WO2019227346A1 - 云台、手持云台和手持拍摄装置 - Google Patents

云台、手持云台和手持拍摄装置 Download PDF

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Publication number
WO2019227346A1
WO2019227346A1 PCT/CN2018/089047 CN2018089047W WO2019227346A1 WO 2019227346 A1 WO2019227346 A1 WO 2019227346A1 CN 2018089047 W CN2018089047 W CN 2018089047W WO 2019227346 A1 WO2019227346 A1 WO 2019227346A1
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WO
WIPO (PCT)
Prior art keywords
shaft
axis
assembly
gimbal
motor
Prior art date
Application number
PCT/CN2018/089047
Other languages
English (en)
French (fr)
Inventor
李玉
赵涛
赵岩崇
刘国尧
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 CN201880012688.1A priority Critical patent/CN110352315B/zh
Priority to PCT/CN2018/089047 priority patent/WO2019227346A1/zh
Priority to CN202110157370.6A priority patent/CN112984354A/zh
Publication of WO2019227346A1 publication Critical patent/WO2019227346A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/02—Constructional features of telephone sets
    • H04M1/04—Supports for telephone transmitters or receivers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Definitions

  • the present application relates to the technical field of gimbals, and in particular, to a gimbal, a handheld gimbal, and a handheld shooting device.
  • a handheld shooting device such as a mobile phone or a sports camera
  • usually the user ’s body and arm are shaken, so that the captured image is shaken or blurred. Therefore, a handheld gimbal is required to increase the shooting device. stable.
  • the conventional handheld PTZ stabilization device is too large to carry, which affects the user experience. How to design a portable and small-sized handheld gimbal has become a technical problem to be solved.
  • the present application provides a gimbal, a handheld gimbal, and a handheld shooting device, which can design the gimbal rotation axis connection structure to be more compact, reduce the volume of the gimbal, and be convenient for users to carry.
  • the present application provides a gimbal including a first shaft assembly, a second shaft assembly, and a connecting rod, the connecting rod being rotatably connected to the first shaft assembly and rotatably connected to the second shaft assembly, the first shaft A component is used to connect a load and drive the load to rotate about a first axis, and the second shaft component is used to drive the link to move and drive the first shaft component to rotate about a second axis, the second axis is different A driving shaft for driving the link to move on the second shaft assembly.
  • the present application provides a hand-held head, comprising a hand-held part and the above-mentioned head, and the second shaft assembly is mounted on the hand-held part.
  • the present application provides a handheld shooting device, which includes an imaging device and the above-mentioned handheld pan / tilt head, the handheld pan / tilt head is used to stabilize or control the posture of the imaging device for the imaging device.
  • the connecting rod is rotationally connected to the second shaft component and rotationally connected to the first shaft component, and the first shaft component is connected to the load (such as the shooting device).
  • the first shaft component is connected to the load (such as the shooting device).
  • FIG. 1 is a schematic perspective view of a handheld shooting device according to an embodiment of the present application.
  • FIG. 2 is another schematic perspective view of a handheld photographing device according to an embodiment of the present application.
  • FIG. 3 is a schematic perspective view of a handheld gimbal according to an embodiment of the present application.
  • FIG. 4 is an exploded schematic view of a handheld gimbal according to an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a part of a pan / tilt according to an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of another part of a pan / tilt according to an embodiment of the present application.
  • FIG. 7 is a schematic partial cross-sectional view of a gimbal according to an embodiment of the present application.
  • FIG. 8 is a schematic cross-sectional view of another part of the gimbal according to the embodiment of the present application.
  • FIG. 9 is a front view of the handheld gimbal according to the embodiment of the present application.
  • FIG. 10 is a side view of the handheld head according to the embodiment of the present application.
  • Gimbal 10 first shaft assembly 11, housing 112, first motor 114, first motor rotor 1142, load connector 116, second shaft assembly 12, second motor 122, second motor rotor 1222, connecting shaft 1224, connecting rod 13, shaft arm 14, mounting shell 142, end cover 1422, accommodating space 1424, mounting arm 144, wiring section 1442, connecting arm 146, third shaft assembly 15, third motor 152, third motor Rotor 1522, second interface portion 16, load 40, first shaft X, second shaft Y, third shaft Z, drive shaft Q of the second shaft assembly, first connection point A, second connection point B, first Three connection points C and fourth connection point D;
  • Hand-held gimbal 10100 hand-held part 20, first interface part 21, housing 22, inclined plane 222, operation part 23, joystick 232, button 234, controller 24, battery 25, mounting interface 28;
  • a handheld photographing device 1000 and an imaging device 200 A handheld photographing device 1000 and an imaging device 200.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the application, the meaning of “plurality” is two or more, unless it is specifically and specifically defined otherwise.
  • the handheld photographing device 1000 includes an imaging device 200 and a handheld gimbal 100 according to the embodiment of the present application.
  • the handheld gimbal 100 is used to stabilize or control the posture of the imaging device 200.
  • the handheld PTZ 100 includes a handheld portion 20 and a PTZ 10 according to the embodiment of the present application.
  • the PTZ 10 is mounted on the handheld portion 20.
  • the gimbal 10 includes a first shaft assembly 11, a second shaft assembly 12, and a connecting rod 13.
  • the connecting rod 13 is rotatably connected to the first shaft assembly 11 and is rotatably connected to the second shaft assembly 12.
  • the first shaft assembly 11 is used for For connecting the load 40 (such as the imaging device 200) and driving the load 40 to rotate about the first axis X
  • the second shaft assembly 12 is used to drive the link 13 and move the first shaft assembly 11 to rotate about the second axis Y
  • the second shaft Y is different from the drive shaft Q in which the second shaft assembly 12 drives the link 13 to move.
  • the connecting rod 13 is rotatably connected to the second shaft assembly 12 and rotatably connected to the first shaft assembly 11, and the first shaft assembly 11 is connected to the load 40.
  • the connection between the first shaft assembly 11 and the second shaft assembly 12 can be designed to be more compact, making the gimbal 10 smaller in size, convenient for users to carry, and beneficial to improving the user experience.
  • the second axis Y is parallel to the driving axis Q of the second shaft assembly 12 driving the link 13. This can simplify the design of the gimbal 10 and reduce costs. It can be understood that, in other embodiments, the second axis Y may not be parallel to the driving axis Q of the second shaft assembly 12 driving the link 13.
  • the second axis Y of the gimbal 10 may refer to a different rotation axis.
  • the head 10 includes a shaft arm 14, and the shaft arm 14 is rotatably connected to the first shaft assembly 11.
  • a second shaft Y is formed at a rotational connection B between the shaft arm 14 and the first shaft assembly 11 (see FIGS. 3 and 5).
  • the gimbal 10 may omit the shaft arm 14, or even if the gimbal 10 includes the shaft arm 14, the shaft arm 14 and the first shaft assembly 11 are not rotationally connected. At this time, the rotational connection A between the link 13 and the first shaft assembly 11 forms a second axis Y, as shown in FIG. 6. In such an embodiment, when the link 13 is rotated, the link 13 drives the load 40 to move up and down through the first shaft assembly 11.
  • the first shaft assembly 11 includes a casing 112 and a first motor 114.
  • the first motor 114 is at least partially housed in the casing 112, the connecting rod 13 is rotatably connected to the casing 112, and the first motor 114 is used to drive the load 40 around the first Axis X rotates.
  • the housing 112 can protect the first motor 114 from being easily interfered by the external environment, thereby ensuring the reliability of the first motor 114 and increasing the reliability of the first shaft assembly 11 and the pan-tilt head 10.
  • the first motor 114 may be a brushless motor.
  • the first shaft assembly 11 further includes a load connector 116 for connecting the first motor 114 and the load 40.
  • the load connection 116 realizes the connection of the load 40 with the first shaft assembly 11.
  • the load 40 can be detachably mounted on the load connector 116, and the method of installing and removing the load 40 is simple, which is convenient for users to use and improves the user experience.
  • the load connection member 116 can also be used as a part of the first motor 114, such as the protective shell of the rotor 1142 of the first motor 114.
  • the use of the load connector 116 reduces the design of the shaft arm of the first shaft X in the first shaft assembly 11, thereby further reducing the volume of the head 10 and the structure is relatively more compact.
  • the rotor 1142 of the first motor 114 is fixedly connected to the load connection member 116.
  • the load 40 can rotate synchronously with the rotor 1142 of the first motor 114.
  • the first motor 114 can drive the load 40 to rotate about the first axis X.
  • the first axis X is a rotation axis of the first motor 114.
  • the load connection 116 may include, but is not limited to, a clip connection or a magnetic connection.
  • the clamping connector can clamp and fix the load 40 on the first shaft assembly 11, so that the first shaft assembly 11 provides an increase for the load 40 on the first axis X. Stable function.
  • the magnetic connector may be provided with a magnet, and a ferromagnetic material is provided on the load 40 or the load 40 itself has a ferromagnetic material, so that the load 40 is magnetically adsorbed on the magnetic connector. In this way, the load 40 is simple to install and disassemble, which can be convenient for users.
  • the load connector 116 is a magnetic connector.
  • the load 40 may be one of a sensor, an imaging device, and a mobile terminal.
  • the pan / tilt head 10 can provide stabilization for sensors, imaging devices, mobile terminals, etc., so that it can work in a better attitude, thereby obtaining more accurate information.
  • the sensor may be an attitude sensor (such as an acceleration sensor, an angle sensor, an inertial measurement unit, etc.
  • the imaging device may be an imaging device such as a camera, a video camera, etc.
  • the mobile terminal may be a mobile phone, a tablet computer, a smart wearable device, etc. It is understood that the imaging device also However, some mobile terminals, for example, the imaging device is a mobile phone, a tablet computer, a smart wearable device, and the like with photographing and video functions, or the mobile terminal may also be some imaging device.
  • the load 40 is taken as an example of the imaging device 200.
  • the load 40 of the handheld PTZ 100 is the imaging device 200
  • the handheld PTZ 100 is the imaging device 200.
  • the stability is stabilized so that the imaging device 200 maintains a better working posture to achieve a more stable working posture.
  • the good shooting effect improves the quality of the images collected by the imaging device 200.
  • the head 10 is a two-axis head 10.
  • the first shaft assembly 11 and the second shaft assembly 12 are connected by a link 13 so that the first shaft assembly 11 and the second shaft assembly 12 are separately disposed, and at the same time, the volume can be kept small, which is convenient for users to carry.
  • the shaft arm 14 provides support for the first shaft assembly 11, and the first shaft assembly 11 can rotate relative to the shaft arm 14 to rotate about the second axis Y. Specifically, the shaft arm 14 is rotatably connected to the housing 112. It can be understood that if the first shaft assembly 11 omits the housing 112 in other embodiments, the shaft arm may be rotatably connected to the stator of the first motor 114.
  • the position of the first shaft X about the second axis Y will change during the rotation of the first shaft assembly about the second axis Y.
  • the second shaft assembly 12 may include a shaft arm 14, and the second shaft assembly 12, the link 13, and the first shaft assembly 11 may constitute a four-link member.
  • the second shaft assembly 12 can drive the link 13 to move in the plane where the four-link member is located, so that the link 13 drives the first shaft assembly 11 to rotate about the second axis Y.
  • the shaft arm 14 is fixedly connected to the second shaft assembly 12, and the second shaft assembly 12 is disposed on the shaft arm 14 or partially received in the shaft arm 14.
  • the second shaft assembly 12 and the shaft arm 14 are movably connected in sequence to form a four-link member.
  • the second shaft assembly 12 can also drive the link 13 to move in the plane where the four-link member is located, so that the link 13 drives the first shaft assembly 11 to rotate about the second axis Y.
  • the first shaft assembly 11 rotates to connect the link 13 and forms a first connection point A of the four-link member
  • the shaft arm 14 rotates to connect the first shaft assembly 11 and forms a second connection point B of the four-link member.
  • the two connection points B are formed with a second axis Y.
  • the position of the first connection point A remains unchanged relative to the first shaft assembly 11, the position of the second connection point B remains unchanged relative to the shaft arm 14, and the position of the shaft arm 14 is relatively stable.
  • the first shaft assembly 11 is driven to rotate about the second connection point B via the first connection point A, so that the first shaft assembly 11 is rotated about the second axis Y.
  • the housing 112 of the first shaft assembly 11 rotates the connecting link 13 to form a first connection point A.
  • the shaft arm 14 includes a mounting shell 142 and a mounting arm 144.
  • the mounting arm 144 is disposed on the mounting shell 142.
  • the second shaft assembly 12 is at least partially housed in the mounting shell 142.
  • the mounting arm 144 is rotationally connected to the first
  • a shaft assembly 11 is formed with a second shaft Y at a connection portion between the mounting arm 144 and the first shaft assembly 11.
  • the mounting case 142 may be a part of the shaft arm 14, and the second shaft assembly 12 is at least partially accommodated in the mounting case 142, which can make full use of the internal space of the gimbal 10 and help reduce the volume of the gimbal 10.
  • the mounting case 142 can protect the second shaft assembly 12 from being easily damaged.
  • the connection point between the mounting arm 144 and the first shaft assembly 11 forms the second connection point B of the four-link member.
  • the number of the mounting arms 144 is two.
  • the two mounting arms 144 are disposed on the mounting housing 142 at intervals.
  • the first shaft assembly 11 is located between the two mounting arms 144.
  • the two mounting arms 144 help maintain the center of gravity of the gimbal 10 while reducing the load of a single mounting arm 144.
  • the mounting arms 144 can be made smaller, thereby reducing the volume of the gimbal 10.
  • the link 13 is located inside one of the two mounting arms 144. In this way, the connecting rod 13 is not easily affected by the environment outside the shaft arm 14, so that the reliability of the connecting rod 13 can be guaranteed.
  • the other of the two mounting arms 144 is convexly provided with a wire routing portion 1442.
  • the gimbal 10 can set a line through the routing portion 1442 to control and supply power to the first shaft assembly 11, and then control the attitude of the load 40.
  • the mounting shell 142 also includes an end cover 1422.
  • the mounting shell 142 is provided with an accommodating space 1424.
  • the second shaft assembly 12 is located in the accommodating space 1424.
  • the end cover 1422 is installed at the end of the mounting shell 142 and covers the accommodating space 1424. Opening.
  • the end cover 1422 can seal the mounting shell 142, so that the second shaft assembly 12 in the accommodating space 1424 is not easily interfered by the external environment, such as moisture and dust, thereby ensuring the reliability of the second shaft assembly 12.
  • one end of the connecting rod 13 passing through the mounting shell 142 is rotatably connected to the second shaft assembly 12, and one end of the connecting rod 13 passing through the mounting shell 142 is rotatably connected to the first shaft assembly 11.
  • the two ends of the connecting rod 13 are respectively disposed inside the mounting housing 142 and outside the mounting housing 142 to rotate and connect the second shaft assembly 12 and the first shaft assembly 11 respectively, and the second shaft spaced apart from the first shaft assembly 11
  • the assembly 12 can drive the first shaft assembly 11 to rotate about the second axis Y by driving the link 13.
  • the shaft arm 14 is a fixed structure, and the shaft arm 14 does not need to be rotated around the drive shaft Q to realize the rotation of the first shaft assembly 11 about the drive shaft Q, so that it is not necessary to consider the rotation space required for the shaft arm 14 to rotate, and it is possible to It plays a corresponding supporting role, and the design of the connecting rod 13 can satisfy the rotating space of the connecting rod 13 to drive the first shaft assembly 11 about the second axis Y, and the size of the shaft arm 14 can be reduced as much as possible. , It is more conducive to the miniaturization of the volume of the gimbal 10.
  • the second shaft assembly 12 includes a second motor 122.
  • the second motor 122 is configured to drive the link 13 to move and drive the first shaft assembly 11 to rotate about the second axis Y.
  • the connecting rod 13 converts the rotation of the second motor 122 into a rotation of the first shaft assembly 11 about the second axis Y.
  • the second motor 122 is housed in the accommodation space 1424.
  • the connecting rod 13 is rotatably connected to the rotor 1222 of the second motor 122. In this way, when the rotor 1222 of the second motor 122 rotates, the link 13 can be driven to move.
  • the rotor 1222 of the second motor 122 is provided with a connecting shaft 1224.
  • the connecting shaft 1224 is eccentrically disposed with the motor shaft of the second motor 122.
  • the connecting shaft 1224 rotates the connecting link 13.
  • the connecting shaft 1224 and the motor shaft of the second motor 122 are eccentrically disposed, that is, the connecting shaft 1224 is different from the driving shaft Q of the second motor 122.
  • the link 13 is connected to the connecting shaft 1224 to form a third connection point C of the four-link 13 member, and the drive shaft Q of the second motor 122 forms a fourth connection point D of the four-link member.
  • the position of the fourth connection point D is relatively unchanged from the position of the second connection point B.
  • the position of the connecting shaft 1224 changes when the rotor 1222 of the second motor 122 rotates, and the end of the connecting rod 13 and the rotor 1222 of the second motor 122 are relatively connected.
  • the shaft 1224 rotates, and at the same time, the connecting rod 13 moves in a plane perpendicular to the driving shaft Q, thereby driving the first shaft assembly 11 to rotate about the second axis Y.
  • the rotor 1222 of the second motor 122 can be rotatably connected to the end cover 1422.
  • the four connection points A, B, C, and D are connected end to end in order to form a closed-loop four-link Component, or the fourth connection point D does not form a rotational connection between the rotor 1222 of the second motor 122 and the end cover 1422, then the stator of the second motor 122 may be fixed on the shaft arm 14 or fixed to the installation of the shaft arm 14 Inside the case 142, D, C, A, and B are connected in order to form an open four-bar link member.
  • the head 10 further includes a third shaft assembly 15.
  • the third shaft assembly 15 is used to support the first shaft assembly 11 and the second shaft assembly 12, and is used to allow the load 40 to rotate around the third axis Z. .
  • the head 10 is a three-axis head, and the load 40 can rotate about the first axis X, the second axis Y, and the third axis Z. In this way, the head 10 can be rotated in three different directions.
  • the stability of the load 40 is increased in the axial direction, so that the load 40 can be maintained in a better working state.
  • the third shaft assembly 15 may further include a shaft arm 14 and a third motor 152.
  • the third motor 152 is configured to drive the shaft arm 14 to rotate to drive the first shaft arm 14.
  • the shaft assembly 11 and the second shaft assembly 12 rotate about a third axis Z.
  • the third shaft assembly 15 can support the first shaft assembly 11, the second shaft assembly 12, and the load 40 through the shaft arm 14.
  • the shaft arm 14 includes a connection arm 146.
  • the two ends of the connection arm 146 are respectively provided with a second shaft assembly 12 and a third motor 152.
  • the connecting arm 146 connects the second shaft assembly 12 and the third motor 152.
  • the third motor 152 drives the second shaft assembly 12 and the first shaft assembly 11 and the load 40 to rotate about the third axis Z by driving the connecting arm 146.
  • the shaft arm 14 is fixedly connected to the rotor 1522 of the third motor 152.
  • the third axis Z is a rotation axis of the third motor 152.
  • the first axis assembly 11 is a roll axis assembly
  • the second axis assembly 12 is a pitch axis assembly
  • the third axis assembly 15 is a yaw axis assembly
  • the motor of the roll axis assembly ie, the first motor 114
  • the motor of the pitch axis assembly ie, the second motor 122
  • the motor of the yaw axis assembly ie, the third motor 152
  • the first axis assembly 11 can control the attitude of the load 40 in the roll direction
  • the second axis assembly 12 can control the attitude of the load 40 in the pitch direction
  • the third axis assembly 15 can control the attitude of the load 40 in the yaw direction.
  • 10 can achieve three-axis stabilization for the load 40, and the load 40 can be maintained in a better posture.
  • 1 and 2 respectively show the attitudes of the imaging device 200 (load 40) in different pitch directions.
  • the three-axis gimbal has only one axis arm 14, which reduces the space increased due to the use of not less than one axis arm, and the motors of each rotation axis are arranged in order from top to bottom, so that the gimbal 10 further reduces the lateral size.
  • the vertical size of the shaft arm 14 can also be reduced as much as possible, so that the gimbal 10 has a small volume and is convenient for users to carry.
  • first motor 114 of the first shaft assembly 11, the second motor 122 of the second shaft assembly 12, and the third motor 152 of the third shaft assembly 15 may be arranged in the above order from top to bottom. Adopt other arrangement order, such as arrangement from the outside to the inside when horizontally installed.
  • the first axis assembly 11 is not limited to a roll axis assembly
  • the second axis assembly 12 is not limited to a pitch axis assembly
  • the third axis assembly 15 is not limited to a yaw axis assembly.
  • the center of gravity of the load 40 falls on the first axis X
  • the center of gravity of the load 40 and the roll axis assembly falls on the second axis Y
  • the center of gravity of the component lies on the third axis Z.
  • the gimbal 10 can maintain the center of gravity balance.
  • the structural stability of the gimbal 10 can be increased, and the load of each structure in the gimbal 10 can be reduced.
  • the gimbal 10 has better reliability, and can reduce the corresponding motor. Torque output. It can be understood that in order to achieve the structural stability of the above-mentioned head 10, the structural design of the head 10 can be adjusted.
  • the second axis Y and the first axis X are perpendicular to each other, and the second axis Y and the third axis Z are perpendicular to each other.
  • the gimbal 10 is an orthogonal gimbal, which can provide stability enhancement to the load 40 in three mutually perpendicular directions, which improves the flexibility of the gimbal 10.
  • the angle formed between the third axis Z and the second axis Y is a non-right angle.
  • the head 10 is a non-orthogonal head, which is advantageous for adjusting the rotation angle of the first shaft assembly 11 about the second axis Y.
  • the handheld gimbal 100 may be a two-axis handheld gimbal, that is, the handheld gimbal 100 includes two axis components, a first axis component 11 and a second axis component 12.
  • the second shaft assembly 12 can be installed on the hand-held portion 20, and the pan / tilt head 10 can provide stability enhancement to the load 40 in two different directions.
  • the gimbal 10 when the gimbal 10 includes a third shaft assembly 15, the third shaft assembly 15 is mounted on the handheld part 20, and the second shaft assembly 12 is a third shaft assembly 15 supports. In this way, the user holds the gimbal 100 in hand, and the gimbal 10 can provide stability enhancement to the load 40 in three different directions.
  • the handheld portion 20 is provided with a first interface portion 21 connected to the PTZ 10, and the PTZ 10 includes a second interface portion 16 for cooperating with the first interface portion 21;
  • the first interface portion 21 and the second interface portion 16 cooperate to form a mechanical connection and an electrical connection between the gimbal 10 and the handheld portion 20.
  • the pan / tilt head 10 and the handheld portion 20 are connected by wire or wireless communication.
  • the user operating the handheld unit 20 can control the work of the PTZ 10 through wired or wireless communication, which improves the operation convenience of the PTZ 10.
  • the handheld portion 20 includes a housing 22, an operating portion 23, and a controller 24.
  • the operating portion 23 is provided on the housing 22, and the controller 24 is provided in the housing 22.
  • the operating portion 23 is used to receive input information.
  • 24 is used to perform corresponding operations according to the input information.
  • the user can input information through the operation unit 23 to control the PTZ 10 to change the attitude of the load 40.
  • the user can input information through the operation unit 23 to determine the preset attitude of the load 40 to work, such that The load 40 can obtain a preset desired effect.
  • the operation unit 23 includes a rocker 232 and a button 234.
  • the user can shake the rocker 232 to control the operation of the first axis assembly 11, the second axis assembly 12, and the third axis assembly 15 of the gimbal 10, and then adjust the load 40 in a preset posture. .
  • the user can control the work of the load 40 through the keys 234, such as taking pictures, recording videos, and the like.
  • a battery 25 is provided in the case 22.
  • the battery 25 can power the PTZ 10 and / or the load 40.
  • the handheld portion 20 may be provided with a charging interface and a power supply interface.
  • the battery 25 may be a rechargeable lithium battery.
  • an inclined plane 222 is formed on the surface of the housing 22, and the operation portion 23 is disposed on the inclined plane 222.
  • the handheld gimbal 100 further includes an attitude sensor, the attitude sensor is used to measure the attitude of the load 40, and the controller 24 is used to control the work of the gimbal 10 according to the attitude of the load 40.
  • the attitude sensor may be directly connected to the load 40. In this way, by determining the attitude of the load 40, the attitude of the PTZ 10 may be determined, and the current attitude of the PTZ 10 may be adjusted.
  • the handheld gimbal 100 can adjust the attitude of the load 40 through the attitude information detected by the attitude sensor, so that the load 40 keeps working under a preset attitude and obtains a desired effect.
  • a mounting interface 28 is provided at the bottom of the housing 22.
  • the handheld PTZ 100 can be mounted on a bracket or other fixed components through the mounting interface 28, and the handheld PTZ 100 can adapt to different working environments and achieve more functions.

Abstract

本申请公开了一种云台(10)，其包括第一轴组件(11)、第二轴组件(12)和连杆(13)，连杆(13)转动连接第一轴组件(11)且转动连接第二轴组件(12)，第一轴组件(11)用于连接负载(40)并驱动负载(40)绕第一轴(X)转动，第二轴组件(12)用于驱动连杆(13)运动并带动第一轴组件(11)绕第二轴(Y)转动，第二轴(Y)不同于第二轴组件(12)驱动连杆(13)运动的驱动轴(Q)。本申请还公开了一种手持云台(100)和手持拍摄装置(1000)。

Description

云台、手持云台和手持拍摄装置 技术领域
本申请涉及云台技术领域，特别涉及一种云台、手持云台和手持拍摄装置。
背景技术
相关技术中，手持拍摄装置(比如手机、运动相机)在进行视频或者照片拍摄时，通常会因为用户身体和手臂的抖动，使得拍摄的画面有抖动或者模糊，因此需要手持云台给拍摄装置增稳。然而，通常的手持云台增稳设备体积太大，不方便携带，影响用户体验。如何设计一种便携式且小体积的手持云台成为待解决的技术问题。
发明内容
有鉴于此，本申请提供一种云台、手持云台和手持拍摄装置，能够将云台旋转轴连接结构设计得更加紧凑，减小云台的体积，方便用户携带。
本申请提供一种云台，其包括第一轴组件、第二轴组件和连杆，所述连杆转动连接所述第一轴组件且转动连接所述第二轴组件，所述第一轴组件用于连接负载并驱动所述负载绕第一轴转动，所述第二轴组件用于驱动所述连杆运动并带动所述第一轴组件绕第二轴转动，所述第二轴不同于所述第二轴组件驱动所述连杆运动的驱动轴。
本申请提供一种手持云台，其包括手持部和上述云台，所述第二轴组件安装在所述手持部上。
本申请提供一种手持拍摄装置，其包括成像装置和上述手持云台，所述手持云台用于为所述成像装置增稳或控制所述成像装置的姿态。
本申请的云台、手持云台和手持拍摄装置中，连杆转动连接第二轴组件和转动连接第一轴组件，而第一轴组件连接负载(如拍摄装置)，如此，第一轴组件和第二轴组件之间的连接可以设计得更紧凑，使得云台体积较小，方便用户携带，有利于提高用户体验。
本申请的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实施方式的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本申请实施方式的手持拍摄装置的立体示意图。
图2是本申请实施方式的手持拍摄装置的另一立体示意图。
图3是本申请实施方式的手持云台的立体示意图。
图4是本申请实施方式的手持云台的分解示意图。
图5是本申请实施方式的云台的部分结构示意图。
图6是本申请实施方式的云台的另一部分结构示意图。
图7是本申请实施方式的云台的部分剖面示意图。
图8是本申请实施方式的云台的另一部分剖面示意图。
图9是本申请实施方式的手持云台的正视图。
图10是本申请实施方式的手持云台的侧视图。
主要附图元件说明：
云台10、第一轴组件11、外壳112、第一电机114、第一电机的转子1142、负载连接件116、第二轴组件12、第二电机122、第二电机的转子1222、连接轴1224、连杆13、轴臂14、安装壳142、端盖1422、容置空间1424、安装臂144、走线部1442、连接臂146、第三轴组件15、第三电机152、第三电机的转子1522、第二接口部16、负载40、第一轴X，第二轴Y、第三轴Z、第二轴组件的驱动轴Q、第一连接点A、第二连接点B、第三连接点C、第四连接点D；
手持云台10100、手持部20、第一接口部21、壳体22、斜平面222、操作部23、摇杆232、按键234、控制器24、电池25、安装接口28；
手持拍摄装置1000、成像装置200。
具体实施方式
下面详细描述本申请的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对申请的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接。可以是机械连接，也可以是电连接。可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
下文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本申请提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
请一并参阅图1至图6，本申请实施方式的手持拍摄装置1000包括成像装置200和本申请实施方式的手持云台100。手持云台100用于为成像装置200增稳或控制成像装置200的姿态。
本申请实施方式的手持云台100包括手持部20和本申请实施方式的云台10，云台10安装在手持部20上。
本申请实施方式的云台10包括第一轴组件11、第二轴组件12和连杆13，连杆13转动连接第一轴组件11且转动连接第二轴组件12，第一轴组件11用于连接负载40(如成像装置200)并驱动负载40绕第一轴X转动，第二轴组件12用于驱动连杆13运动并带动第一轴组件11绕第二轴Y转动，第二轴Y不同于第二轴组件12驱动连杆13运动的驱动轴Q。
本申请实施方式的的云台10、手持云台100和手持拍摄装置1000中，连杆13转动连接第二轴组件12和转动连接第一轴组件11，而第一轴组件11连接负载40，如此，第一轴组件11和第二轴组件12之间的连接可以设计得更紧凑，使得云台10体积较小，方便用户携带，有利于提高用户体验。
较佳地，第二轴Y平行于第二轴组件12驱动连杆13运动的驱动轴Q。这样可简化云台10的设计，降低成本。可以理解，在其他实施方式中，第二轴Y也可不平行于第二轴组件12驱动连杆13运动的驱动轴Q。
需要说明的是，本申请不同的实施方式中，云台10的第二轴Y可指不同的转动轴。例如，在某些实施方式中，云台10包括轴臂14，轴臂14与第一轴组件11转动连接。轴臂14与第一轴组件11的转动连接处B形成有第二轴Y(见图3和图5)。
在某些实施方式中，云台10可省略轴臂14，或即使云台10包括轴臂14，但轴臂14 和第一轴组件11并没有转动连接。此时，连杆13与第一轴组件11的转动连接处A形成第二轴Y，如图6所示。在这样的实施方式中，连杆13转动时，连杆13通过第一轴组件11带动负载40上下移动。
具体地，第一轴组件11包括外壳112和第一电机114，第一电机114至少部分地收容在外壳112内，连杆13转动连接外壳112，第一电机114用于驱动负载40绕第一轴X转动。
如此，外壳112可以保护第一电机114不容易受到外界环境的干扰从而保证第一电机114的可靠性，增加第一轴组件11及云台10的可靠性。可以理解，在一个例子中，第一电机114可采用无刷电机。
在某些实施方式中，第一轴组件11还包括负载连接件116，负载连接件116用于连接第一电机114和负载40。
如此，负载连接件116实现了负载40与第一轴组件11的连接。负载40可以可拆卸地安装在负载连接件116上，负载40的安装和拆卸方式简单，可以方便用户使用，提高用户体验。
可以理解，负载连接件116也可以作为第一电机114的一部分，如第一电机114的转子1142的保护壳。负载连接件116的使用减少了第一轴组件11中第一轴X的轴臂的设计，因而进一步减小了云台10的体积，结构也相对更为紧凑。
请一并参阅图4和图7，在图示实施方式中，第一电机114的转子1142固定连接在负载连接件116上。
如此，负载40可以随第一电机114的转子1142同步转动，负载40安装在负载连接件116时，第一电机114可以驱动负载40绕第一轴X转动。具体地，第一轴X为第一电机114的转动轴。
在某些实施方式中，负载连接件116可以包括但不限于夹持连接件或磁性连接件。
可以理解，云台10采用夹持连接件时，夹持连接件可以将负载40夹持进而固定在第一轴组件11上，这样第一轴组件11为负载40在第一轴X上提供增稳功能。云台10采用磁性连接件时，磁性连接件可设置有磁铁，在负载40上设置铁磁性材料或负载40本身带有铁磁性材料，以使负载40受磁性吸附在磁性连接件上。如此，负载40安装和拆卸简单，可以方便用户使用。图示的实施例中，负载连接件116为磁性连接件。
在某些实施方式中，负载40可以是传感器、成像装置、移动终端中的一种。
可以理解，传感器、成像装置和移动终端等采集环境信息时，通常需要保持一定的姿态以获取较精确的信息。如此，云台10可为传感器、成像装置和移动终端等提供增稳，使其能够工作在较佳的姿态，从而获取更加精确的信息。
传感器可为姿态传感器(如加速度传感器、角度传感器、惯性测量单元等。成像装置可为相机、摄像机等成像装置，移动终端可为手机、平板电脑、智能可穿戴设备等。可以理解，成像装置还可是某些移动终端，例如成像装置是具有拍照和录像功能的手机、平板电脑、智能可穿戴设备等，或者说，移动终端还可是某些成像装置。在本申请实施方式的云台10中，以负载40为成像装置200为例进行说明。
具体地，手持拍摄装置1000中，手持云台100的负载40为成像装置200，手持云台100为成像装置200在相应方向上增稳使得成像装置200保持在较佳的工作姿态，以达到更好的拍摄效果，提高成像装置200采集图像的质量。
在一些实施方式中，云台10为二轴云台10。第一轴组件11和第二轴组件12通过连杆13连接，实现第一轴组件11和第二轴组件12分开设置，同时，可以保持较小的体积，方便用户携带。
轴臂14为第一轴组件11提供支撑，第一轴组件11可以相对轴臂14转动以绕第二轴Y转动。具体地，轴臂14与外壳112转动连接。可以理解，若在其它实施方式中，第一轴组件11省略外壳112，那么，轴臂可与第一电机114的定子转动连接。
其中，由于第一轴组件12绕第二轴Y转动，由此，第一轴X在第一轴组件绕第二轴Y的转动过程中将绕第二轴Y发生位置变化。
在某些实施例中，第二轴组件12可以包括轴臂14，则第二轴组件12、连杆13、第一轴组件11可以构成四连杆构件。
如此，第二轴组件12可以驱动连杆13在四连杆构件所在的平面内移动，以使连杆13带动第一轴组件11以绕第二轴Y转动。
在某些实施方式中，轴臂14与第二轴组件12固定连接，且第二轴组件12设置在轴臂14上或部分收容于轴臂14内，第一轴组件11、连杆13、第二轴组件12、轴臂14依次活动连接构成四连杆构件。
如此，第二轴组件12也可以驱动连杆13在四连杆构件所在的平面内移动，以使连杆13带动第一轴组件11以绕第二轴Y转动。
具体地，第一轴组件11转动连接连杆13并形成四连杆构件的第一连接点A，轴臂14转动连接第一轴组件11并形成四连杆构件的第二连接点B，第二连接点B形成有第二轴Y。
可以理解，第一连接点A的位置相对第一轴组件11保持不变，第二连接点B的位置相对轴臂14保持不变，而轴臂14位置相对稳定，如此，连杆13转动时，经第一连接点A带动第一轴组件11绕第二连接点B转动，使得第一轴组件11绕第二轴Y转动。在图示的实施方式中，第一轴组件11的外壳112转动连接连杆13形成第一连接点A。
在某些实施方式中，轴臂14包括安装壳142和安装臂144，安装臂144设置在安装壳 142上，第二轴组件12至少部分地收容在安装壳142内，安装臂144转动连接第一轴组件11，安装臂144与第一轴组件11的连接处形成有第二轴Y。
如此，安装壳142可以是轴臂14的一部分，第二轴组件12至少部分地收容在安装壳142内，可以充分利用云台10的内部空间，有利于减小云台10的体积。此外，安装壳142可以保护第二轴组件12不容易受到损坏。在本实施方式中，安装臂144与第一轴组件11的连接处即形成四连杆构件的第二连接点B。
在图示的实施方式中，安装臂144的数量是两个，两个安装臂144间隔设置在安装壳142上，第一轴组件11位于两个安装臂144之间。
如此，两个安装臂144有利于保持云台10的重心平衡，同时减小单个安装臂144的负荷，安装臂144可以做得较小，从而减小云台10的体积。
具体地，连杆13位于两个安装臂144中的一个的内侧。如此，连杆13不容易受轴臂14外侧的环境干扰，从而可以保证连杆13的可靠性。
在某些实施方式中，两个安装臂144中的另一个凸设有走线部1442。如此，云台10可以通过走线部1442设置线路以实现对第一轴组件11的控制和供电，进而可以控制负载40的姿态。
另外，安装壳142还包括端盖1422，安装壳142开设有容置空间1424，第二轴组件12位于容置空间1424中，端盖1422安装在安装壳142的端部并覆盖容置空间1424的开口。
如此，端盖1422可以密封安装壳142，使得容置空间1424内的第二轴组件12不容易受到外部环境，如湿气和灰尘的干扰，从而可以保证第二轴组件12的可靠性。
在某些实施方式中，连杆13穿设入安装壳142的一端转动连接第二轴组件12，连杆13穿设出安装壳142的一端转动连接第一轴组件11。
如此，连杆13的两端分别设置在安装壳142内和安装壳142外，以分别转动连接第二轴组件12和第一轴组件11，从而与第一轴组件11间隔设置的第二轴组件12可以通过驱动连杆13而带动第一轴组件11绕第二轴Y转动。
如此，轴臂14为固定结构，不需要使得轴臂14绕驱动轴Q转动以实现第一轴组件11绕驱动轴Q的转动，从而不需要考虑轴臂14转动所需要的转动空间，且可以起到相应的支撑作用，而通过连杆13的设计，能够满足连杆13带动第一轴组件11绕第二轴Y的转动空间即可，且使得轴臂14的尺寸可以尽可能地减小，则更有利于云台10的体积小型化。
具体地，第二轴组件12包括第二电机122，第二电机122用于驱动连杆13运动并带动第一轴组件11绕第二轴Y转动。
如此，连杆13将第二电机122的转动转换成第一轴组件11绕第二轴Y的转动。在图 示的实施方式中，第二电机122收容在容置空间1424中。连杆13转动连接第二电机122的转子1222。如此，第二电机122的转子1222转动时，可以带动连杆13运动。
更具体地，第二电机122的转子1222上设有连接轴1224，连接轴1224与第二电机122的电机轴偏心设置，连接轴1224转动连接连杆13。
可以理解，连接轴1224与第二电机122的电机轴偏心设置，即连接轴1224不同于第二电机122的驱动轴Q。如此，连杆13连接在连接轴1224以形成四连杆13构件的第三连接点C，第二电机122的驱动轴Q处形成四连杆构件的第四连接点D。第四连接点D的位置与第二连接点B的位置相对不变，第二电机122的转子1222转动时连接轴1224位置变化，连杆13与第二电机122的转子1222连接的一端相对连接轴1224转动，同时，连杆13在垂直于驱动轴Q的平面内运动，进而带动第一轴组件11绕第二轴Y转动。
其中，在第四连接点D处，第二电机122的转子1222可以与端盖1422转动连接，如此，A、B、C、D四个连接点依次首尾连接，可以形成一个闭环的四连杆构件，或者，该第四连接点D并未形成第二电机122的转子1222与端盖1422转动连接，那么第二电机122的定子可以固定在轴臂14上，或固定于轴臂14的安装壳142内，如此，D、C、A、B依次连接形成一个开口的四连杆构件。
在某些实施方式中，云台10还包括第三轴组件15，第三轴组件15用于支撑第一轴组件11和第二轴组件12，且用于准许负载40绕第三轴Z转动。
可以理解，在这样的实施方式中，云台10是三轴云台，负载40可以绕第一轴X、第二轴Y、第三轴Z转动，如此，云台10可以在三个不同的轴向上为负载40增稳，使得负载40可以保持在较佳的工作状态。
在某些实施方式中，当第三轴组件包括轴臂14时，第三轴组件15还可以包括轴臂14和第三电机152，第三电机152用于驱动轴臂14转动以带动第一轴组件11及第二轴组件12绕第三轴Z转动。
如此，第三轴组件15可以通过轴臂14支撑第一轴组件11、第二轴组件12和负载40。
在某些实施方式中，轴臂14包括连接臂146，连接臂146的两端分别设有第二轴组件12和第三电机152。
如此，连接臂146连接第二轴组件12和第三电机152，第三电机152通过驱动连接臂146带动第二轴组件12和第一轴组件11及负载40绕第三轴Z转动。
请一并参阅图4和图7，轴臂14固定连接在第三电机152的转子1522上。
如此，轴臂14随第三电机152的转子1522转动时，带动第一轴组件11、第二轴组件12和负载40绕第三轴Z转动。具体地，第三轴Z为第三电机152的转动轴。
在某些实施方式中，第一轴组件11为横滚轴组件，第二轴组件12为俯仰轴组件，第 三轴组件15为偏转轴组件，横滚轴组件的电机(即第一电机114)、俯仰轴组件的电机(即第二电机122)、偏转轴组件的电机(即第三电机152)由上到下依次排列。
如此，第一轴组件11可以控制负载40在横滚方向的姿态，第二轴组件12可以控制负载40在俯仰方向的姿态，第三轴组件15可以控制负载40在偏转方向的姿态，云台10可为负载40实现三轴增稳，负载40可以保持在较佳姿态。图1和图2分别展示了成像装置200(负载40)在不同俯仰方向上的姿态。如此，三轴云台只有一个轴臂14，减少了由于不少于一个轴臂的使用而增加的空间，且各转轴的电机由上到下依次排列使得云台10进一步减小了横向尺寸，而轴臂14的竖向尺寸也能够尽可能地减小，因而使得云台10具有较小的体积，方便用户携带。
可以理解，第一轴组件11的第一电机114、第二轴组件12的第二电机122、第三轴组件15的第三电机152除了以上述由上到下的顺序排列之外，还可以采用其它排列顺序，如横向设置时由外至内排列，此时，第一轴组件11、第二轴组件12、第三轴组件15与横滚轴组件、俯仰轴组件、偏转轴组件的关系将发生相应变化，即第一轴组件11并不限定为横滚轴组件、第二轴组件12并不限定为俯仰轴组件，第三轴组件15并不限定为偏转轴组件。
在某些实施方式中，负载40的重心落在第一轴X上，负载40和横滚轴组件的重心落在第二轴Y上，负载40、横滚轴组件、俯仰轴组件、偏转轴组件的重心落在第三轴Z上。
如此，云台10可以保持重心平衡，各个轴在转动时，可以增加云台10结构稳定性，减轻云台10中各个结构的负荷，云台10可靠性更好，且可以减小相应电机的扭矩输出。可以理解，为实现上述云台10的结构稳定性，可对云台10的结构设计进行调整。
在某些实施方式中，第二轴Y与第一轴X相互垂直，第二轴Y和第三轴Z相互垂直。
如此，云台10为正交云台，可以在三个相互垂直的方向上为负载40提供增稳，提高了云台10的灵活性。
在某些实施例中，第三轴Z可以与第二轴Y之间形成的角是非直角。
如此，云台10为非正交云台，有利于调节第一轴组件11绕第二轴Y的转动角度。
本实施例中，手持云台100可以为两轴手持云台，即手持云台100包括第一轴组件11、第二轴组件12这两个轴组件。此时，第二轴组件12可以安装在手持部20上，云台10可以在两个不同方向上为负载40提供增稳。
请参阅图4，本申请实施方式的手持云台100中，当云台10包括第三轴组件15时，第三轴组件15安装在手持部20上，第二轴组件12由第三轴组件15支撑。如此，用户手拿手持云台100，云台10可以在三个不同方向上为负载40提供增稳。具体地，在一些实施例中，手持部20上设有与云台10连接的第一接口部21，云台10包括用于配合第一接口部21的第二接口部16；其中，当云台10支撑于手持部20上时，第一接口部21与第二 接口部16配合以形成云台10及手持部20之间的机械性连接及电性连接。
另外，当手持部20与云台10分离时，云台10与手持部20有线或无线通信连接。如此，用户操作手持部20可以通过有线或无线通信控制云台10工作，提高了云台10的操作便利性。
具体地，手持部20包括壳体22、操作部23和控制器24，壳体22上设置有操作部23，壳体22内设置有控制器24，操作部23用于接收输入信息，控制器24用于根据输入信息执行相应的操作。
如此，用户可以通过操作部23输入信息以便控制云台10以使负载40姿态改变，例如，使用手持云台100时，用户可以通过操作部23输入信息从而确定负载40工作的预设姿态，使得负载40可以得到预设想要的效果。
操作部23包括摇杆232和按键234，用户可以摇动摇杆232以控制云台10的第一轴组件11、第二轴组件12和第三轴组件15工作，进而调整负载40在预设姿态。用户可以通过按键234控制负载40工作，例如拍照、录像等。
壳体22内设置有电池25。如此，电池25可为云台10和/或负载40供电。具体地，手持部20可以设置充电接口和供电接口。在一个例子中，电池25可为可充电锂电池。
请一并参阅图9和图10，在某些实施方式中，壳体22表面形成有斜平面222，操作部23设置在斜平面222上。
如此，用户手拿手持云台100时，可以通过手指在斜平面222上进行操作，方便用户使用。
在某些实施方式中，手持云台100还包括姿态传感器，姿态传感器用于测量负载40的姿态，控制器24用于根据负载40的姿态控制云台10工作。
其中，姿态传感器可以与负载40直接连接，如此通过确定负载40的姿态，进而可以确定云台10的姿态，由此可以调整云台10的当前姿态。
如此，手持云台100可以通过姿态传感器检测的姿态信息调整负载40的姿态，以使负载40保持在预设的姿态下工作，获得想要的效果。
在某些实施方式中，壳体22底部设置有安装接口28。如此，手持云台100可以通过安装接口28安装在支架或其他固定部件上，手持云台100可以适应不同的工作环境，实现更多功能。
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且， 描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (31)

  1. 一种云台，包括第一轴组件和第二轴组件，其特征在于，所述云台还包括连杆，所述连杆转动连接所述第一轴组件且转动连接所述第二轴组件，所述第一轴组件用于连接负载并驱动所述负载绕第一轴转动，所述第二轴组件用于驱动所述连杆运动并带动所述第一轴组件绕第二轴转动，所述第二轴不同于所述第二轴组件驱动所述连杆运动的驱动轴。
  2. 如权利要求1所述的云台，其特征在于，所述云台包括轴臂，所述轴臂与所述第一轴组件转动连接。
  3. 如权利要求2所述的云台，其特征在于，所述轴臂与所述第二轴组件固定连接，且所述第二轴组件设置在所述轴臂上或部分收容于所述轴臂内，所述第一轴组件、所述连杆、所述第二轴组件、所述轴臂依次活动连接构成四连杆构件。
  4. 如权利要求3所述的云台，其特征在于，所述第一轴组件转动连接所述连杆并形成所述四连杆构件的第一连接点，所述轴臂转动连接所述第一轴组件并形成所述四连杆构件的第二连接点，所述第二连接点形成有所述第二轴。
  5. 如权利要求4所述的云台，其特征在于，所述轴臂包括安装壳和安装臂，所述安装臂设置在安装壳上，所述第二轴组件至少部分地收容在所述安装壳内，所述安装臂转动连接所述第一轴组件，所述安装臂与所述第一轴组件的连接处形成有所述第二轴。
  6. 如权利要求5所述的云台，其特征在于，所述安装臂的数量是两个，两个所述安装臂间隔设置在所述安装壳上，所述第一轴组件位于两个所述安装臂之间。
  7. 如权利要求6所述的云台，其特征在于，所述连杆位于两个所述安装臂中的一个的内侧。
  8. 如权利要求5所述的云台，其特征在于，所述安装壳还包括端盖，所述安装壳开设有容置空间，所述第二轴组件位于所述容置空间中，所述端盖安装在所述安装壳的端部并覆盖所述容置空间的开口。
  9. 如权利要求8所述的云台，其特征在于，所述连杆穿设入所述安装壳的一端转动连 接所述第二轴组件，所述连杆穿设出所述安装壳的一端转动连接所述第一轴组件。
  10. 如权利要求2所述的云台，其特征在于，所述云台还包括第三轴组件，所述第三轴组件用于支撑所述第一轴组件和所述第二轴组件，且用于准许所述负载绕第三轴转动。
  11. 如权利要求10所述的云台，其特征在于，所述第三轴组件包括所述轴臂和第三电机，所述第三电机用于驱动所述轴臂转动以带动所述第一轴组件及所述第二轴组件绕所述第三轴转动。
  12. 如权利要求11所述的云台，其特征在于，所述轴臂包括连接臂，所述连接臂的两端分别设有所述第二轴组件和所述第三电机。
  13. 如权利要求11所述的云台，其特征在于，所述轴臂固定连接在所述第三电机的转子上。
  14. 如权利要求10所述的云台，其特征在于，所述第一轴组件为横滚轴组件，所述第二轴组件为俯仰轴组件，所述第三轴组件为偏转轴组件，所述横滚轴组件的电机、所述俯仰轴组件的电机、所述偏转轴组件的电机由上到下依次排列。
  15. 如权利要求14所述的云台，其特征在于，所述负载的重心落在所述第一轴上，所述负载和所述横滚轴组件的重心落在所述第二轴上，所述负载、所述横滚轴组件、所述俯仰轴组件、所述偏转轴组件的重心落在所述第三轴上。
  16. 如权利要求10所述的云台，其特征在于，所述第二轴与所述第一轴相互垂直，所述第二轴和所述第三轴相互垂直；或者，
    所述第二轴与所述第三轴之间形成的角为非直角。
  17. 如权利要求1所述的云台，其特征在于，所述第二轴组件包括第二电机，所述第二电机用于驱动所述连杆运动并带动所述第一轴组件绕所述第二轴转动。
  18. 如权利要求17所述的云台，其特征在于，所述连杆转动连接所述第二电机的转子。
  19. 如权利要求17所述的云台，其特征在于，所述第二电机的转子上设有连接轴，所述连接轴与所述第二电机的电机轴偏心设置，所述连接轴转动连接所述连杆。
  20. 如权利要求1所述的云台，其特征在于，所述第一轴组件包括外壳和第一电机，所述第一电机至少部分地收容在所述外壳内，所述连杆转动连接所述外壳，所述第一电机用于驱动所述负载绕所述第一轴转动。
  21. 如权利要求20所述的云台，其特征在于，所述第一轴组件还包括负载连接件，所述负载连接件用于连接所述第一电机和所述负载。
  22. 如权利要求21所述的云台，其特征在于，所述第一电机的转子固定连接在所述负载连接件上。
  23. 如权利要求21所述的云台，其特征在于，所述负载连接件包括夹持连接件或磁性连接件。
  24. 如权利要求1所述的云台，其特征在于，所述负载是传感器、成像装置、移动终端中的一种。
  25. 一种手持云台，其特征在于，包括手持部和权利要求1-24任一项所述的云台，所述第二轴组件安装在所述手持部上。
  26. 如权利要求25所述的手持云台，其特征在于，当所述云台包括第三轴组件时，所述第三轴组件安装在所述手持部上，所述第二轴组件由所述第三轴组件支撑。
  27. 如权利要求25所述的手持云台，其特征在于，当所述手持部与所述云台分离时，所述云台与所述手持部有线或无线通信连接。
  28. 如权利要求25所述的手持云台，其特征在于，所述手持部包括壳体、操作部和控制器，所述壳体上设置有所述操作部，所述壳体内设置有所述控制器，所述操作部用于接收输入信息，所述控制器用于根据所述输入信息执行相应的操作。
  29. 如权利要求28所述的手持云台，其特征在于，所述壳体表面形成有斜平面，所述操作部设置在所述斜平面上。
  30. 如权利要求28所述的手持云台，其特征在于，所述手持云台还包括姿态传感器，所述姿态传感器用于测量所述负载的姿态，所述控制器用于根据所述负载的姿态控制所述云台工作。
  31. 一种手持拍摄装置，其特征在于，包括成像装置和权利要求25-30任一项所述的手持云台，所述手持云台用于为所述成像装置增稳或控制所述成像装置的姿态。
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