the engagement portion 214 and the card slot 25 are loosened, and a gap exists between the bottom surface of the card slot 25 and the bottom surface of the engagement portion 214.
  • the first resisting wall 251 of the card slot 25 and the opposite side wall of the engaging portion 214 can be abutted together, and the engaging portion 214 can slide along the first resisting wall 251 of the slot 25 to be inserted into the card slot 25 or It is taken out from the card slot 25.
  • the docking grip 22 and the handle body 21 can be slid from the front-rear direction, and the grip 22 and the handle body 21 can be slidably separated from the front-rear direction.
  • Figure 19 is a longitudinal cross-sectional view showing the pan head handle 20 when it is locked.
  • 20 is an enlarged view of a partial region 300 of the pan/tilt handle 20 shown in FIG.
  • the wrench 233 is rotated to drive the transmission member 234 to rotate, so that the movable pressing block 235 moves upward.
  • the wrench 233 is turned clockwise, that is, the wrench 233 is pulled toward the rear side of the pan/tilt handle 20.
  • the movable pressing block 235 is abutted in the card slot 25 , and the second resisting wall 231 abuts against the first resisting wall 251 to press the handle 22 upward against the handle body 21 .
  • the handle 22 and the handle body 21 are mutually abutted, and the handle 22 and the handle body 21 are locked together.
  • the transmission member 234 is screwed into the movable pressing block 235 to realize reverse self-locking.
  • the wrench 233 is rotated counterclockwise, that is, the wrench 233 is pulled forward, and the transmission member 234 is driven to rotate in the reverse direction to move the movable clamp 235 downward.
  • the second abutting wall 231 is separated from the first abutting wall 251, and the locking mechanism 23 is unlocked, so that the grip 22 and the handle main body 21 can be detached in the state of Fig. 14.

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Abstract

一种手持云台设备（200），包括：云台（100）；及连接云台的云台手柄（10）。该云台手柄包括，手柄主体（21）和握柄（22）。手柄主体设有外部接口（211）。手柄主体通过外部接口与外部设备连接。握柄可拆卸地安装于手柄主体。

Description

手持云台设备 技术领域
本申请涉及云台及手持设备。
背景技术
手持云台体积小巧，携带方便，可以安装小型的拍摄装置，例如摄像机、照相机、智能手机等，并在移动中进行拍摄时能达到迅速稳定地控制拍摄装置保持在确定的姿态上的效果。然而，现有的手持云台无法方便的与外部设备，比如跟焦器等，进行快速连接，其功能单一，使用不便。
发明内容
本申请提供一种手持云台设备，以解决上述技术问题。
根据本申请实施例的一个方面，提供一种手持云台设备，其包括：云台；及云台手柄，连接所述云台，所述云台手柄包括：手柄主体，设有外部接口，所述手柄主体通过所述外部接口与外部设备连接；握柄，可拆卸地安装于所述手柄主体。
本申请的手持云台设备包括连接所述云台的云台手柄，云台手柄的手柄主体上设置外部接口，云台通过外部接口与外部设备连接，可以扩展云台的功能。
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是本申请手持云台设备的一个实施例的立体示意图。
图2是图1所示的手持云台设备另一视角的立体示意图。
图3是图1所示的手持云台设备的A处放大示意图。
图4是图1所示的手持云台设备的固定装置的示意图。
图5是本申请云台手柄的一个实施例的立体示意图，其中云台手柄的手柄主体和握柄组装在一起。
图6是图5所示的云台手柄的另一立体示意图，其中云台手柄的手柄主体和握柄拆分开。
图7是图6所示的握柄的上盖的侧视图。
图8是图6所示的上盖的俯视图。
图9是图6所示的握柄的俯视图。
图10是图5所示的云台手柄的局部纵向剖视图。
图11是图5所示的云台手柄的锁紧机构的侧视图。
图12是图5所示的云台手柄的锁紧机构的俯视图。
图13是本申请云台手柄的另一个实施例的立体示意图。
图14是图13所示的云台手柄的手柄主体和锁紧机构的立体分解图。
图15是图13所示的云台手柄的握柄的立体示意图。
图16是图13所示的云台手柄的纵向剖视图，其中锁紧机构未锁紧。
图17是图16所示的云台手柄的局部放大图。
图18是图16所示的云台手柄的另一局部放大图。
图19是图13所示的云台手柄的纵向剖视图，其中锁紧机构锁紧。
图20是图19所示的云台手柄的局部放大图。
图21是本申请手持云台设备的跟焦器的主视图。
图22是图21所示跟焦器的侧视图。
图23是图21所示跟焦器的另一侧视图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请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申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，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，都属于本申请保护的范围。
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申请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、本申请的一些方面相一致的装置和方法的例子。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请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。除非另行指出，“前部”、“后部”、“下部” 和/或“上部”等类似词语只是为了便于说明，而并非限于一个位置或者一种空间定向。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而且可以包括电性的连接，不管是直接的还是间接的。
本申请实施例的手持云台设备包括：云台；及云台手柄，连接所述云台，所述云台手柄包括：手柄主体，设有外部接口，所述手柄主体通过所述外部接口与外部设备连接；握柄，可拆卸地安装于所述手柄主体。手持云台设备包括连接所述云台的云台手柄，云台手柄的手柄主体上设置外部接口，云台通过外部接口与外部设备连接，可以扩展云台的功能。
下面结合附图，对本申请的手持云台设备进行详细说明。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。
请参阅图1至图4，本发明提供一种手持云台设备200，手持云台设备200包括云台100及与云台100连接的云台手柄10。云台100用于承载一成像装置(图未示)，所述成像装置可以为相机、摄像机或智能手机等。云台手柄10可以供使用者在拍摄中握持。
所述云台手柄20包括手柄主体21、握柄22和锁紧机构23，锁紧机构23锁紧或解锁手柄主体21和握柄22，来拆装手柄主体21和握柄22。所述手柄主体21设有外部接口211，所述云台100通过所述外部接口211与外部设备连接。所述握柄22可拆卸地安装于所述手柄主体21。所述外部设备包括跟焦器、副手柄、U盘、显示屏、麦克风中的至少一种，但不限于此，如此，在使用中，可以根据具体需要通过外部接口211扩展云台100的功能。
所述手柄主体21安装有接口模块210，所述外部接口211设置于所述接口模块210。具体地，所述手柄主体21设有凹槽212，所述接口模块210安装于所述凹槽212内。在本实施例中，所述接口模块210大致呈方形，所述外部接口211设置于接口模块210的中间位置，在所述接口模块 210的四个角处设置有安装孔213，紧固件(图未示)穿过安装孔将接口模块210固定于手柄主体21的凹槽212中，如此，加工及安装十分方便。所述外部接口211的左右两侧设置定位孔2140，与外部设备的定位结构配合实现对外部设备的定位，所述外部接口211的上下两侧设置固定孔215，以通过紧固件穿过所述固定孔215将外部设备固定在接口模块210处，方便可靠。
请参阅图21至图23，在一实施例中，所述手持云台设备200还包括跟焦器60，所述跟焦器60用于对成像装置进行调焦，包括与所述外部接口211配合的对接接口61，对接接口61上设有多个触点611，在所述对接接口61左右两侧设置一对定位柱66与接口模块210上的定位孔2140配合，上下两侧设置一对通孔68用于收容定位固定柱67，固定柱67用于与接口模块210上的固定孔215配合将跟焦器60固定，本实施例中，所述固定柱67为螺钉。安装时，先将定位柱66插入定位孔2140中以定位跟焦器60，然后转动螺钉以将跟焦器60固定于手柄主体21处。所述跟焦器60还包括用于快速调节成像装置的焦点的跟焦轮65、用于显示云台参数的显示屏62和用于调节云台100参数的控制按钮63。所述跟焦器60显示的云台参数包括速度、力度、工作模式、电量等。所述跟焦器60包括还包括用于映射不同焦距的镜头的按键64。
所述手柄主体21设有对云台100的工作模式进行切换的模式切换按键216，模式切换按键216用于接收使用者的操作指令，并根据所述操作指令控制云台100的工作模式。例如，在一实施例中，云台100包括但不限于以下三种工作模式：跟随模式、自由模式及运动模式，其中跟随模式是指云台100根据云台手柄20的移动进行调整，自由模式是指云台100根据目标的移动进行调整，运动模式是指云台100的响应速度很快，在该实施例中，所述模式切换按键216设有两个，按压其中一个模式切换按键216，可以将云台100在上述三种工作模式间切换，当云台100处于其中某 一工作模式下时，按压另一个模式切换按键216，则可以对云台100在该工作模式下的某一参数进行调整，比如移动速度或者转动的角度等等。当然，在其他实施例中，云台100也可以包括一种、二种或者三种以上的工作模式。
所述手柄主体21设有显示所述云台100状态的状态显示灯2170。在图示实施例中，所述状态显示灯2170设有三个，通过三个灯的配合可以显示云台100的不同状态，比如：系统正常时，状态显示灯2170中的一个常亮，且为绿灯；系统异常时，三个状态显示灯2170常亮，且为红灯；系统报警时，状态显示灯2170中的一个常亮，且为黄灯，等等。状态显示灯217的个数可根据具体需要设置。
所述手柄主体21设有对所述云台100进行操作的摇杆27，根据拍摄情景及拍摄需求，通过操作摇杆27实现对云台100的操作。
所述手柄主体21还设有相机按键2180及摄像按键2190，当云台100承载相机时，使用者通过相机按键2180对相机进行相关操作，当云台100承载摄像机时，使用者通过摄像按键2190对摄像机进行相关操作。
所述握柄22给所述云台100供电。在本实施例中，所述握柄22内集成有电芯，如此，降低了电芯在拆装和使用中的不稳定性。所述手柄主体21下端设有与电芯配合的接口(图未示)，根据具体使用场景的需要，可以将握柄22拆下，通过所述接口可以将云台100安装于车载的使用场景、安装于索道的使用场景，还可以通过该接口安装大双手手柄，等等，不限于此，从而进一步扩展了云台100的功能。
所述云台100包括如下至少一个：俯仰轴机构30、横滚轴机构40及航向轴机构50，也就是说，所述云台100可以为一轴云台、二轴云台或三轴云台。
在图示实施例中，所述云台100为三轴云台，包括俯仰轴机构30、 横滚轴机构40及航向轴机构50，俯仰轴机构30、横滚轴机构40及航向轴机构50依次相连。
所述俯仰轴机构30包括第一支架31及第一电机33和安装于第一支架31的承载装置80，所述承载装置80可相对于第一支架31滑动，所述承载装置80包括与第一支架31配合的滑行座81、设置于滑行座81的安装座83及用于将滑行座81锁紧于第一支架31预定位置的锁紧组件85。这样可以根据成像装置的大小调节承载装置80在第一支架31上的位置。所述滑行座81设有与第一支架31相匹配的通道811，滑行座81通过所述通道811可滑动地安装于第一支架31。
所述锁紧组件85包括旋转手柄851及与旋转手柄851通过螺纹连接的锁紧本体(图未示)，所述锁紧本体位于滑行座81内与第一支架31配合，通过转动旋转手柄851可将锁紧本体压紧第一支架31，从而将承载装置80固定于第一支架31。当需要调整承载装置80在第一支架31上的位置时，反向转动旋转手柄851，使得锁紧本体脱离第一支架31，此时，滑行座81可相对于第一支架31滑动。
所述安装座83可滑动地设置于滑行座81，具体地，所述滑行座81顶部设置有与所述安装座83匹配的滑槽815，所述安装座83可滑动地设置于所述滑槽815中。所述滑行座81还设有与滑槽815连通的收容槽816，所述收容槽816设有能够将安装座83锁紧于某一预定位置的扳扣817。所述扳扣817可转动地设置于收容槽816，扳扣817一端伸出收容槽816外，另一端设有凸轮结构(图未示)，当扳扣817转动至某一位置，所述凸轮结构压紧安装座83侧壁以将安装座83锁紧。当扳扣817转动至另一位置，所述凸轮结构脱离安装座83侧壁，此时安装座83的位置则可以根据需要进行滑动调整。所述安装座83上设置垫板87，成像装置可通过螺钉固定于所述垫板87上，可以避免成像装置的镜头碰到安装座83。
请参阅图4，所述第一支架31进一步设置有与承载装置80相对的 固定装置90。所述固定装置90包括设置于第一支架31的支柱91、设置于支柱91的固定板93及与固定板93配合的旋钮组件95。所述固定装置90在成像装置的上方对成像装置进行固定，使得成像装置在云台100上的安装更为稳定可靠，从而保证了拍摄画面更为稳定清楚。
具体地，所述旋钮组件95包括旋钮951、与旋钮951通过螺纹配合的第一夹持件953及与第一夹持件953配合的第二夹持件955。在将成像装置安装于云台时，使得成像装置上的热靴的金属凸边位于第一夹持件953与第二夹持件955之间，然后旋转旋钮951，使得第一夹持件953朝第二夹持件955的方向移动，从而将上述热靴的金属凸边夹持在第一夹持件953和第二夹持件955之间。
所述固定板93设有纵向槽931，所述纵向槽沿所述固定板93的长边方向开设，所述旋钮组件95可以在纵向槽931中滑动，以根据成像装置的位置来调节旋钮组件95的位置。所述固定板93的材质为铝合金，且固定板93上还设有通孔932，以达到减重的效果。另外，固定板93上还设有冷靴结构933，可以根据具体需要安装一些标准配件，比如：麦克风、补光灯等。
所述固定板93通过锁紧机构92锁紧于支柱91，具体地，所述固定板93包括安装部934，该安装部934环绕支柱91一周，安装部934的两个配合端之间存在一定间隙，锁紧机构92穿过所述两个配合端，当操作锁紧机构92时，则所述两个配合端发生相对移动相互靠紧，从而将固定板93锁紧于支柱91，反向操作锁紧机构92，可使固定板93松开支柱91，从而可以根据成像装置的高度来调整固定板93的高度，操作方便，适用性强。
所述第一电机33包括第一定子331和第一转子333，所述第一支架31与所述第一转子333连接。所述第一转子333滑动地设置于第一支架31，所述第一转子333通过第一锁紧机构34可固定于第一支架31。
所述横滚轴机构40包括第二支架41及第二电机43，所述第二电机43包括第二定子431和第二转子433，所述第二支架41一端与第一电机33的第一定子331连接，另一端与第二电机43的第二转子433连接。所述第二转子433可滑动地设置于第二支架41，第二转子433通过第二锁紧机构44固定于第二支架41。
所述航向轴机构50包括第三支架51及第三电机53，所述第三电机53包括第三定子531和第三转子533，所述第三支架51一端与第二电机43的第二定子431连接，另一端与第三电机53的第三转子533连接。所述第三转子533可滑动地设置于第三支架51，第三转子533通过第三锁紧机构54固定于第三支架51。
所述第二电机43轴线与第三电机53轴线之间的夹角小于90度。在图示实施例中，第二支架41斜向下倾斜一定角度，使得第二电机43轴线倾斜。这种非正交的设置方式，使得云台100的第二支架可以避开成像装置的监视屏，在使用中不会遮挡使用者的视线。
在本实施例中，所述第二电机43轴线与第三电机53轴线之间的夹角包括55度。当然，在其他实施例中，所述第二电机43轴线与第三电机53轴线之间的夹角还包括50度、51度、52度、53度、54度、56度、57度、58度、59度、60度等等，不限于此，可以根据具体需要而设置。
上文所述支撑云台100的云台手柄具有两个实施例，下文将对两个实施例的具体结构分别进行介绍。
请参阅图5至6，手柄主体11的顶部的横截面为圆形，可以与云台的底端对接。手柄主体11的下部为圆柱体纵向切除一部分得到的形状，包括圆拱形侧面112和与圆拱形侧面112连接的平板侧面113。操作部件111可以设置于平板侧面113上。在其他实施例中，手柄主体11可以为其他形状。
握柄12可以供用户握持。握柄12内可收容电池(未图示)，给云台供电。在图示实施例中，握柄12包括电池仓筒121和盖设于电池仓筒121上方的上盖122。电池仓筒121的顶部具有开口，上盖122盖设于电池仓筒121顶部的开口。电池仓筒121内可安装电池。在一些实施例中，电池可以包括多节柱型电池，可拆卸地安装于电池仓筒121内。在图示实施例中，电池仓筒121的底部开口，握柄12包括底盖123，盖设于电池仓筒121底部的开口。可以从电池仓筒121的底部开口装入电池。在另一个实施例中，电池仓筒121的侧面开口，可以从侧面开口装入电池。在另一些实施例中，握柄12内集成有电芯，握柄12作为握持结构供用户握持的同时作为电池给云台供电，当云台需要更换电池时，直接将握柄12从手柄主体11上拆卸下来进行更换。
在图示实施例中，电池仓筒121包括仓筒主体1211和设置于仓筒主体1211顶端的连接部1212。仓筒主体1211内安装电池，底盖123盖设于仓筒主体1211的底部。在一个实施例中，仓筒主体1211大致呈扁平的棒状，其横截面可以是多段圆弧平滑过渡围成的形状。在其他实施例中，仓筒主体1211可以为其他符合人体工程学、便于抓握的形状。仓筒主体1211的长度可以设置得较长，便于双手抓握。仓筒主体1211的侧面可设置按键1215和指示灯1216。按键1215位于仓筒主体1211的下部，可用来开关电池。指示灯1216可位于仓筒主体1211的下部，用来显示电池状态。指示灯1216可以设置在按键1215的下方或上方。
连接部1212的顶面安装上盖122。在图示实施例中，连接部1212呈从上向下逐渐向内收缩的形状，可有利于握持和承托。在图示实施例中，连接部1212包括圆弧侧面1213和与圆弧侧面1213连接的斜侧面1214。在图示实施例中，斜侧面1214的上部大致呈平面，下部具有一定的弧度，与仓筒主体1211的顶端边缘连接。圆弧侧面1213的弧度较斜侧面1214的弧度大。圆弧侧面1213与斜侧面1214之间可以通过圆角过渡，形成环 绕的侧面。连接部1212顶面的外轮廓与手柄主体11的底面的外轮廓一致。连接部1212的圆弧侧面1213与手柄主体11的圆拱形侧面112对接，连接部1212的斜侧面1214与手柄主体11的平板侧面113对接。
连接部1212可以与仓筒主体1211一体成型。连接部1212的外侧可以包覆握持手胶，握持手胶可以整圈包覆连接部1212，用于提升握持手感。握持手胶可以包括例如硅胶、橡胶等软胶材料。
图7所示为上盖122的侧视图，从连接部1212的斜侧面1214一侧所示的侧视图。结合参考图3，上盖122包括盖板1221和从盖板1221底面向下凸伸的安装部1222。盖板1221盖于电池仓筒121的顶面。安装部1222可卡持于电池仓筒121顶部的开口内。在图示实施例中，安装部1222包括胶槽，与电池仓筒121的开口密封连接。在另一个实施例中，安装部1222的外侧设置密封圈，与电池仓筒121的开口密封连接。
在图示实施例中，上盖122包括从盖板1221的顶面向上凸伸的凸起部1223。在一个实施例中，凸起部1223包括从上盖122的后侧(即相对于连接部1212的斜侧面1214的一侧)向前侧延伸左侧段12231和右侧段12232。凸起部1223的左侧段12231和右侧段12232相对于盖板1221的轴线对称设置，且大致位于盖板1221左侧和右侧之间的中部位置。在图示实施例中，凸起部1223还包括在左侧段12231和右侧段12232之间延伸且靠近盖板1221后侧缘的后侧段12233。凸起部1223围成一侧开口的矩形框，面向连接部1212的斜侧面1214开口。
图8所示为上盖122的俯视图。结合参考图4，上盖122的外轮廓与连接部1212的顶面的外轮廓一致。在图示实施例中，上盖122上形成有若干螺纹孔1224-1228。上盖122可以通过螺钉旋入螺纹孔1224和1225内，与电池仓筒121固定连接。在一个实施例中，螺纹孔1224和1225相对于上盖122的轴线对称设置。螺纹孔1224和1225穿过凸起部1223。在其他实施例中，上盖122可以通过其他方式固定安装于电池仓筒121上。
图9所示为握柄12的俯视图。握柄12包括安装于上盖122顶面的触点板123和贴设于触点板123上的保护板124。在图示实施例中，触点板123和保护板124可以通过螺钉旋入上盖122的螺纹孔1226-1228内，固定安装于上盖122。在其他实施例中，触点板123和保护板124可以通过其他方式固定安装于上盖122上。上盖122的凸起部1223凸设于触点板123和保护板124的外侧。在图示实施例中，凸起部1223凸设于触点板123和保护板124后侧和左右两侧。
触点板123可以与电池电连接，作为电信号接口。触点板123包括电极触点1231和1232，电连接电池和手柄主体11，可以通过手柄主体11电连接至云台，从而使电池与云台电连接。触点板123包括信号触点1233和1234，用于传输信号，与手柄主体11进行通信。
保护板124固定于触点板123上，用于保护触点板123，且使触点板123的电极触点1231、1232和信号触点1233、1234露出，能够与手柄主体11电连接。
手柄主体11和握柄12中的一者上形成有卡槽15，卡槽15内具有相对于卡槽15的底面倾斜延伸的第一抵持壁151。锁紧机构13设置于手柄主体11和握柄12中的另一者上，且伸入卡槽15内。继续参考图1-3，在图示实施例中，握柄12的顶部形成有卡槽15，卡槽15具有第一抵持壁151。卡槽15形成于握柄12的上盖122。卡槽15可以相对于上盖122的轴线对称设置。卡槽15的至少一部分从上盖122的后侧向前侧延伸。
在图示实施例中，卡槽15从上盖122的凸起部1223的外侧向内凹陷形成。卡槽15向外开口。在一个实施例中，卡槽15形成于凸起部1223的左侧段12231和右侧段12232，沿凸起部1223的左侧段12231和右侧段12232的延伸方向延伸。在一个实施例中，凸起部1223的后侧段12233也可形成卡槽15。在图示实施例中，卡槽15的顶面从上向下且从外向内倾斜延伸形成第一抵持壁151。卡槽15的底面为上盖122的盖板1221的顶 面。第一抵持壁151倾斜于盖板1221的顶面。
在图示实施例中，锁紧机构13安装于手柄主体11上，且当手柄主体11和握柄12配合时至少部分伸入卡槽15内。图10所示为云台手柄10的局部纵向截面图。结合参考图6，手柄主体11底部设置有与卡槽15配合的卡合部114，卡合部114插入卡槽15内。卡合部114具有倾斜的侧壁，可抵持于卡槽15的第一抵持壁151。在图示实施例中，卡合部114从手柄主体11的底部横向向内凸伸，与向外开口的卡槽15配合。卡合部114和凸起部1223可相互抵接，卡合部114可向内向上抵持凸起部1223。在图示实施例中，卡槽15为燕尾槽，卡合部114为燕尾状。
手柄主体11的底部一侧开设有操作槽115，操作槽115沿手柄主体11的侧壁前后延伸。锁紧机构13至少部分伸入操作槽115内与卡槽15配合，且能够在操作槽115内运动。
在另一个实施例中，卡槽15形成于手柄主体11的底部，锁紧机构13安装于握柄12的顶部。卡合部114形成于握柄12的顶部，与卡槽15配合。
图11所示为锁紧机构17的侧视图。结合参考图11，锁紧机构13包括相对于卡槽15的底面倾斜延伸的第二抵持壁131，锁紧机构13相对于卡槽15运动，使第一抵持壁151与第二抵持壁131相抵持或分离。第二抵持壁131抵持于第一抵持壁151时，使卡合部114抵持于卡槽15内，从而锁紧手柄主体11和握柄12。第二抵持壁131与第一抵持壁151分离时，使卡合部114和卡槽15松开，从而手柄主体11和握柄12之间松动，可以将手柄主体11和握柄12拆分开。在图示实施例中，锁紧机构13相对于卡槽15转动，使第二抵持壁131相对于第一抵持壁151运动，来与第一抵持壁151相抵持或分离。
图12所示为锁紧机构13的俯视图。结合参考图12，锁紧机构13 包括锁紧凸轮132和与锁紧凸轮132连接的扳手133，第二抵持壁131为锁紧凸轮132的侧壁的至少一部分。在图示实施例中，锁紧凸轮132包括偏心轮。偏心轮的侧壁相对于偏心轮的底面倾斜延伸。在图示实施例中，偏心轮的侧壁从上向下逐渐向外倾斜，偏心轮从顶面向底面逐渐扩大。在图示实施例中，锁紧凸轮132大致呈圆台状，其侧壁倾斜的角度不变。在一个实施例中，第二抵持壁131具有至少一斜度与第一抵持壁151的斜度一致。在图示实施例中，锁紧凸轮132的侧壁的斜度与第一抵持壁151的斜度一致。
在另一个实施例中，锁紧凸轮132包括偏心轮，偏心轮的侧壁的倾斜角度改变。偏心轮凸出的一侧至少有一斜度与第一抵持壁151的斜度一致，可以抵接第一抵持壁151。
在再一个实施例中，锁紧凸轮132包括偏心轮，偏心轮的侧边设置压紧块，压紧块具有第二抵持壁131。偏心轮可以为大致呈圆柱状的偏心轮，其侧壁可以垂直于其底面。压紧块可以设置于偏心轮凸出的一侧。
在又一个实施例中，锁紧凸轮132包括非偏心凸轮，非偏心凸轮的侧壁的倾斜角度改变。非偏心凸轮斜度较大的部分可以与第一抵持壁151抵持。在其他实施例中，锁紧凸轮132可以包括变斜率的斜面凸轮，例如，渐开线变斜面凸轮，或其他具有不对称形状的凸轮。
扳手133突出于手柄主体11外，可以通过扳动扳手133转动锁紧凸轮132。扳手133从手柄主体11的操作槽115伸出手柄主体11外，供用户操作。在图示实施例中，扳手133具有一定的弧度。在其他实施例中，扳手133可以是直柄状。当锁紧机构13锁紧时，扳手133向手柄主体11的后侧延伸，如图5所示，且扳手133伸出手柄主体11的部分较短。扳手133向前转动时，可以松开锁紧机构13。
锁紧机构13包括轴部件134，如图6所示，轴部件134穿过锁紧凸 轮132，将锁紧凸轮132安装至手柄主体11和握柄12中的一者上，以使凸轮132在操作槽115内可以绕轴转动。在图示实施例中，通过轴部件134将锁紧凸轮132和扳手133转动安装至手柄主体11上。在一个实施例中，轴部件134可以包括螺栓。
继续参考图5-10，在图示实施例中，组装手柄主体11和握柄12时，逆时针旋转锁紧机构13，再将握柄12的顶部和手柄主体11的底部对插，可以从后向前将卡合部114插入卡槽15内。手柄主体11底部的弹性导电端子116(如图10所示)相对于握柄12的上盖122上的保护板124滑动，同时被压缩，直到滑动到位后与触点板123上对应的触点1231-1234导通。之后顺时针扳动扳手133，即向手柄主体11的后侧扳动扳手133，使锁紧凸轮132顺时针旋转，锁紧凸轮132的第二抵持壁131不断靠近卡槽15的第一抵持壁151，直至第二抵持壁131抵持于第一抵持壁151，从而将卡合部114压紧在卡槽15内，如此将手柄主体11和握柄12锁紧。此时，锁紧凸轮132压紧位置过锁紧凸轮132的死点，实现反向自锁。
在拆分手柄主体11和握柄12时，逆时针旋转锁紧机构13，使第二抵持壁131远离第一抵持壁151，锁紧凸轮132不再压紧于卡槽15内，卡合部114与卡槽15松开，卡合部114可以沿卡槽15滑动抽出。手柄主体11底部的弹性导电端子116相对握柄12的上盖122上的触点板123和保护板124滑动，与触点板123上的触点1231-1234错位，断开电路。如此将手柄主体11和握柄12拆分开。
通过转动锁紧机构13即可实现组装和拆卸握柄12和手柄主体11，可以快速方便地拆装。握柄12从手柄主体11上卸下，可以方便收纳，便携性更好。而且可以方便更换电池，满足长时间的拍摄需求。另外握柄12从手柄主体11上卸下后，手柄主体11可以与云台保持连接，可以在外部供电时手柄主体11的控制芯片仍可以控制云台工作。握柄12可以做得较长，拆分后整体长度也大大缩短，可以兼顾便携性和握持的舒适性，有利 于用户双手握持。并且锁紧结构连接可靠，能够自锁，无虚位，有利于拍摄质量，而且不限制云台手柄10的整体造型，另外锁紧机构13的零件少且加工简单，成本优势明显。
图13所示为云台手柄20的另一个实施例的立体示意图，其中云台手柄20的手柄主体21和握柄22拆分开。图14所示为图13所示的云台手柄20的手柄主体21和锁紧机构23的立体分解图。图15所示为图13所示的云台手柄20的握柄22的立体示意图。图16所示为图13所示的云台手柄20的纵向剖视图。图17所示为图16所示的云台手柄20的局部区域100的放大图。云台手柄20类似于图5-13所示的云台手柄10。相比较于云台手柄10，图13-17所示的云台手柄20的主要区别如下：
参考图13-17，锁紧机构23相对于卡槽25运动，使第二抵持壁231相对于第一抵持壁251上下运动，使第二抵持壁231与第一抵持壁251抵持或分离。如图10所示，在图示实施例中，锁紧机构23包括扳手233、与扳手233连接的传动部件234，及与传动部件234连接的活动压块235，活动压块235具有第二抵持壁231。扳手233和传动部件234转动，使活动压块235上下运动。
在图14示出实施例中，扳手233形成有扳手卡齿2331，传动部件234形成有与扳手卡齿2331啮合的传动卡齿2341，扳手233通过扳手卡齿2331和传动卡齿2341转动传动部件234。在图示实施例中，扳手233的一端形成有通孔2332，扳手卡齿2331形成于通孔2332内。通孔2332的内侧壁上形成扳手卡齿2331。传动部件234的一端插入通孔2332内。传动部件234插入通孔2332内的第一端外侧形成传动卡齿2341。扳手卡齿2331和传动卡齿2341纵向延伸，相互啮合。
传动部件234的远离传动卡齿2341的第二端穿入活动压块235内。所述第二端形成有外螺纹(未图示)，通过外螺纹与活动压块235活动连接，活动压块235上设置有通孔，所述通孔内设置有内螺纹(未图示)，与所述 第二端形成的外螺纹相啮合。
扳动扳手233，可带动传动部件234转动，从而带动活动压块235上下运动，使活动压块235的第二抵持壁231与卡槽25的第一抵持壁251抵持或分离。通过扳手卡齿2331和传动卡齿2341的配合，可以较容易地根据期望的活动压块235的运动行程，设计扳手233的运动行程，以此确定操作槽215的大小。
在另一实施例中，扳手233和传动部件234固定连接。传动部件234与扳手233一起转动。在一个实施例中，扳手233和传动部件234可以一体成型。
在图13和图14示出的实施例中，锁紧机构23安装于手柄主体21上，卡槽25形成于握柄22。手柄主体21包括操控部217和固定组装于操控部217底部的底板218。操控部217可安装云台，设置有操作部件、控制芯片、导电端子等。扳手233夹持于操控部217和底板218之间，且可以相对于底板218转动。传动部件234在底板218上方与扳手233连接，从底板218上方穿过底板218，与位于底板218下方的活动压块235连接。传动部件234与底板218的顶面之间可设置垫片219，垫片219可呈圆环形，以减小传动部件234和底板218之间的摩擦。
在图14示出的实施例中，底板218的底面向下凸设有卡合部214，卡合部214与卡槽25配合，可插入卡槽25内。卡合部214基本相对于底板218的轴线对称设置，其中一侧的卡合部214开设有缺口2141，活动压块235位于缺口2141内，在缺口2141内上下运动。在图示实施例中，卡合部214位于底板218左右两侧的中部位置，在前后方向上延伸，卡合部214向外的侧壁相对于底板218的底面倾斜设置。在图示实施例中，活动压块235大致呈矩形块，一侧形成倾斜的第二抵持壁231。第二抵持壁231与形成有缺口2141的一侧卡合部214的倾斜侧壁一致，倾斜角度一致且面向同一侧。
在图15示出的实施例中，握柄22的顶部形成有凸起部2223，凸起部2223包括左侧段22231、右侧段22232和前侧段22233，围绕形成开口2220，左侧段22231、右侧段22232和前侧段22233使握柄22的顶部形成有凹槽2229，左侧段22231和右侧段22232相对的侧壁上凹陷形成卡槽25。其中凸起部2223可以与前述实施例中的凸起部1223相同设置，在另一实施例中，也可以设置为凸起部2223的外侧壁与握柄22的连接部2212的侧壁平滑连接。在另一个实施例中，卡槽25设置于手柄主体21上，凸起部2223凸设于手柄主体21的底板218的底面，卡合部214形成于握柄22的顶面。
图18所示为图12所示的云台手柄20的局部区域200的放大图。在锁紧机构23未锁紧时，卡合部214和卡槽25之间松动，卡槽25的底面与卡合部214的底面之间存在间隙。卡槽25的第一抵持壁251和卡合部214相对的斜侧壁可以贴靠在一起，卡合部214可以沿卡槽25的第一抵持壁251滑动，插入卡槽25内或从卡槽25中抽出。可以从前后方向滑动对接握柄22和手柄主体21，且可从前后方向滑动分离握柄22和手柄主体21。
图19所示为云台手柄20锁紧时的纵向剖视图。图20所示为图19所示的云台手柄20的局部区域300的放大图。锁紧锁紧机构23时，转动扳手233，带动传动部件234转动，使活动压块235向上运动。在图示实施例中，顺时针转动扳手233，即向云台手柄20的后侧扳动扳手233。使活动压块235抵持于卡槽25内，第二抵持壁231抵持于第一抵持壁251，使握柄22向上抵持于手柄主体21。如此使握柄22和手柄主体21相互抵持，将握柄22和手柄主体21锁紧在一起，此时，传动部件234旋紧于活动压块235内，实现反向自锁。
反向转动扳手233，在图示实施例中，逆时针转动扳手233，即向前扳动扳手233，带动传动部件234反向转动，使活动压块235向下运动。从而使第二抵持壁231与第一抵持壁251分离，解锁锁紧机构23，如此可 以在图14的状态下拆分开握柄22和手柄主体21。
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。
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  1. 一种手持云台设备，其特征在于，其包括：
    云台；及
    云台手柄，连接所述云台，所述云台手柄包括：
    手柄主体，设有外部接口，所述云台通过所述外部接口与外部设备连接；
    握柄，可拆卸地安装于所述手柄主体。
  2. 如权利要求1所述的手持云台设备，其特征在于：所述外部接口可连接跟焦器、副手柄、U盘、显示屏、麦克风中的至少一种。
  3. 如权利要求1所述的手持云台设备，其特征在于：还包括跟焦器，所述跟焦器包括跟焦轮及与所述外部接口配合的对接接口。
  4. 根据权利要求1所述的手持云台设备，其特征在于，所述跟焦器包括用于显示云台参数的显示屏和用于调节云台参数的控制按钮。
  5. 如权利要求1所述的手持云台设备，其特征在于：所述手柄主体安装有接口模块，所述外部接口设置于所述接口模块。
  6. 如权利要求5所述的手持云台设备，其特征在于：所述手柄主体设有凹槽，所述接口模块安装于所述凹槽内。
  7. 如权利要求1所述的手持云台设备，其特征在于：所述手柄主体设有显示所述云台状态的状态显示灯。
  8. 如权利要求1所述的手持云台设备，其特征在于：所述手柄主体设有对云台的工作模式进行切换的模式切换按键。
  9. 如权利要求1所述的手持云台设备，其特征在于：所述手柄主体设有对所述云台进行操作的摇杆。
  10. 如权利要求1所述的手持云台设备，其特征在于：所述握柄给所述云台供电。
  11. 如权利要求10所述的手持云台设备，其特征在于：所述握柄内集 成有电芯。
  12. 如权利要求1所述的手持云台设备，其特征在于：所述手柄主体和所述握柄中的一者上形成有卡槽，另一者上设有锁紧机构，且当所述手柄主体和所述握柄配合时锁紧机构至少部分伸入所述卡槽内，所述卡槽内具有相对于所述卡槽的底面倾斜延伸的第一抵持壁，所述锁紧机构包括相对于所述卡槽的底面倾斜延伸的第二抵持壁，所述锁紧机构相对于所述卡槽运动，使所述第一抵持壁与所述第二抵持壁相抵持或分离，来拆装所述手柄主体和所述握柄。
  13. 根据权利要求12所述的手持云台设备，其特征在于，所述锁紧机构包括锁紧凸轮和与所述锁紧凸轮连接的扳手，所述第二抵持壁为所述锁紧凸轮的侧壁的至少一部分。
  14. 根据权利要求13所述的手持云台设备，其特征在于，所述锁紧凸轮包括偏心轮。
  15. 根据权利要求14所述的手持云台设备，其特征在于，所述偏心轮的侧壁相对于所述偏心轮的底面倾斜延伸。
  16. 根据权利要求15所述的手持云台设备，其特征在于，所述偏心轮的侧壁的倾斜角度不变。
  17. 根据权利要求15所述的手持云台设备，其特征在于，所述偏心轮的侧壁的倾斜角度改变。
  18. 根据权利要求15所述的手持云台设备，其特征在于，所述偏心轮的侧边设置压紧块，所述压紧块具有所述第二抵持壁。
  19. 根据权利要求13所述的手持云台设备，其特征在于，所述锁紧凸轮包括非偏心凸轮，所述非偏心凸轮的侧壁的倾斜角度改变。
  20. 根据权利要求13所述的手持云台设备，其特征在于，所述锁紧凸轮包括变斜率的斜面凸轮。
  21. 根据权利要求13所述的手持云台设备，其特征在于，所述锁紧机构包括轴部件，所述轴部件穿过所述锁紧凸轮，将所述锁紧凸轮安装至所 述手柄主体和所述握柄中的另一者上。
  22. 根据权利要求13所述的手持云台设备，其特征在于，所述锁紧凸轮和所述扳手一体成型。
  23. 根据权利要求12所述的手持云台设备，其特征在于，所述锁紧机构相对于所述卡槽运动，使所述第二抵持壁相对于所述第一抵持壁上下运动。
  24. 根据权利要求23所述的手持云台机构，其特征在于，所述锁紧机构包括扳手、与所述扳手连接的传动部件，及与传动部件连接的活动压块，所述活动压块具有所述第二抵持壁，所述扳手和所述传动部件转动，使所述活动压块上下运动。
  25. 根据权利要求24所述的手持云台机构，其特征在于，所述扳手形成有扳手卡齿，所述传动部件形成有与所述扳手卡齿啮合的传动卡齿，所述扳手通过所述扳手卡齿和所述传动卡齿转动所述传动部件。
  26. 根据权利要求25所述的手持云台机构，其特征在于，所述扳手的一端形成有通孔，所述扳手卡齿形成于所述通孔内，所述传动部件的第一端插入所述通孔内。
  27. 根据权利要求24所述的手持云台机构，其特征在于，所述传动部件远离所述扳手的第二端形成有螺纹，通过所述螺纹与所述活动压块活动连接。
  28. 根据权利要求24所述的手持云台机构，其特征在于，所述扳手和所述传动部件固定连接。
  29. 根据权利要求12所述的手持云台机构，其特征在于，所述第二抵持壁具有至少一斜度与所述第一抵持壁的斜度一致。
  30. 根据权利要求12所述的手持云台机构，其特征在于，所述卡槽形成于所述握柄的顶部，所述锁紧机构安装于所述手柄主体。
  31. 根据权利要求12所述的手持云台机构，其特征在于，所述握柄包括电池仓筒、盖设于所述电池仓筒上方的上盖、安装于所述上盖顶面的触 点板和贴设于所述触点板上的保护板，所述上盖于所述触点板和所述保护板的外侧凸设有凸起部，所述卡槽形成于所述凸起部。
  32. 根据权利要求31所述的手持云台机构，其特征在于，所述卡槽从所述凸起部的外侧向内凹陷形成。
  33. 根据权利要求31所述的手持云台机构，其特征在于，所述卡槽从所述凸起部的内侧凹陷形成。
  34. 根据权利要求12所述的手持云台机构，其特征在于，所述卡槽形成于所述手柄主体的底部，所述锁紧机构安装于所述握柄的顶部。
  35. 根据权利要求12所述的手持云台机构，其特征在于，所述手柄主体和所述握柄中设置所述锁紧机构的一者上设置有与所述卡槽配合的卡合部，当所述手柄主体和所述握柄配合时所述卡合部插入所述卡槽内。
  36. 根据权利要求12所述的手持云台机构，其特征在于，所述卡槽为燕尾槽。
  37. 根据权利要求12所述的手持云台机构，其特征在于，所述卡合部呈燕尾状。
  38. 根据权利要求1所述的手持云台设备，其特征在于，所述云台包括如下至少一个：俯仰轴机构、横滚轴机构及航向轴机构。
  39. 根据权利要求38所述的手持云台设备，其特征在于，所述俯仰轴机构、横滚轴机构及航向轴机构依次相连，所述俯仰轴机构包括第一支架及第一电机，所述第一电机包括第一定子和第一转子，所述第一支架与所述第一转子连接，所述横滚轴机构包括第二支架及第二电机，所述第二电机包括第二定子和第二转子，所述第二支架一端与第一电机的第一定子连接，另一端与第二电机的第二转子连接，所述航向轴机构包括第三支架及第三电机，所述第三电机包括第三定子和第三转子，所述第三支架一端与第二电机的第二定子连接，另一端与第三电机的第三转子连接。
  40. 根据权利要求1所述的手持云台设备，其特征在于，所述云台包括俯仰轴机构，所述俯仰轴机构包括第一支架及第一电机和安装于第一支 架的承载装置，所述承载装置可相对于所述第一支架滑动，所述承载装置包括与第一支架配合的滑行座、设置于滑行座的安装座及用于将滑行座锁紧于第一支架预定位置的锁紧组件。
  41. 根据权利要求40所述的手持云台设备，其特征在于，所述滑行座设有与第一支架相匹配的通道，滑行座通过所述通道可滑动地安装于第一支架。
  42. 根据权利要求40所述的手持云台设备，其特征在于，所述锁紧组件包括旋转手柄及与旋转手柄通过螺纹连接的锁紧本体，所述锁紧本体位于滑行座内与第一支架配合，通过转动旋转手柄可将锁紧本体压紧第一支架。
  43. 根据权利要求40所述的手持云台设备，其特征在于，所述安装座可滑动地设置于滑行座。
  44. 根据权利要求43所述的手持云台设备，其特征在于，所述滑行座顶部设置与所述安装座匹配的滑槽。
  45. 根据权利要求44所述的手持云台设备，其特征在于，所述滑行座设有与滑槽连通的收容槽，所述收容槽设有能够将安装座锁紧于某一预定位置的扳扣。
  46. 根据权利要求45所述的手持云台设备，其特征在于，所述扳扣可转动地设置于收容槽，扳扣一端伸出收容槽外，另一端设有凸轮结构，当扳扣转动至某一位置，所述凸轮结构压紧安装座侧壁以将安装座锁紧。
  47. 根据权利要求40所述的手持云台设备，其特征在于，所述安装座上设置垫板。
  48. 根据权利要求40所述的手持云台设备，其特征在于，所述第一支架进一步设置与承载装置相对的固定装置。
  49. 根据权利要求48所述的手持云台设备，其特征在于，所述固定装置包括设置于第一支架的支柱、设置于支柱的固定板及与固定板配合的旋钮组件。
  50. 根据权利要求49所述的手持云台设备，其特征在于，所述旋钮组件包括旋钮、与旋钮通过螺纹配合的第一夹持件及与第一夹持件配合的第二夹持件。
  51. 根据权利要求50所述的手持云台设备，其特征在于，所述固定板通过锁紧机构锁紧于支柱。
  52. 根据权利要求40所述的手持云台设备，其特征在于，所述第一电机包括第一定子和第一转子，所述第一支架与所述第一转子连接。
  53. 根据权利要求52所述的手持云台设备，其特征在于，所述第一转子滑动地设置于第一支架，所述第一转子通过第一锁紧机构可固定于第一支架。
  54. 根据权利要求52所述的手持云台设备，其特征在于，所述横滚轴机构包括第二支架及第二电机，所述第二电机包括第二定子和第二转子，所述第二支架一端与第一电机的第一定子连接，另一端与第二电机的第二转子连接。
  55. 根据权利要求54所述的手持云台设备，其特征在于，所述第二转子可滑动地设置于第二支架，第二转子通过第二锁紧机构固定于第二支架。
  56. 根据权利要求54所述的手持云台设备，其特征在于，所述航向轴机构包括第三支架及第三电机，所述第三电机包括第三定子和第三转子，所述第三支架一端与第二电机的第二定子连接，另一端与第三电机的第三转子连接。
  57. 根据权利要求56所述的手持云台设备，其特征在于，所述第三转子可滑动地设置于第三支架，第三转子通过第三锁紧机构固定于第三支架。
  58. 根据权利要求39所述的手持云台设备，其特征在于，所述第二电机轴线与第三电机轴线之间的夹角小于90度。
  59. 根据权利要求58所述的手持云台设备，其特征在于，所述第二电机轴线与第三电机轴线之间的夹角为55度。
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