WO2020010518A1 - 云台 - Google Patents

云台 Download PDF

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Publication number
WO2020010518A1
WO2020010518A1 PCT/CN2018/095151 CN2018095151W WO2020010518A1 WO 2020010518 A1 WO2020010518 A1 WO 2020010518A1 CN 2018095151 W CN2018095151 W CN 2018095151W WO 2020010518 A1 WO2020010518 A1 WO 2020010518A1
Authority
WO
WIPO (PCT)
Prior art keywords
shaft arm
gimbal
driving force
motor
magnetic element
Prior art date
Application number
PCT/CN2018/095151
Other languages
English (en)
French (fr)
Inventor
刘思聪
赵涛
郭善光
刘勇
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 PCT/CN2018/095151 priority Critical patent/WO2020010518A1/zh
Priority to CN201880038893.5A priority patent/CN110770494A/zh
Publication of WO2020010518A1 publication Critical patent/WO2020010518A1/zh
Priority to US17/125,444 priority patent/US20210102656A1/en

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    • 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
    • F16M11/04—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
    • F16M11/105—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis the horizontal axis being the roll axis, e.g. for creating a landscape-portrait rotation
    • 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
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—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
    • F16M11/16—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
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical 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
    • F16M11/20—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
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/563—Camera grips, handles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/02—Locking means
    • F16M2200/021—Locking means for rotational movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/02—Locking means
    • F16M2200/021—Locking means for rotational movement
    • F16M2200/024—Locking means for rotational movement by positive interaction, e.g. male-female connections
    • 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
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F16M2200/042—Balancing means for balancing rotational movement of the head for panning movement
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units

Definitions

  • This application relates to the field of stabilizing equipment, and in particular, to a gimbal.
  • a locking mechanism is provided on the gimbal, and the locking mechanism is used to lock the rotation axis of the gimbal to prevent the rotation axis of the gimbal from rotating at will.
  • the unlocking process is inconvenient.
  • This application provides a gimbal.
  • the gimbal according to the embodiment of the present application includes at least one rotating component, each of the rotating components includes a first shaft arm and a motor driving the first shaft arm to rotate, and the rotating component further includes a locking device; wherein:
  • the motor drives the rotation assembly to rotate with a second driving force to cause the locking device to unlock the rotation assembly.
  • the motor drives the rotation component so that the locking device can lock and unlock the rotation component, and the rotation component can be directly locked and unlocked by the first driving force and the second driving force, so that the locking and unlocking process of the rotation component is simple. ,easy to use.
  • FIG. 1 is a schematic perspective view of a pan / tilt according to an embodiment of the present application
  • FIG. 2 is a schematic partial perspective view of a pan / tilt according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of an internal structure of a pan / tilt according to an embodiment of the present application.
  • 4 and 5 are schematic diagrams of states of the pan / tilt according to the embodiment of the present application.
  • FIGS. 6 and 7 are another perspective schematic diagrams of a pan / tilt according to an embodiment of the present application.
  • FIG. 8 and FIG. 9 are still another perspective diagrams of the pan / tilt according to the embodiment of the present application.
  • Gimbal 200 rotation assembly 100, rotation axis 102, first shaft arm 10, motor 20, rotation shaft 21, shaft end face 211, locking device 30, elastic member 31, first limiting structure 32, card slot 321, guide surface 322, the second limiting structure 33, the clamping block 331, the first magnetic element 34, the second magnetic element 35, the second shaft arm 40, the motor base 50, the outer wall 51, the display device 60, and the load 300.
  • 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 present application, the meaning of "a plurality” is two or more, unless it is specifically and specifically defined otherwise.
  • the "first" or “under” of the second feature may include the first and second features in direct contact, and may also include the first and second features. Not directly, but through another characteristic contact between them.
  • the first feature is “above”, “above”, and “above” the second feature, including that the first feature is directly above and obliquely above the second feature, or merely indicates that the first feature is higher in level than the second feature.
  • the first feature is “below”, “below”, and “below” of the second feature, including the fact that the first feature is directly below and obliquely below the second feature, or merely indicates that the first feature is less horizontal than the second feature.
  • the pan / tilt 200 includes at least one rotating component 100.
  • Each rotating component 100 includes a first shaft arm 10, a motor 20, and a locking device 30.
  • the motor 20 drives the first shaft arm 10 to rotate.
  • the motor 20 drives the rotation assembly 100 to a predetermined position with the first driving force, the rotation assembly 100 is locked by the locking device 30.
  • the motor 20 drives the rotation assembly 100 to rotate with a second driving force to cause the locking device 30 to unlock the rotation assembly 100.
  • the motor 20 drives the rotation assembly 100 so that the locking device 30 can lock and unlock the rotation assembly 100.
  • the rotation assembly can be locked and unlocked directly by the first driving force and the second driving force, so that the rotation assembly
  • the locking and unlocking process of the 100 is simple and easy to operate.
  • the process of locking and unlocking the rotating component 100 does not need to manually drive the rotating component 100, which can improve the user experience.
  • the number of the rotating components 100 may be one, two, or three.
  • the first shaft arm 10 can be used to mount a load 300 such as a camera, so as to stabilize the load 300 such as a camera.
  • the motor 20 may be a servo motor or a stepping motor.
  • the motor 20 may drive the first shaft arm 10 to rotate, thereby achieving a stable load of 300 ⁇ .
  • the locking device 30 may be a mechanical locking structure. When the locking device 30 is a mechanical locking structure, the locking device 30 may generate a locking force for locking the rotation assembly 100 through contact between two components.
  • the locking device 30 may also use other suitable locking structures with attractive or repulsive forces, such as other attracting or repulsive magnets, other locking structures such as hydraulic or pneumatic, which are not limited herein.
  • the motor 20 can be controlled to drive the rotating component 100 to a predetermined position with a first driving force, so that the rotating component 100 is locked and in a locked state, which can prevent rotating the component. 100 is shaken randomly when the gimbal 200 is in a non-working state and is damaged by physical impact.
  • the motor 20 of the gimbal 200 is powered off, the gimbal 200 is in a non-working state, and the rotating component 100 is locked, so that the gimbal 200 will not rotate freely in a non-working state to avoid damage caused by bumps. .
  • the motor 20 can be controlled to drive the rotation assembly 100 with the second driving force to make the rotation assembly 100 in an unlocked state, which is beneficial to the rotation of the rotation assembly 100 to realize the load 300. Stable.
  • the output values of the first driving force and the second driving force are greater than the output values of the driving force output by the motor 20 in the working state of the gimbal.
  • the working state of the pan / tilt head refers to a state where the rotating assembly 100 of the pan / tilt head 200 is adjusted after the motor 20 of the pan / tilt head 200 is powered on. In this way, the motor 20 drives the locking device 30 of the rotating assembly 100 with a larger driving force to lock and unlock the rotating assembly 100, so as to avoid accidental locking in the working state of the gimbal 200.
  • the first driving force and the second driving force are preset sizes. That is, the first driving force and the second driving force can be set according to specific requirements.
  • the first driving force may be greater than the second driving force, the first driving force may be equal to the second driving force, and the first driving force may be smaller than the second driving force, which is not limited in this embodiment.
  • the first driving force is the same as the preset size of the second driving force.
  • the first driving force and the second driving force are obtained by an external input instruction.
  • the gimbal 200 may be provided with input devices such as keys and a touch device. Before the rotating component 100 is locked or unlocked, the first driving force or the second driving force may be input through the input device, so that the input device generates a corresponding driving force.
  • the instruction is to control the motor 20 to drive the rotating assembly 100 to rotate into a locked or unlocked state with a corresponding driving force.
  • the gimbal 200 further includes a display device 60, and the numerical values of the first driving force and the second driving force may be displayed on the display device 60 respectively.
  • the display device 60 can conveniently display the magnitudes of the first driving force and the second driving force.
  • the display device 60 is also connected with input devices such as keys and touch devices, so that the user can input the magnitude of the first driving force or the second driving force through the input device according to different needs or preferences of the user, which is beneficial to control the motor 20
  • the rotating assembly 100 is driven to rotate with a corresponding driving force.
  • the display device 60 is, for example, a screen display device such as a liquid crystal display screen or an OLED display screen.
  • the display device 60 can display specific information such as a first driving force of 20N and a second driving force of 25N.
  • the PTZ 200 further includes a base 210 and a handle 220, and the display device 60 may be disposed on the base 210 or the handle 220 to facilitate user input or reading of data. It can be understood that the display device 60 may also be connected to the first shaft arm 10 or provided separately from the first shaft arm 10. Therefore, this embodiment does not specifically limit the specific position of the display device 60.
  • the rotating assembly 100 further includes a second shaft arm 40, and the second shaft arm 40 is rotatably connected to the first shaft arm 10.
  • the motor 20 drives the first shaft arm 10 to rotate about the rotation axis 102 relative to the second shaft arm 40.
  • the motor 20 drives the first shaft arm 10 to a predetermined position with the first driving force
  • the first shaft arm 10 is locked with the second shaft arm 40 through the locking device 30.
  • the motor 20 drives the first shaft arm 10 to rotate with the second driving force to cause the locking device 30 to unlock the second shaft arm 40 from the first shaft arm 10.
  • the rotating assembly 100 includes two shaft arms, which facilitates the installation of the first shaft arm 10 on the second shaft arm 40.
  • the first shaft arm 10 is in the locked state, the first shaft arm 10 is fixed relative to the second shaft arm 40.
  • the second axis arm 40 can be rotatably disposed on an external device such as a drone or a handheld bracket.
  • the second axis arm 40 can be rotatably disposed on a handheld bracket, so that the gimbal 200 can be relatively opposed to each other. Turn in the handheld stand.
  • the second shaft arm 40 is rotatable about a yaw (yaw) axis relative to an external device.
  • the rotation axis 102 is a roll axis. That is, the motor 20 drives the first shaft arm 10 to rotate relative to the second shaft arm 40 about the roll axis.
  • the rotation axis 102 may be other axes such as the yaw axis.
  • the second shaft arm 40 may be omitted. That is, the rotation assembly 100 includes a single shaft arm (first shaft arm 10). Of course, in other embodiments, the number of the shaft arms of the rotating assembly 100 may be three or more, and is not limited herein.
  • the first shaft arm 10 is bifurcated as a whole, and the middle portion of the first shaft arm 10 is rotatably connected to the second shaft arm 40. It should be noted that the specific shapes of the first shaft arm 10 and the second shaft arm 40 may be specifically designed according to requirements, and are not limited to the examples in the drawings.
  • the first shaft arm 10 is provided with a predetermined working angle range, and the predetermined position for locking and unlocking the rotating assembly 100 is outside the working angle range of the first shaft arm 10.
  • the predetermined position may be a position where the first shaft arm 10 is outside the working range after the first shaft arm 10 is rotated by -60 ° or + 60 °, so as to facilitate the gimbal 200 in the predetermined working angle range. The inside turns steadily.
  • the locking device 30 includes an elastic member 31 fixed on the motor base 50.
  • the elastic member 31 is provided with a first limiting structure 32 in an axial direction of the motor 20.
  • the locking device 30 further includes a second limiting structure 33 disposed on the rotating shaft 21 of the motor 20.
  • the locking device 30 locks the rotating component 100 by a snapping manner, and the structure is simple and easy to implement.
  • the motor base 50 is used to install the motor 20, and the elastic member 31 may be fixed on the motor base 50 by means of welding, fastener connection, and the like.
  • the elastic member 31 includes an elastic piece or a spring.
  • the elastic piece 31 can be made of an elastic metal material such as stainless steel, and the elastic force of the elastic piece 31 can be set according to the thickness of the elastic piece.
  • the elastic member 31 is a spring
  • the spring may be a spring such as a coil spring. At this time, the elastic force of the elastic member 31 may be specifically set according to the elastic stiffness of the spring.
  • the elastic member 31 may be other elastic members.
  • the second limiting structure 33 and the rotating shaft 21 of the motor 20 may be an integrally formed structure or a separate-molded structure.
  • the second limiting mechanism structure can be fixed on the rotating shaft 21 of the motor 20 by welding or the like.
  • the second limiting structure 33 is disposed on a shaft end surface 211 of the rotating shaft 21 of the motor 20, and the elastic member 31 is disposed opposite to the shaft end surface 211. In this way, the fixed position of the second limiting structure 33 is easy to achieve, and the gimbal 200 is easy to manufacture and form.
  • the first limiting structure 32 is formed with a latch slot 321
  • the second limiting structure 33 is formed with a latch block 331 that cooperates with the latch slot 321.
  • the rotation shaft 21 rotates, so that the elastic member 31 is elastically deformed in a direction away from the card block 331 when the card block 331 abuts the card slot 321, and then resets, so that the card block 331 snaps into the card slot when the rotation assembly 100 is at a predetermined position. 321.
  • the rotation component 100 can be prevented from rotating, so that the rotation component 100 can be locked.
  • the clamping block 331 is in the position shown in FIG. 4, for example.
  • the rotating shaft 21 of the motor 20 stops rotating, so that the rotating assembly 100 is locked.
  • the block 331 After the block 331 is inserted into the slot 321, if the motor 20 drives the rotating shaft 21 to rotate with an elastic force greater than the elastic member 31, the block 331 will disengage from the slot 321. At this time, the rotation assembly 100 is unlocked and the motor 20 can drive the rotation assembly 100 turns. It should be noted that, as shown in the examples of FIGS. 2 and 3, the first shaft arm 10 is connected to the motor 20. Therefore, when the motor 20 rotates, the first shaft arm 10 and the first limiting structure 32 rotate with the motor 20. While turning.
  • the first limiting structure 32 is formed with a clamping block
  • the second limiting structure 33 is formed with a engaging slot that cooperates with the engaging block.
  • the engaging slot rotates with the rotating shaft 21 of the motor 20 to engage the engaging block.
  • the elastic member 31 is first elastically deformed in a direction away from the card block and then resets, so that the card block is inserted into the card slot when the rotating component 100 is located at a predetermined position.
  • the motor base 50 includes an outer wall 51, the elastic member 31 is located outside the outer wall 51, and the first limiting structure 32 passes through the outer wall 51 and extends into the outer wall 51 along the axial direction of the motor 20. During the elastic deformation of the elastic member 31, the first limiting structure 32 moves along the axial direction of the motor 20 relative to the outer wall 51.
  • the elastic member 31 is located outside the outer wall 51 to facilitate the installation of the elastic member 31, to avoid interference between the elastic member 31 and the motor 20.
  • the first limiting structure 32 extends through the outer wall 51 into the outer wall 51 so that the first limiting structure 32 It is easy to engage with the second limiting structure 33 to lock the rotating assembly 100.
  • the first position-limiting structure 32 is columnar.
  • the first position-limiting structure 32 may be cylindrical or square in shape. It can be understood that the axial dimension of the first limiting structure 32 is greater than the thickness of the outer wall 51, so that the first limiting structure 32 can engage with the second limiting structure 33 during the movement relative to the outer wall 51.
  • the first position-limiting structure 32 is formed with a guide surface 322 that guides the latching block 331 into the latching slot 321.
  • the guide surface 322 can enable the clamping block 331 to be smoothly introduced into the clamping slot 321.
  • the guide surface 322 is, for example, a curved surface or an inclined surface that can guide the latching block 331 into the latching groove 321.
  • the locking device 30 includes a first element fixed to the first shaft arm 10 and a second element fixed to the second shaft arm 40, wherein when the second shaft arm 40 is located at a predetermined position, the first element The second and second elements are attracted or repelled to lock the first shaft arm 10 and the second shaft arm 40.
  • first element and the second element can lock the first shaft arm 10 and the second shaft arm 40 by the attracting force or the repulsive force.
  • the first element and the second element are, for example, a hydraulic element, a pneumatic element, or a magnetic element, which can generate attracting or repulsive forces.
  • the first element is, for example, a first magnetic element 34 described below
  • the second element is, for example, a second magnetic element 35 described below.
  • the locking device 30 includes a first magnetic element 34 fixed to the first shaft arm 10 and a second magnetic element 35 fixed to the second shaft arm 40.
  • first magnetic element 34 and the second magnetic element 35 are attracted to lock the first and second axis arms 10 and 40.
  • the attracting force generated by the first magnetic element 34 and the second magnetic element 35 can lock the first shaft arm 10 and the second shaft arm 40, or the attracting force can prevent the first shaft arm 10 from opposing each other.
  • the second shaft arm 40 rotates.
  • the first magnetic element 34 may be fixed on the first shaft arm 10 by means of adhesion
  • the second magnetic element 35 may be fixed on the second shaft arm 40 by means of adhesion.
  • the first shaft arm 10 and the second shaft arm 40 may be provided with corresponding receiving slots to receive the first magnetic element 34 and the second magnetic element 35.
  • the second magnetic element 35 includes a phase attracting surface opposite to the first magnetic element 34.
  • the alignment of the first magnetic element 34 and the second magnetic element 35 means that the orthographic projection of the first magnetic element 34 on the phase attracting surface falls on the phase Suction surface.
  • the first magnetic element 34 and the second magnetic element 35 are both magnets, so as to obtain a suitable attracting force of the first magnetic element 34 and the second magnetic element 35. It can be understood that when the first magnetic element 34 is a magnet, the second magnetic element 35 may also be a ferromagnetic substance, or when the second magnetic element 35 is a magnet, the first magnetic element 34 may also be a ferromagnetic substance. This embodiment This is not limited.
  • first magnetic element 34 and the second magnetic element 35 can both be electromagnetic elements. It can be understood that the magnetic element can generate a magnetic force after being energized.
  • the first magnetic element 34 and the second magnetic element 35 repel to lock the first shaft arm 10 and the second shaft arm. 40.
  • the magnetic properties of the first magnetic element 34 and the second magnetic element 35 are the same, thereby generating mutually repulsive forces.
  • the repulsive force can form a torque that drives the rotation of the first shaft arm 10, and when the first magnetic element 34 and the second magnetic element
  • the element 35 is biased, and the repulsive forces cause the first shaft arm 10 to be at a dead point of rotation, and the transmission angle of the first shaft arm 10 is zero, so that the first shaft arm 10 cannot continue to rotate and is locked.
  • the second magnetic element 35 includes a repulsive surface opposite to the first magnetic element 34. The bias of the first magnetic element 34 and the second magnetic element 35 means that the first magnetic element 34 falls on the orthographic projection of the repulsive surface. Outside the repulsive surface.
  • the locking and unlocking of the locking device 30 may also be achieved by using an external force instead of the motor 20.
  • a first driving force may be applied by a user at a predetermined position to lock the first swing arm, and / or a second driving force may be applied by a user at a predetermined position to unlock the first shaft arm 10.
  • this embodiment is not limited.

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Abstract

一种云台（200），包括至少一个转动组件（100），每个转动组件（100）包括第一轴臂（10）、电机（20）和锁定装置（30），该电机（20）驱动第一轴臂（10）转动，电机（20）以第一驱动力驱动转动组件（100）转至预定位置时，通过锁定装置（30）将转动组件（100）锁定，在该预定位置，电机（20）以第二驱动力驱动转动组件（100）转动以使锁定装置（30）解除转动组件（100）的锁定。

Description

云台 技术领域
本申请涉及増稳设备领域，尤其涉及一种云台。
背景技术
在相关技术中，云台上设置有锁紧机构，锁紧机构用于锁紧云台的转轴以防止转轴随意转动，然而，锁紧机构的锁紧力较大，导致云台的锁紧和解锁过程操作不便。
申请内容
本申请提供一种云台。
本申请实施方式的云台包括至少一个转动组件，每一所述转动组件包括第一轴臂及驱动所述第一轴臂转动的电机，所述转动组件还包括锁定装置；其中：
所述电机以第一驱动力驱动所述转动组件转至预定位置时，通过所述锁定装置将所述转动组件锁定；
在所述预定位置，所述电机以第二驱动力驱动所述转动组件转动以使所述锁定装置解除所述转动组件的锁定。
本申请实施方式的云台中，电机驱动转动组件以使锁定装置可以锁定及解锁转动组件，可通过第一驱动力和第二驱动力直接锁定和解锁转动组件，使得转动组件的锁定及解锁过程简单，操作简单。
本申请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云台的立体示意图；
图2是本申请实施方式的云台的部分立体示意图；
图3是本申请实施方式的云台的内部结构示意图；
图4及图5是本申请实施方式的云台的状态示意图；
图6及图7是本申请实施方式的云台的另一个立体示意图；
图8及图9是本申请实施方式的云台的再一个立体示意图。
主要元件符号说明：
云台200、转动组件100、转动轴线102、第一轴臂10、电机20、转轴21、轴端面211、锁定装置30、弹性件31、第一限位结构32、卡槽321、导引面322、第二限位结构33、卡块331、第一磁性元件34、第二磁性元件35、第二轴臂40、电机基座50、外壁51、显示装置60、负载300。
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。
在本申请的描述中，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，因此不能理解为对本申请的限制。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。在本申请的描述中，“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，也可以是电连接或可以相互通讯；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。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
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。
请参阅图1-图3，本申请实施方式的云台200包括至少一个转动组件100，每个转动组件100包括第一轴臂10、电机20和锁定装置30。
电机20驱动第一轴臂10转动，其中，电机20以第一驱动力驱动转动组件100转至预定位置时，通过锁定装置30将转动组件100锁定。在所述预定位置， 电机20以第二驱动力驱动转动组件100转动以使锁定装置30解除转动组件100的锁定。
本申请实施方式的云台200中，电机20驱动转动组件100以使锁定装置30可以锁定及解锁转动组件100，可通过第一驱动力和第二驱动力直接锁定和解锁转动组件，使得转动组件100的锁定及解锁过程简单，操作简单。另外，转动组件100锁定和解锁的过程无需手工驱动转动组件100，这样可以提高用户的体验度。
具体地，转动组件100的数量可以一个、两个或三个等数量。第一轴臂10可以用于安装相机等负载300，以实现相机等负载300増稳。
电机20可以为伺服电机或步进电机，电机20可以驱动第一轴臂10转动，从而实现负载300増稳。锁定装置30可以为机械锁定结构，在锁定装置30为机械锁定结构时，锁定装置30可以通过两个元件接触而产生锁定转动组件100的锁定力。当然，锁定装置30也可以利用具有吸引力或排斥力的其他合适的锁定结构，例如相吸或相斥的磁铁、液压或气动等其他锁定结构，在此不作限定。
在一个例子中，在云台200收到关机指令时，可以控制电机20以第一驱动力驱动转动组件100转至预定位置，以使转动组件100被锁定而处于锁定状态，这样可以防止转动组件100在云台200处于非工作状态下随意晃动而受到物理冲击损坏。在一种实施方式中，云台200的电机20断电，云台200处于非工作状态，转动组件100被锁定后，使得云台200在非工作状态下不会自由转动，避免磕碰导致的损坏。
在另一个例子中，在云台200收到开机指令时，可以控制电机20以第二驱动力驱动转动组件100以使转动组件100处于解锁状态，这样有利于转动组件100转动以实现负载300的増稳。
在一些实施方式中，第一驱动力与所述第二驱动力的输出值大于云台工作状态下的电机20输出的驱动力的输出值。具体地，云台工作状态是指云台200的电机20通电后调整云台200的转动组件100的状态。如此，电机20以更大 的驱动力驱动转动组件100的锁定装置30对转动组件100进行锁定与解锁，以避免在云台200工作状态下误锁定的情况发生。
进一步地，在一种实施方式中，第一驱动力与第二驱动力为预设大小。也即是说，第一驱动力与第二驱动力可以根据具体需求具体设定。其中，第一驱动力可以大于第二驱动力，第一驱动力可以等于第二驱动力，第一驱动力也可以小于第二驱动力，本实施例不作限定。优选地，第一驱动力与第二驱动力的预设大小相同。
在一些实施方式中，第一驱动力与第二驱动力通过外部输入指令获取。例如，云台200上可以设置有按键、触摸装置等输入装置，在转动组件100锁定或解锁前，可以通过输入装置输入第一驱动力或第二驱动力的大小，以使输入装置生成相应的指令以控制电机20以对应的驱动力驱动转动组件100转动而进入锁定或解锁状态。
请参阅图1，进一步地，在某些实施方式中，云台200还包括有显示装置60，第一驱动力和第二驱动力的数值大小可以分别在显示装置60显示。如此，显示装置60可以便于显示出第一驱动力和第二驱动力的大小。进一步地，所述显示装置60还连接有按键、触摸装置等输入装置，以便于用户通过输入装置根据用户不同的需要或喜好输入第一驱动力或第二驱动力的大小，有利于控制电机20以相应的驱动力驱动转动组件100转动。
显示装置60例如为液晶显示屏、OLED显示屏等屏幕显示设备。显示装置60例如可以显示第一驱动力为20N，第二驱动力为25N等具体信息。
在一种实施方式中，云台200还包括有基座210与手柄220，显示装置60可以设置在基座210或手柄220上，以方便用户输入或读取数据。可以理解，显示装置60也可以通过连接在第一轴臂10上，或者与第一轴臂10分离设置，因此，本实施方式不对显示装置60的具体位置作具体限定。
请参阅图1-图3，在某些实施方式中，转动组件100还包括第二轴臂40，第二轴臂40转动连接第一轴臂10。电机20驱动第一轴臂10绕转动轴线102 相对于第二轴臂40转动。其中，电机20以第一驱动力驱动第一轴臂10转至预定位置时，第一轴臂10通过锁定装置30与第二轴臂40锁定。在预定位置时，电机20以第二驱动力驱动第一轴臂10转动以使锁定装置30解除第二轴臂40与第一轴臂10的锁定。
如此，转动组件100包括有两个轴臂，这样有利于第一轴臂10安装在第二轴臂40上。在第一轴臂10处于锁定状态时，第一轴臂10相对于第二轴臂40固定。
在一个例子中，第二轴臂40可以转动地设置无人机、手持支架等外部设备上，例如，第二轴臂40可以转动地设置在手持支架上，以使云台200可以整体地相对于手持支架转动。在一种实施方式中，第二轴臂40可以相对于外部设备绕yaw(偏航)轴线转动。
在一些实施方式中，上述转动轴线102为roll(翻滚)轴线。也即是说，电机20驱动第一轴臂10绕roll轴线相对于第二轴臂40转动。当然，转动轴线102也可为yaw轴线等其他轴线。
在其他实施方式中，第二轴臂40可以省略。也即是说，转动组件100包括单个轴臂(第一轴臂10)。当然，在其他实施方式中，转动组件100的轴臂的数量可以为3个或3个以上等数量，在此不作限定。
在图2的示例中，第一轴臂10整体呈分叉形，第一轴臂10的中间部位与第二轴臂40转动连接。需要指出的是，第一轴臂10和第二轴臂40的具体形状可以根据需求具体设计，并不限于图中的示例。
在一些实施方式中，第一轴臂10设置有预定的工作角度范围，所述将转动组件100锁定与解锁的预定位置处于第一轴臂10的工作角度范围之外。例如，在一种实施例中，第一轴臂10工作时，第一轴臂10相对于第二轴臂40在-45°～+45°之间的范围内转动。此时，所述预定位置可以为第一轴臂10转动-60°或+60°等角度后第一轴臂10处于工作范围外所处的位置，以利于云台200在预定的工作角度范围内稳定地转动。
请参阅图3，在某些实施方式中，锁定装置30包括固定在电机基座50上的弹性件31，弹性件31在电机20的轴向上设置有第一限位结构32。锁定装置30还包括有设置在电机20的转轴21上的第二限位结构33。电机20驱动转动组件100转至预定位置时，第一限位结构32与第二限位结构33卡合以防止转动组件100转动从而使转动组件100锁定。
如此，锁定装置30通过卡合的方式锁定转动组件100，结构简单，容易实现。具体地，电机基座50用于安装电机20，弹性件31可以通过焊接、紧固件连接等方式固定在电机基座50上。
进一步地，弹性件31包括弹片或弹簧，当弹性件31为弹片时，弹片例如可以采用不锈钢等弹性金属材料制成，弹性件31的弹力可以根据弹片的厚度设定。当弹性件31为弹簧时，弹簧可以为螺旋弹簧等弹簧，此时，弹性件31的弹力可以根据弹簧的弹性刚度具体设定。当然，弹性件31可以为其他具有弹性的元件。
第二限位结构33与电机20的转轴21可以为一体成型结构，也可以为分体成型结构。在第二限位结构33与电机20的转轴21为分体成型结构时，第二限位机构结构可以通过焊接等方式固定在电机20的转轴21上。
在某些实施方式中，第二限位结构33设置在电机20的转轴21的轴端面211，弹性件31与轴端面211相对设置。如此，第二限位结构33的固定位置容易实现，云台200容易制造形成。
请参阅图3，在某些实施方式中，第一限位结构32形成有卡槽321，第二限位结构33形成有与卡槽321配合的卡块331，卡块331随着电机20的转轴21转动，以在卡块331抵持卡槽321时使弹性件31先向远离卡块331的方向产生弹性变形后复位，以使卡块331在转动组件100位于预定位置时卡入卡槽321中。
如此，卡块331卡入卡槽321后，可以防止转动组件100转动，从而可以将转动组件100锁定。具体地，请参阅图4及图5，转动组件100未锁定时， 卡块331例如处于图4中的位置，电机20的转轴21绕方向R转动后，卡块331随着转轴21一并转动，最终卡入卡槽321内，如图5所示，此时，电机20的转轴21停止转动，从而使得转动组件100锁定。
当卡块331在卡入卡槽321内后，如果电机20以大于弹性件31的弹力驱动转轴21转动，卡块331将脱离卡槽321，此时转动组件100解锁，电机20可以驱动转动组件100转动。需要指出的是，如图2及图3的示例中，第一轴臂10连接电机20，因此，在电机20转动时，第一轴臂10和第一限位结构32随着电机20的转动而转动。
当然，在其他实施方式中，第一限位结构32形成有卡块，第二限位结构33形成有与卡块配合的卡槽，卡槽随着电机20的转轴21转动，以在卡块抵持卡槽时使弹性件31先向远离卡块的方向产生弹性变形后复位，以使卡块在转动组件100位于预定位置时卡入卡槽中。
请参阅图3，在某些实施方式中，电机基座50包括外壁51，弹性件31位于外壁51外，第一限位结构32沿电机20的轴向穿过外壁51并伸入外壁51内，在弹性件31产生弹性变形过程中，第一限位结构32相对于外壁51沿电机20的轴向移动。
如此，弹性件31位于外壁51外有利于弹性件31安装，避免弹性件31与电机20干涉，另外，第一限位结构32穿过外壁51伸入外壁51内，使得第一限位结构32和第二限位结构33容易卡合，以将转动组件100锁定。
进一步地，在一个例子中，第一限位结构32呈柱状，例如，第一限位结构32可以呈圆柱状或方柱状等形状。可以理解，第一限位结构32的轴向尺寸大于外壁51的厚度，以使第一限位结构32在相对于外壁51活动的过程中可以与第二限位结构33卡合。
如图4及图5所示，在某些实施方式中，第一限位结构32形成有导引卡块331卡入卡槽321的导引面322。如此，导引面322可以使得卡块331可以顺利地导入卡槽321中。导引面322例如为弧形面或斜面等可以引导卡块331卡入 卡槽321的表面。
在某些实施方式中，锁定装置30包括固定在第一轴臂10的第一元件和固定在第二轴臂40的第二元件，其中，第二轴臂40位于预定位置时，第一元件和第二元件通过相吸或相斥以锁定第一轴臂10和第二轴臂40。
如此，第一元件和第二元件通过相吸的作用力或相斥的作用力可以将第一轴臂10和第二轴臂40锁定。第一元件和第二元件例如为液压元件、气压元件或磁性元件等可以产生相吸或相斥的作用力的元件。
本申请的示例中，第一元件例如为下文所述的第一磁性元件34，第二元件例如为下文所述的第二磁性元件35。
请参阅图6及图7，在某些实施方式中，锁定装置30包括固定在第一轴臂10的第一磁性元件34和固定在第二轴臂40的第二磁性元件35，其中，第二轴臂40位于预定位置时，第一磁性元件34与第二磁性元件35相吸以锁定第一轴臂10和第二轴臂40。
如此，第一磁性元件34和第二磁性元件35产生相吸的作用力可以将第一轴臂10和第二轴臂40锁定，或者说，相吸的作用力可以防止第一轴臂10相对于第二轴臂40转动。
第一磁性元件34可以通过粘接的方式固定在第一轴臂10上，第二磁性元件35可以通过粘接的方式固定在第二轴臂40上。进一步地，为了使得云台200的结构更加紧凑，第一轴臂10和第二轴臂40可以开设相应的收容槽，以收容第一磁性元件34和第二磁性元件35。
在第一磁性元件34和第二磁性元件35为相吸的元件时，此时，第一轴臂10和第二轴臂40锁定时，第一磁性元件34与第二磁性元件35在预定位置对齐设置。如此，第一磁性元件34和第二磁性元件35的相吸的作用力最大，可以提高第一轴臂10和第二轴臂40锁定的稳定性。第二磁性元件35包括与第一磁性元件34相对的相吸表面，第一磁性元件34和第二磁性元件35对齐指的是，第一磁性元件34在上述相吸表面的正投影落在相吸表面内。
在一种实施例中，所述第一磁性元件34和第二磁性元件35均为磁铁，以获得合适的第一磁性元件34和第二磁性元件35的相吸的作用力。可以理解，当第一磁性元件34为磁铁时，第二磁性元件35也可以为铁磁性物质，或第二磁性元件35为磁铁时，第一磁性元件34也可以为铁磁性物质，本实施例对此不作限定。
进一步地，当电机20以第二驱动力驱动转轴21转动时，亦即，当电机20以大于第一磁性元件34和第二磁性元件35之间的相吸的作用力来驱动转轴21转动时，克服上述相吸的作用力，从而实现解锁。
当然，第一磁性元件34和第二磁性元件35可以均为电磁元件，可以理解，电磁元件通电后可以产生磁性力。
请参阅图8及图9，在某些实施方式中，第二轴臂40位于预定位置时，第一磁性元件34与第二磁性元件35相斥以锁定第一轴臂10和第二轴臂40。例如，第一磁性元件34和第二磁性元件35的磁性相同，从而产生相互排斥的作用力。
在第一磁性元件34和第二磁性元件35为相斥的元件时，此时，第一轴臂10和第二轴臂40锁定时，第一磁性元件34与第二磁性元件35偏向设置。
可以理解，第一磁性元件34和第二磁性元件35产生相斥的作用力时，相斥的作用力可以形成驱动第一轴臂10转动的转矩，当第一磁性元件34与第二磁性元件35偏向设置，相斥的作用力使得第一轴臂10处于转动的死点位置，第一轴臂10的传动角为零，使得第一轴臂10无法继续转动，从而锁定。第二磁性元件35包括与第一磁性元件34相对于的相斥表面，第一磁性元件34和第二磁性元件35偏向设置指的是，第一磁性元件34在上述相斥表面的正投影落在相斥表面外。
进一步地，当电机20以第二驱动力驱动转轴21转动时，亦即，当电机20以大于第一磁性元件34和第二磁性元件35之间的相斥的作用力驱动转轴21转动时，克服上述相斥的作用力，从而实现解锁。
可以理解，在一些实施例中，也可以通过借助外力而非电机20来实现锁定装置30的锁定与解锁。例如，在一种实施方式中，可以通过用户在预定位置施加第一驱动力，使得第一转臂锁定，和/或通过用户在预定位置施加第二驱动力，使得第一轴臂10解锁。在此，本实施例不作限定。
在本说明书的描述中，参考术语“一个实施方式”、“某些实施方式”、“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。
尽管已经示出和描述了本申请的实施方式，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施方式进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。

Claims (20)

  1. 一种云台，包括至少一个转动组件，每一所述转动组件包括第一轴臂及驱动所述第一轴臂转动的电机，其特征在于，所述转动组件还包括锁定装置；其中：
    所述电机以第一驱动力驱动所述转动组件转至预定位置时，通过所述锁定装置将所述转动组件锁定；
    在所述预定位置，所述电机以第二驱动力驱动所述转动组件转动以使所述锁定装置解除所述转动组件的锁定。
  2. 如权利要求1所述的云台，其特征在于，所述转动组件包括转动连接所述第一轴臂的第二轴臂；
    所述电机驱动所述第一轴臂绕转动轴线相对于所述第二轴臂转动，其中，所述电机以所述第一驱动力驱动所述第一轴臂转至所述预定位置时，所述第一轴臂通过所述锁定装置与所述第二轴臂锁定；在所述预定位置时，所述电机以所述第二驱动力驱动所述第一轴臂转动以使所述锁定装置解除所述第二轴臂与所述第一轴臂的锁定。
  3. 如权利要求1或2所述的云台，其特征在于，所述第一驱动力与所述第二驱动力的输出值大于所述云台工作状态下电机输出的驱动力的输出值。
  4. 如权利要求3所述的云台，其特征在于，所述第一驱动力与所述第二驱动力为预设大小。
  5. 如权利要求4所述的云台，其特征在于，所述第一驱动力与所述第二驱动力的预设大小相同。
  6. 如权利要求3所述的云台，其特征在于，所述第一驱动力与所述第二驱动力通过外部输入指令获取。
  7. 如权利要求1或2所述的云台，其特征在于，所述锁定装置包括：
    固定在电机基座上的弹性件，所述弹性件在所述电机的轴向上设置有第一限位结构；和
    设置在所述电机的转轴上的第二限位结构；
    所述电机驱动所述转动组件转至所述预定位置时，所述第一限位结构与所述第二限位结构卡合以防止所述转动组件转动从而使所述转动组件锁定。
  8. 如权利要求7所述的云台，其特征在于，所述第二限位结构设置在所述电机的转轴的轴端面，所述弹性件与所述轴端面相对设置。
  9. 如权利要求7所述的云台，其特征在于，所述第一限位结构形成有卡槽，所述第二限位结构形成有与所述卡槽配合的卡块，所述卡块随着所述电机的转轴转动，以在所述卡块抵持所述卡槽时使所述弹性件先向远离所述卡块的方向产生弹性变形后复位，以使所述卡块在所述转动组件位于所述预定位置时卡入所述卡槽中。
  10. 如权利要求7所述的云台，其特征在于，所述第一限位结构形成有卡块，所述第二限位结构形成有与所述卡块配合的卡槽，所述卡槽随着所述电机的转轴转动，以在所述卡块抵持所述卡槽时使所述弹性件先向远离所述卡块的方向产生弹性变形后复位，以使所述卡块在所述转动组件位于所述预定位置时卡入所述卡槽中。
  11. 如权利要求9或10所述的云台，其特征在于，所述电机基座包括外壁， 所述弹性件位于所述外壁外，所述第一限位结构沿所述电机的轴向穿过所述外壁并伸入所述外壁内，在所述弹性件产生弹性变形过程中，所述第一限位结构相对于所述外壁沿所述电机的轴向移动。
  12. 如权利要求11所述的云台，其特征在于，所述第一限位结构呈柱状。
  13. 如权利要求9所述的云台，其特征在于，所述第一限位结构形成有导引所述卡块卡入所述卡槽的导引面。
  14. 如权利要求7所述的云台，其特征在于，所述弹性件包括弹片或弹簧。
  15. 如权利要求2所述的云台，其特征在于，所述锁定装置包括固定在所述第一轴臂的第一元件和固定在所述第二轴臂的第二元件，其中，所述第二轴臂位于所述预定位置时，所述第一元件和第二元件通过相吸或相斥以锁定所述第一轴臂和所述第二轴臂。
  16. 如权利要求15所述的云台，其特征在于，所述锁定装置包括：
    固定在所述第一轴臂的第一磁性元件；和
    固定在所述第二轴臂的第二磁性元件，其中，所述第二轴臂位于所述预定位置时，所述第一磁性元件与所述第二磁性元件相吸以锁定所述第一轴臂和所述第二轴臂。
  17. 如权利要求16所述的云台，其特征在于，所述第一轴臂和所述第二轴臂锁定时，所述第一磁性元件与所述第二磁性元件对齐设置。
  18. 如权利要求15所述的云台，其特征在于，所述锁定装置包括：
    固定在所述第一轴臂的第一磁性元件；和
    固定在所述第二轴臂的第二磁性元件，其中，所述第二轴臂位于所述预定位置时，所述第一磁性元件与所述第二磁性元件相斥以锁定所述第一轴臂和所述第二轴臂。
  19. 如权利要求18所述的云台，其特征在于，所述第一轴臂和所述第二轴臂锁定时，所述第一磁性元件与所述第二磁性元件偏向设置。
  20. 如权利要求1所述的云台，其特征在于，所述云台还包括有显示装置，所述第一驱动力和所述第二驱动力在所述显示装置显示。
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