WO2020024123A1 - 云台及云台系统 - Google Patents

云台及云台系统 Download PDF

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Publication number
WO2020024123A1
WO2020024123A1 PCT/CN2018/097886 CN2018097886W WO2020024123A1 WO 2020024123 A1 WO2020024123 A1 WO 2020024123A1 CN 2018097886 W CN2018097886 W CN 2018097886W WO 2020024123 A1 WO2020024123 A1 WO 2020024123A1
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WO
WIPO (PCT)
Prior art keywords
wall
connecting arm
hole
gimbal
arm
Prior art date
Application number
PCT/CN2018/097886
Other languages
English (en)
French (fr)
Inventor
褚宏鹏
刘浩
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/CN2018/097886 priority Critical patent/WO2020024123A1/zh
Priority to CN201880039095.4A priority patent/CN110809688B/zh
Publication of WO2020024123A1 publication Critical patent/WO2020024123A1/zh
Priority to US17/158,730 priority patent/US20210148509A1/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • 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
    • F16M11/12—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
    • 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
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2021—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis
    • F16M11/2028—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis for rolling, i.e. 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
    • 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
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R31/00—Coupling parts supported only by co-operation with counterpart
    • H01R31/005—Intermediate parts for distributing signals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
    • F16M2200/045—Balancing means for balancing rotational movement of the undercarriage for panning 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
    • F16M2200/06—Arms
    • F16M2200/065—Arms with a special structure, e.g. reinforced or adapted for space reduction
    • 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
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R35/00—Flexible or turnable line connectors, i.e. the rotation angle being limited
    • H01R35/02—Flexible line connectors without frictional contact members

Definitions

  • the present disclosure relates to the technical field of mechanical stabilization, and in particular, to a gimbal and a gimbal system.
  • the connecting arms of the gimbal are connected by a rotating shaft, and multiple connecting arms are electrically connected by routing the hollow part of the rotating shaft.
  • the diameter of the rotating shaft needs to be made relatively large. Large, the volume of the head is large, which is not conducive to the miniaturization of the head, and the portability of the head is poor.
  • Embodiments of the present invention provide a PTZ and a PTZ system.
  • the gimbal according to the embodiment of the present invention includes at least one rotating shaft and a motor.
  • the gimbal further includes:
  • a first connecting arm, the first connecting arm is provided with an escape hole
  • a second connecting arm that is rotationally connected to the first connecting arm
  • a connecting piece, the connecting piece penetrating the avoidance hole, and two ends of the connecting piece are respectively connected to the first connecting arm and the second connecting arm;
  • the motor is used to drive the first connecting arm and the second connecting arm to relatively rotate around the rotation axis, and the connecting member moves in the avoidance hole.
  • the centerline of the avoidance hole is arc-shaped, and the centerline of the avoidance hole is centered on the rotation axis.
  • the second connecting arm includes a main body and a cover connected to the main body.
  • the cover is provided with a through hole, and a position of the through hole corresponds to a position of the avoidance hole.
  • the connecting member passes through the through hole to penetrate the cover and is connected to the main body.
  • the center line of the through hole is arc-shaped, and the center line of the through hole is centered on the rotation axis.
  • the connecting member includes a wire and a connection head connected to both ends of the wire.
  • a first connection seat is installed on the first connection arm, and a second connection arm is installed on the second connection arm.
  • a connecting seat the wire passing through the avoidance hole, the connecting head located at one end of the wire connected to the first connecting seat, and the connecting head located at the other end of the wire connected to the second The connection seat is connected.
  • the wire includes a removable first segment and a second segment, the first segment is connected to the first connector, and the second segment is connected to the second connector .
  • the rotation axis is at least one of a yaw axis, a roll axis, and a pitch axis of the gimbal.
  • the first connection arm is formed with an avoidance space
  • the avoidance hole is in communication with the avoidance space
  • the connecting member and the second connection arm portion are located in the escape space.
  • the first connecting arm includes a first wall, a connecting wall, and a second wall that are sequentially connected, and the first wall, the connecting wall, and the second wall are generally U-shaped.
  • the first wall and the second wall are relatively spaced apart to form the avoidance space.
  • the avoidance hole is provided on at least one of the first wall and the second wall.
  • first wall and / or the second wall are provided with a first shaft hole
  • the second connecting arm is provided with a second shaft hole aligned with the first shaft hole.
  • the rotating shaft passes through the first shaft hole and the second shaft hole.
  • the rotating shaft is rotatably connected to the first wall and / or the second wall through a bearing, and the rotating shaft is fixedly connected to the second connecting arm after passing through the second shaft hole.
  • the rotating shaft is a screw, and the rotating shaft penetrates the second shaft hole and is screw-connected with the second connecting arm.
  • the first shaft hole is opened near the top of the first wall and / or the second wall
  • the second connecting arm is further configured to connect a load
  • the second The connecting arm includes a weight structure, and the weight structure and the load are located on opposite sides of the rotating shaft.
  • a receiving groove is formed on a side of the first wall remote from the second wall, the avoidance hole is opened at a groove bottom of the receiving groove, and the connector is partially received in the receiving groove.
  • the first connecting arm further includes an end cover, and the end cover is detachably mounted on the first wall to cover the receiving slot.
  • the pan / tilt head includes a handle, and the handle is rotatably connected to the connecting wall.
  • a connecting hole is formed at the bottom of the first wall, and the connecting hole communicates with the receiving slot to allow The connection line of the handle passes through the connection hole, enters the receiving slot, and connects with the connector on the first connection arm.
  • the gimbal is a handheld gimbal or an airborne gimbal.
  • the motor is mounted on the second connecting arm.
  • connection member is electrically connected to the motor.
  • a load is mounted on the second connecting arm, and when the second connecting arm rotates relative to the first connecting arm, the load drives the load to rotate relative to the first connecting arm.
  • the load includes at least one of an imaging device and a display device.
  • the connecting member is provided with an escape hole to connect the first connecting arm and the second connecting arm, and when the first connecting arm and the second connecting arm are relatively rotated, the connecting member can be Avoiding movement in the hole, there is no need to form a space in the rotating shaft for the connecting member to pass through, so the diameter of the rotating shaft can be made smaller, which is conducive to the miniaturization of the gimbal and the high portability of the gimbal.
  • FIG. 1 is a schematic three-dimensional assembly diagram of a pan / tilt system according to an embodiment of the present invention
  • FIG. 2 is a schematic perspective assembly diagram of the PTZ system in another state according to the embodiment of the present invention.
  • FIG. 3 is an enlarged schematic view of a part III of the gimbal system in FIG. 1;
  • FIG. 4 is an enlarged schematic diagram of a part IV of the gimbal system in FIG. 2;
  • FIG. 5 is an exploded perspective view of a pan / tilt system according to an embodiment of the present invention.
  • FIG. 6 is a schematic plan assembly view of a pan / tilt system according to an embodiment of the present invention.
  • FIG. 7 is a schematic cross-sectional view of a gimbal system according to an embodiment of the present invention, taken along the line VII-VII in FIG. 6;
  • FIG. 8 is an enlarged schematic view of a part VIII of the gimbal system in FIG. 7.
  • the first feature "on” or “down” of the second feature may be the first and second features in direct contact, or the first and second features indirectly through an intermediate medium. contact.
  • the first feature is “above”, “above”, and “above” the second feature.
  • the first feature is directly above or obliquely above the second feature, or only 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.
  • the first feature may be directly below or obliquely below the second feature, or it may simply indicate that the first feature is less horizontal than the second feature.
  • a PTZ system 1000 includes a PTZ 100 and a load 200.
  • the load 200 is installed on the gimbal 100. Specifically, the load 200 may be detachably installed on the gimbal 100, the load 200 may communicate with the gimbal 100 through a wired connection or wireless connection, and the load 200 may not be connected with the gimbal 100. PTZ 100 communication. According to the different usage requirements of the PTZ system 1000, you can choose to carry different loads 200 on it.
  • the load 200 can be an imaging device, such as a visible light camera, a mobile phone with a shooting function, a depth camera, an infrared camera, etc.
  • the load 200 may be a display device, such as a mobile phone with a display function, a game console, a smart watch, a headset device, or the like.
  • the load 200 may be a device having both an imaging function and a display function, or a device that realizes other functions.
  • the load 200 may be a flash, a radar, or the like.
  • the load 200 is taken as an example to describe an imaging device having a display function.
  • the gimbal 100 can be used to carry the load 200.
  • the movement of the gimbal 100 can drive the load 200 to change the direction and position of the data collected or transmitted by the load 200.
  • the movement of the pan / tilt 100 can cause the direction of the image captured by the imaging device to change, and at the same time, the angle at which the imaging device displays the image changes.
  • the gimbal 100 can be a handheld gimbal, and users can hold the gimbal 100 with one or two hands; the gimbal 100 can also be an airborne gimbal.
  • the gimbal 100 can be mounted on a drone, such as an unmanned aerial vehicle, Waiting on a person or car.
  • the pan / tilt head 100 is used as an example for description.
  • the pan / tilt head 100 includes a first connecting arm 10, a second connecting arm 20, a rotating shaft 30, a connecting member 40, and a motor 50.
  • the first connecting arm 10 is provided with an escape hole 11.
  • the second connecting arm 20 is rotatably connected to the first connecting arm 10.
  • the connecting member 40 passes through the avoidance hole 11, and two ends of the connecting member 40 are respectively connected to the first connecting arm 10 and the second connecting arm 20.
  • the motor 50 can be used to drive the first connecting arm 10 and the second connecting arm 20 to relatively rotate around the rotation shaft 30, and the connecting member 40 moves in the avoiding hole 11.
  • the connecting member 40 is provided with an escape hole 11 to connect the first connecting arm 10 and the second connecting arm 20, and when the first connecting arm 10 and the second connecting arm 20 are relatively rotated.
  • the connecting member 40 can move in the avoidance hole 11 and there is no need to form a space in the rotating shaft 30 for the connecting member 40 to pass through. Therefore, the diameter of the rotating shaft 30 can be made smaller, which is conducive to the miniaturization of the PTZ 100.
  • the station 100 has high portability.
  • the first connecting arm 10 is formed with an avoidance space 13.
  • the avoidance space 13 can be used to prevent the first connecting arm 10 and the second connecting arm 20 from rotating when the first connecting arm 10 and the second connecting arm 20 are relatively rotated. Interference occurred.
  • the avoidance hole 11 communicates with the avoidance space 13, so that after the connecting member 40 passes through the avoidance hole 11, one part can be located in the avoidance space 13 and the other part can be located outside the avoidance space 13.
  • the first connecting arm 10 includes a first wall 14, a connecting wall 15, and a second wall 16 connected in this order.
  • the first wall 14, the connecting wall 15 and the second wall 16 are U-shaped as a whole.
  • the first wall 14 and the second wall 16 are spaced from each other to form an escape space 13.
  • the heights of the first wall 14 and the second wall 16 may be the same or may be different, and two ends of the connecting wall 15 are respectively connected to the first wall 14 and the second wall 16.
  • the avoidance hole 11 is provided on the first wall 14.
  • the avoidance hole 11 communicates with both sides of the first wall 14.
  • a part of the connection member 40 is located on one side of the first wall 14 and another part is located on the other side of the first wall 14.
  • a part of the connecting member 40 is located in the avoidance space 13 and another part is located outside the escape space 13, and the two parts pass through the escape hole 11 and are connected to each other.
  • the avoidance hole 11 is provided on the first wall 14, and the avoidance hole 11 may not completely penetrate the first wall 14, for example, the avoidance hole 11 is opened on one side of the first wall 14, and the first wall 14 A hollow cavity can be formed in the interior of the cavity.
  • the avoidance hole 11 communicates with the escape space 13 and the hollow cavity. The user can extend the connecting member 40 from the escape hole 11 into the hollow cavity to connect with the first connecting arm 10.
  • the avoidance hole 11 may be opened on the second wall 16, and the connecting member 40 passes through the avoidance hole 11 to pass through the second wall 16.
  • the avoidance hole 11 may also be opened on the first wall at the same time. 14 and the second wall 16, at least one connector 40 passes through the avoidance hole 11 on the first wall 14 to pass through the first wall 14, and at least one connector 40 passes through the escape hole 11 on the second wall 16 to pass through ⁇ ⁇ ⁇ 16 ⁇ Over the second wall 16.
  • the avoidance hole 11 is opened on the second wall 16, the second wall 16 may not be completely penetrated.
  • the avoidance hole 11 is opened on one side of the second wall 16, and the inside of the second wall 16 may be hollow.
  • the avoidance hole 11 communicates with the escape space 13 and the hollow cavity. The user can extend the connecting member 40 from the escape hole 11 into the hollow cavity to connect with the first connecting arm 10.
  • the first connecting arm 10 is also provided with a first connecting base 12.
  • the first connecting base 12 may be a part of the first connecting arm 10.
  • the first connecting base 12 may be a socket capable of being used for electrical connection.
  • the first connecting base The pins on 12 can be conducted with the electronic components mounted on the first connecting arm 10.
  • the first connection base 12 is disposed on the first wall 14.
  • the second connection arm 20 is rotatably connected to the first connection arm 10, and the second connection arm 20 is rotatably connected to the first connection arm 10 through the rotation shaft 30.
  • the second connecting arm 20 is partially located in the avoidance space 13 and partly outside the avoidance space 13.
  • the second connecting arm 20 is in a “Z” shape as a whole, and one end of the second connecting arm 20 is located in the avoidance space. In the space 13, the other end is connected to the load 200.
  • the second connecting arm 20 rotates relative to the first connecting arm 10
  • the second connecting arm 20 drives the load 200 to rotate relative to the first connecting arm 10.
  • the second connecting arm 20 and the load 200 may be rotatably connected.
  • the second connecting arm 20 includes a main body 21 and a cover 22.
  • the cover 22 may be detachably mounted on the main body 21.
  • the cover 22 is located between the main body 21 and the first wall 14.
  • the cover 22 is provided with a through hole 221.
  • the position of the through hole 221 may correspond to the position of the avoidance hole 11. After the connector 40 passes through the avoidance hole 11, it may pass through the through hole 221 to pass through the cover 22 and further communicate with the cover 22.
  • the main body 21 is connected.
  • the shape of the through hole 221 may be a circle, an ellipse, a square, or the like.
  • the center line of the through hole 221 is an arc, and the center line of the through hole 221 is centered on the rotation axis 30.
  • the connecting member 40 can also move in the through hole 221, and the through hole 221 having a circular centerline makes the second connecting arm 20 and the first connecting arm 10 opposite to each other. Rotate a larger angle.
  • a second connection base 23 is installed on the second connection arm 20.
  • the second connection base 23 may be a part of the second connection arm 20.
  • the second connection base 23 may be a socket that can be used for electrical connection.
  • the second connection base 23 The upper pins can be electrically connected to the electronic components mounted on the second connecting arm 20.
  • the second connection base 23 is disposed on the main body 21, and the number of the second connection bases 23 may be one or more. After the cover 22 is installed on the main body 21, the cover 22 can prevent dust And the role of water vapor entering the second connection seat 23 to improve the overall sealing performance of the gimbal 100.
  • the rotating shaft 30 can be used to rotate and connect the first connecting arm 10 and the second connecting arm 20.
  • the rotation axis 30 can be used as the yaw axis Z of the gimbal 100; the rotation axis 30 can be used as the roll axis X of the gimbal 100; the rotation axis 30 can be used as the pitch axis Y of the gimbal 100; the rotation axis 30 can also be multiple, and multiple rotation axes 30 As at least two axes of the yaw axis Z, the roll axis X, and the pitch axis Y, respectively, there is no limitation here.
  • the embodiment of the present invention is described by taking the rotating shaft 30 as the roll axis X of the head 100 as an example.
  • the rotating shaft 30 passes through the first connecting arm 10 and the second connecting arm 20 to rotate and connect the first connecting arm 10 and the second connecting arm 20.
  • the first connecting arm 10 is provided with a first shaft hole 17, and the second connecting arm 20 is provided with a second shaft hole 24.
  • the second shaft hole 24 is aligned with the first shaft hole 17. More specifically, the first A shaft hole 17 is opened in the first wall 14 and the second wall 16, and a second shaft hole 24 is opened in the cover 22 and the main body 21.
  • the rotating shaft 30 passes through the first shaft hole 17 and the second shaft hole 24.
  • the number of the rotating shaft 30 is two. One rotating shaft 30 passes through the first shaft hole 17 on the first wall 14 and the second shaft on the cover 22 in this order.
  • the hole 24 and the second shaft hole 24 on the main body 21; the other shaft 30 passes through the first shaft hole 17 on the second wall 16 and the second shaft hole 24 on the first body 21 in this order.
  • the rotating shaft 30 is rotatably connected to the first wall 14 and the second wall 16, and the rotating shaft 30 is fixedly connected to the second connecting arm 20.
  • a bearing is installed in the first shaft hole 17, and the rotating shaft 30 passes through the first shaft hole 17 and is rotatably connected to the first wall 14 and the second wall 16 through the bearing.
  • the rotating shaft 30 penetrates the second shaft hole 24 and is fixedly connected with the second connecting arm 20.
  • the rotating shaft 30 is a screw, and the rotating shaft 30 penetrates the second shaft hole 24 and can be screwed with the second connecting arm 20.
  • the rotating shaft 30 may be fixedly connected to the first connecting arm 10 and synchronously rotate, and the rotating shaft 30 and the second connecting arm 20 may be relatively rotatably connected.
  • the first shaft hole 17 may be provided only on the first wall 14 or only on the second wall 16, and the number of the rotation shafts 30 may be single.
  • the specific form of the rotation shaft 30 is not limited to the above-mentioned example, as long as the first connection arm 10 and the second connection arm 20 can be rotatably connected.
  • first connection arm 10 and the second connection arm 20 may be opposite connection structures.
  • the second connection arm 20 may include a first wall, a connection wall, and a second wall, and is formed with a "concave” "-Shaped structure
  • the first connecting arm 10 may be formed with a" convex "-shaped structure, and is located in an escape space formed by the first wall, the connecting arm, and the second wall of the second connecting arm 20;
  • the “convex” shaped structure and the “concave” shaped structure of the second connecting arm 20 cooperate with each other and can be relatively rotated around the rotation shaft 30.
  • the corresponding avoidance hole 11 may be provided on at least one of the first wall or the second wall of the second connection arm 20, and the connecting member 40 is connected to the first connection in the escape space 13 through one end of the avoidance hole 11.
  • the other end of the arm 10 is connected to the first wall or the second wall of the second connection arm 20 so as to achieve the same connection function as the aforementioned connection structure of the first connection arm 10 and the second connection arm 20.
  • the connecting member 40 is provided with an avoidance hole 11. A part of the connecting member 40 is located in the avoiding space 13 and a part is located outside the avoiding space 13. The two ends of the connecting member 40 are respectively connected to the first connecting arm 10 and the first. ⁇ ⁇ ⁇ 20 ⁇ Two connecting arms 20.
  • the connecting member 40 also passes through the through hole 221 of the cover 22.
  • the cover 22 may be omitted in some embodiments.
  • the connecting member 40 does not need to pass through the through hole 221.
  • both ends of the connecting member 40 are electrically connected to the first connecting arm 10 and the second connecting arm 20, so that the first connecting arm 10 and the second connecting arm 20 are electrically connected to each other through the connecting member 40 and Electrical signals are transmitted, or components mounted on the first connection arm 10 and the second connection arm 20 are electrically connected to each other through the connection member 40 and transmit the electrical signals.
  • the connecting member 40 may also physically connect the first connecting arm 10 and the second connecting arm 20 instead of being electrically connected.
  • the connecting member 40 includes a wire 41 and a connecting head 42.
  • the lead 41 passes through the avoidance hole 11 and the through hole 221.
  • the connection heads 42 are provided at both ends of the lead wire 41, and the number of the connection heads 42 provided at any one end of the lead wire 41 may be single or plural.
  • two ends of the lead wire 41 are respectively provided with a connector 42, and the connector 42 may be a plug that can be used for electrical connection.
  • the connector 42 located at one end of the lead 41 is connected to the first connection base 12, and the connector 42 located at the other end of the lead 41 is connected to the second connection base 23.
  • the connecting member 40 electrically connects the first connecting base 12 and the second connecting base 23, that is, the electronic components mounted on the first connecting arm 10 and the electronic elements mounted on the second connecting arm 20 are electrically connected.
  • Device is, the electronic components mounted on the first connecting arm 10 and the electronic elements mounted on the second connecting arm 20 are electrically connected.
  • the wire 41 includes a first section 411 and a second section 412, and the first section 411 and the second section 412 are detachably connected.
  • the first section 411 is connected to one connector 42 and the second section 412 is connected to another connector 42.
  • the connector 42 connected to the first section 411 and the first connector 12 can be connected first, the connector 42 connected to the second section 412 and the second connector 23 can be connected, and then the first A section 411 passes through the avoidance hole 11 and the through hole 221, and connects the first section 411 and the second section 412, so that during the installation process, the connector 42 does not need to pass through the avoidance hole 11 and the through hole 221, and the avoidance hole 11 and The size of the through hole 221 can be made smaller.
  • the motor 50 is used to drive the first connecting arm 10 and the second connecting arm 20 to rotate relatively.
  • the motor 50 may be a brushless motor, a stepping motor, or the like.
  • the motor 50 may be installed on the second connecting arm 20, and the motor 50 and the load 200 may be respectively installed on opposite sides of the rotating shaft 30 so that the motor 50 can be used as a part of the counterweight.
  • the motor 50 is electrically connected to the connection member 40, and the control signal of the motor 50 can be transmitted to the motor 50 through the connection member 40 and the second connection base 23.
  • FIG. 1 and FIG. 2 are schematic diagrams of the state when the second connecting arm 20 and the first connecting arm 10 are relatively rotated to different angles. Please refer to FIG. 3 and FIG. 4, and the second connecting arm 20 and the first connecting arm 10 When the relative rotation is different, the position of the connecting member 40 in the avoidance hole 11 changes accordingly. Specifically, the connector 42 is always connected to the first connecting seat 12 and the second connecting seat 23, and the wire 41 is in the avoiding hole 11. The middle movement is adapted to the relative rotation of the second connecting arm 20 and the second connecting arm 20.
  • the connecting piece 40 of the gimbal 100 is provided with an escape hole 11 to connect the first connecting arm 10 and the second connecting arm 20, and when the first connecting arm 10 and the second connecting arm 20 are relatively rotated, the connecting member 40 can Moving in the avoidance hole 11 does not need to form a space in the rotating shaft 30 for the connecting member 40 to pass through, so the diameter of the rotating shaft 30 can be made smaller, which is conducive to the miniaturization of the PTZ 100 and the portability of the PTZ 100 Higher.
  • the center line of the avoidance hole 11 is arc-shaped, and the center line of the avoidance hole 11 is centered on the rotation shaft 30. It can be understood that, in the embodiment of the present invention, when the second connecting arm 20 is rotated relative to the first connecting arm 10, the second connecting arm 20 drives the connecting member 40 to move in the avoidance hole 11, and the connecting member 40 is in the avoiding hole 11.
  • the motion trajectory is a circular arc with the rotation axis 30 as the center.
  • the avoidance hole 11 is designed to have a circular arc in the center line, which can better fit the movement track of the connecting member 40 in the avoidance hole 11.
  • the specific shape of the avoidance hole 11 is not limited to the above discussion, and there may be other, for example, the avoidance hole 11 can also be opened in a circle, oval, square, etc. It is only necessary to make the escape hole 11 allow the connecting member 40 to move Just fine.
  • the first shaft hole 17 is opened near the top of the first wall 14 and the second wall 16.
  • the second connecting arm 20 is used to connect the load 200.
  • the second connecting arm 20 includes a weight structure 25.
  • the weight structure 25 and the load 200 are located on opposite sides of the rotating shaft 30.
  • the positions of the first wall 14 and the second wall 16 near the top may be positions on the first wall 14 and the second wall 16 that are far from the ends of the connection wall 15.
  • the weight structure 25 and the load 200 are located on opposite sides of the rotation axis 30, so that the second connection arm 20 rotates more It is stable and the rotation angle of the second connecting arm 20 is easy to control.
  • the first wall 14 is provided with a receiving groove 18, and the receiving groove 18 is opened on the side of the first wall 14 away from the second wall 16.
  • the avoidance hole 11 is opened at the bottom of the receiving groove 18, and the connecting member 40 is partially received in the receiving groove 18.
  • the first connecting arm 10 further includes an end cover 19, which is detachably mounted on the first wall 14 to cover the receiving groove 18.
  • the first connecting base 12 may be installed in the receiving groove 18, and a part of the connecting members 40 may be received in the receiving groove 18, so as to prevent the first connecting base 12 and the connecting member 40 from protruding from the first wall 14.
  • Both the first shaft hole 17 and the avoidance hole 11 can be opened in the groove bottom of the receiving groove 18.
  • the end cover 19 covers the receiving slot 18, and firstly blocks the components such as the first connecting base 12.
  • the appearance of the PTZ 100 is more beautiful.
  • the first wall 14 may not have the receiving groove 18 formed, and the avoidance hole 11 may be directly opened on the outer wall of the first wall 14.
  • the end cap 19 in the above embodiment may be omitted.
  • the head 100 further includes a handle 60.
  • the handle 60 is rotatably connected to the connection wall 15.
  • the bottom of the first wall 14 is provided with a connecting hole 1a.
  • the connecting hole 1a communicates with the receiving groove 18 to allow the connecting wire 61 of the handle 60 to pass through the connecting hole 1a.
  • the connecting wire 61 enters the receiving groove 18 and the first connecting arm 10.
  • the connector 1b is connected.
  • the user can hold the handle 60 to hold the gimbal 100.
  • the handle 60 may be provided with an operation member 62.
  • the operation member 62 may be a button, a lever, a touch screen, a touch surface, etc.
  • the user can also operate the operation member 62 to control the PTZ 100 while holding the handle 60, such as controlling the first A connecting arm 10 rotates relative to the handle 60, controls the second connecting arm 20 to rotate relative to the first connecting arm 10, controls the load 200 to rotate relative to the second connecting arm 20, and the like.
  • the connection line 61 may be a flexible circuit board, and the connection line 61 may be connected to the connector 1b.
  • the connector 1 b may be electrically connected to the electronic components on the first connection arm 10, for example, to the first connection base 12.
  • the operation instruction input by the user on the handle 60 can be transmitted to the connector 1b through the connection line 61, and the connector 1b is then transmitted to the electronic components on the first connection arm 10, or through the first connection base 12, and the connection The component 40 and the second connection base 23 are transmitted to the electronic components on the second connection arm 20.
  • information such as the operating status of the electronic components on the second connection arm 20 and the electronic components on the first connection arm 10 can also be transmitted to the handle 60 through the connection line 61.
  • the bottom of the first wall 14 may be an end of the first wall 14 connected to the connection wall 15.
  • Both the connector 1b and the connecting wire 61 can be covered by the end cover 19, and will not be exposed outside the gimbal 100 to make the gimbal 100 more beautiful in appearance, and the connector 1b and the connecting wire 61 are protected from external dust and water vapor.
  • 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 at least one of the features. In the description of the present invention, the meaning of "plurality” is at least two, for example, two, three, unless specifically defined otherwise.

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Abstract

一种云台(100)及云台系统(1000)。云台(100)包括第一连接臂(10)、第二连接臂(20)、转轴(30)、连接件(40)及电机(50)。第一连接臂(10)开设有避让孔(11)。第二连接臂(20)与第一连接臂(10)转动连接。连接件(40)穿设避让孔(11)，连接件(40)的两端分别连接第一连接臂(10)及第二连接臂(20)。电机(50)可用于驱动第一连接臂(10)和第二连接臂(20)绕转轴(30)相对转动，且连接件(40)在避让孔(11)中运动。

Description

云台及云台系统 技术领域
本公开涉及机械增稳技术领域，特别涉及一种云台及云台系统。
背景技术
通常云台的连接臂之间通过转轴连接，且通过在转轴的中空部分走线以将多个连接臂电性连接，为了使得中空部分有足够的空间布置线路，需要将转轴的直径制作得较大，导致云台的体积也较大，不利于实现云台的小型化，云台的便携性较差。
发明内容
本发明的实施方式提供了一种云台及云台系统。
本发明实施方式的云台包括至少一个转轴及电机，所述云台还包括：
第一连接臂，所述第一连接臂开设有避让孔；
第二连接臂，所述第二连接臂与所述第一连接臂转动连接；及
连接件，所述连接件穿设所述避让孔，所述连接件的两端分别连接所述第一连接臂及所述第二连接臂；
其中，所述电机用于驱动所述第一连接臂和所述第二连接臂绕所述转轴相对转动，且所述连接件在所述避让孔中运动。
在某些实施方式中，所述避让孔的中心线呈圆弧形，所述避让孔的中心线以所述转轴为中心。
在某些实施方式中，所述第二连接臂包括主体及连接在所述主体上的盖体，所述盖体上开设有通孔，所述通孔的位置与所述避让孔的位置对应，所述连接件穿过所述通孔以穿设所述盖体，并与所述主体连接。
在某些实施方式中，所述通孔的中心线呈圆弧形，所述通孔的中心线以所述转轴为中心。
在某些实施方式中，所述连接件包括导线及连接在所述导线的两端的连接头，所述第一连接臂上安装有第一连接座，所述第二连接臂上安装有第二连接座，所述导线穿设所述避让孔，位于所述导线的一端的所述连接头与所述第一连接座连接，位于所述导线的另一端的所述连接头与所述第二连接座连接。
在某些实施方式中，所述导线包括可拆装的第一段及第二段，所述第一段与所述第一连接头连接，所述第二段与所述第二连接头连接。
在某些实施方式中，所述转轴为所述云台的偏航轴、横滚轴、俯仰轴中的至少之一。
在某些实施方式中，所述第一连接臂形成有避让空间，所述避让孔与所述避让空间连通，所述连接件及所述第二连接臂部分位于所述避让空间内。
在某些实施方式中，所述第一连接臂包括依次连接的第一壁、连接壁及第二壁，所述第一壁、所述连接壁及所述第二壁整体呈U形，所述第一壁与所述第二壁相对间隔设置以形成所述避让空间。
在某些实施方式中，所述避让孔设于所述第一壁及所述第二壁的至少之一上。
在某些实施方式中，所述第一壁及/或所述第二壁上开设有第一轴孔，所述第二连接臂开设有与所述第一轴孔对准的第二轴孔，所述转轴穿设所述第一轴孔及所述第二轴孔。
在某些实施方式中，所述转轴通过轴承与所述第一壁及/或所述第二壁转动连接，所述转轴穿入所述第二轴孔后与所述第二连接臂固定连接。
在某些实施方式中，所述转轴为螺钉，所述转轴穿入所述第二轴孔并与所述第二连接臂螺合连接。
在某些实施方式中，所述第一轴孔开设在所述第一壁及/或所述第二壁的靠近顶部的位置，所述第二连接臂还用于连接负载，所述第二连接臂包括配重结构，所述配重结构及所述负载位于所述转轴的相背的两侧。
在某些实施方式中，所述第一壁上远离所述第二壁的一侧开设有收容槽，所述避让孔开设在所述收容槽的槽底，所述连接件部分收容在所述收容槽内，所述第一连接臂还包括端盖，所述端盖可拆装地安装在所述第一壁上以遮盖所述收容槽。
在某些实施方式中，所述云台包括手柄，所述手柄与所述连接壁转动连接，所述第一壁的底部开设有连接孔，所述连接孔与所述收容槽连通，以允许所述手柄的连接线穿过所述连接孔，并进入所述收容槽与所述第一连接臂上的连接器连接。
在某些实施方式中，所述云台为手持云台或机载云台。
在某些实施方式中，所述电机安装在所述第二连接臂上。
在某些实施方式中，所述连接件与所述电机电连接。
本发明实施方式的云台系统包括：
上述任一实施方式所述的云台；及
负载，所述负载安装在所述第二连接臂上，所述第二连接臂相对于所述第一连接臂转动时带动所述负载相对于所述第一连接臂转动。
在某些实施方式中，所述负载包括成像装置及显示装置中的至少一种。
本发明实施方式的云台及云台系统中，连接件穿设避让孔以连接第一连接臂及第二连接臂，且在第一连接臂及第二连接臂相对转动时，连接件可以在避让孔中运动，不需要在 转轴内形成空间以供连接件穿过，因此转轴的直径可以制作得较小，进而利于实现云台的小型化，云台的便携性较高。
本发明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，或通过本发明的实施方式的实践了解到。
附图说明
本发明的上述和/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是本发明实施方式的云台系统在一个状态下的立体装配示意图；
图2是本发明实施方式的云台系统在另一个状态下的立体装配示意图；
图3是图1中的云台系统III部分的放大示意图；
图4是图2中的云台系统IV部分的放大示意图；
图5是本发明实施方式的云台系统的立体分解示意图；
图6是本发明实施方式的云台系统的平面装配示意图；
图7是本发明实施方式的云台系统沿图6中的VII-VII线的截面示意图；
图8是图7中的云台系统VIII部分的放大示意图。
具体实施方式
以下结合附图对本发明的实施方式作进一步说明。附图中相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。
另外，下面结合附图描述的本发明的实施方式是示例性的，仅用于解释本发明的实施方式，而不能理解为对本发明的限制。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，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”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
请参阅图1及图2，本发明实施方式的云台系统1000包括云台100及负载200。
负载200安装在云台100上，具体地，负载200可以是可拆卸地安装在云台100上，负载200可以与云台100通过有线连接或无线连接的方式进行通讯，负载200也可以不与云台100通讯。依据云台系统1000的不同的使用需求，可以选择在上搭载不同的负载200，在一个例子中，负载200可以是成像装置，例如可见光相机、带有拍摄功能的手机、深度 相机、红外相机等；在另一个例子中，负载200可以是显示装置，例如可以是带有显示功能的手机、游戏机、智能手表、头显设备等。当然，负载200可以是同时具有成像功能及显示功能的装置，也可以是实现其他功能的装置，例如负载200可以是闪光灯、雷达等。在本发明实施例中，以负载200为具有显示功能的成像装置为例进行说明。
云台100可用于搭载负载200，云台100运动可带动负载200运动以改变负载200的采集或发射数据的方向和位置。在本发明实施例中，云台100运动可以带动成像装置采集图像的方向发生改变，同时带动成像装置显示影像的角度也发生改变。云台100可以是手持云台，用户可以单手或双手握持云台100；云台100也可以是机载云台，云台100可以搭载在无人机上，例如搭载在无人飞行器、无人车或无人船上等。在本发明实施例中，以云台100为手持云台100为例进行说明，云台100包括第一连接臂10、第二连接臂20、转轴30、连接件40及电机50。
请结合图3及图4，第一连接臂10开设有避让孔11。第二连接臂20与第一连接臂10转动连接。连接件40穿设避让孔11，连接件40的两端分别连接第一连接臂10及第二连接臂20。电机50可用于驱动第一连接臂10和第二连接臂20绕转轴30相对转动，且连接件40在避让孔11中运动。
本发明实施方式中的云台系统1000中，连接件40穿设避让孔11以连接第一连接臂10及第二连接臂20，且在第一连接臂10及第二连接臂20相对转动时，连接件40可以在避让孔11中运动，不需要在转轴30内形成空间以供连接件40穿过，因此转轴30的直径可以制作得较小，进而利于实现云台100的小型化，云台100的便携性较高。
请参阅图5，第一连接臂10形成有避让空间13，避让空间13可用于在第一连接臂10与第二连接臂20相对转动时，避免第一连接臂10与第二连接臂20之间发生干涉。避让孔11与避让空间13连通，以使得连接件40穿设避让孔11后，可以一部分位于避让空间13内，另一部分位于避让空间13外。具体地，第一连接臂10包括依次连接的第一壁14、连接壁15及第二壁16。第一壁14、连接壁15及第二壁16整体呈U形。第一壁14与第二壁16相对间隔设置以形成避让空间13。第一壁14与第二壁16的高度可以相同或可以不同，连接壁15的两端分别连接第一壁14及第二壁16。
在本发明的一些实施例中，避让孔11设于第一壁14上。避让孔11连通第一壁14的两侧，连接件40穿设避让孔11后，连接件40的一部分位于第一壁14的一侧，另一部分位于第一壁14的另一侧。具体地，连接件40的一部分位于避让空间13内，另一部分位于避让空间13外，且该两部分穿过避让孔11并互相连接。在另一些实施例中，避让孔11设于第一壁14上，避让孔11也可以未完全穿过第一壁14，例如避让孔11开设在第一壁14的一侧，第一壁14的内部可以形成有中空的腔体，避让孔11连通避让空间13及该中空的 腔体，用户可将连接件40从避让孔11伸入该中空的腔体内以与第一连接臂10连接。
在其他实施方式中，避让孔11也可以是开设在第二壁16上，连接件40通过穿过避让孔11以穿过第二壁16；或者，避让孔11也可以同时开设在第一壁14及第二壁16上，至少一个连接件40穿过第一壁14上的避让孔11以穿过第一壁14，至少一个连接件40穿过第二壁16上的避让孔11以穿过第二壁16。当然，当避让孔11开设在第二壁16上时，还可以未完全穿过第二壁16，例如避让孔11开设在第二壁16的一侧，第二壁16的内部可以形成有中空的腔体，避让孔11连通避让空间13及该中空的腔体，用户可将连接件40从避让孔11伸入该中空的腔体内以与第一连接臂10连接。
第一连接臂10上还安装有第一连接座12，第一连接座12可以作为第一连接臂10的一部分，第一连接座12可以是能够用于电性连接的插座，第一连接座12上的引脚可以与安装在第一连接臂10上的电子元器件导通。在本发明实施例中，第一连接座12设置在第一壁14上。
请参阅图1、图2及图5，第二连接臂20与第一连接臂10转动连接，第二连接臂20通过转轴30与第一连接臂10转动连接。第二连接臂20部分位于避让空间13内，部分位于避让空间13外，具体地，在本发明实施例中，第二连接臂20整体呈“Z”字形，第二连接臂20的一端位于避让空间13内，另一端与负载200连接。第二连接臂20相对于第一连接臂10转动时，第二连接臂20带动负载200相对于第一连接臂10转动。第二连接臂20与负载200可以是可转动地连接。
在本发明实施例中，第二连接臂20包括主体21及盖体22。盖体22可以是可拆卸地安装在主体21上，第二连接臂20与第一连接臂10组装好时，盖体22位于主体21与第一壁14之间。盖体22上开设有通孔221，通孔221的位置可以与避让孔11的位置对应，连接件40穿过避让孔11后可以再穿过通孔221以穿过盖体22，并进一步与主体21连接。通孔221的形状可以是圆形、椭圆形、方形等形状，在一个例子中，通孔221的中心线呈圆弧形，通孔221的中心线以转轴30为中心，在第二连接臂20与第一连接臂10绕转轴30相对转动时，连接件40还可以在通孔221内运动，中心线呈圆弧形的通孔221使得第二连接臂20与第一连接臂10可以相对转动更大的角度。
第二连接臂20上安装有第二连接座23，第二连接座23可以作为第二连接臂20的一部分，第二连接座23可以是能够用于电性连接的插座，第二连接座23上的引脚可以与安装在第二连接臂20上的电子元器件导通。在本发明实施例中，第二连接座23设置在主体21上，第二连接座23的数量可以是一个或多个，盖体22安装在主体21上后，盖体22可以起到防止灰尘和水汽进入到第二连接座23中的作用，以提高云台100整体的密封性。
请参阅图5，转轴30可用于转动连接第一连接臂10及第二连接臂20。转轴30可以作 为云台100的偏航轴Z；转轴30可以作为云台100的横滚轴X；转轴30可以作为云台100的俯仰轴Y；转轴30也可以是多个，多个转轴30分别作为偏航轴Z、横滚轴X、俯仰轴Y中的至少两个轴，在此不作限制。本发明实施例以转轴30作为云台100的横滚轴X为例进行说明。
本发明实施例中，转轴30穿设第一连接臂10及第二连接臂20以转动连接第一连接臂10及第二连接臂20。具体地，第一连接臂10上开设有第一轴孔17，第二连接臂20上开设有第二轴孔24，第二轴孔24与第一轴孔17对准，更具体地，第一轴孔17开设在第一壁14及第二壁16上，第二轴孔24开设在盖体22及主体21上。转轴30穿设第一轴孔17及第二轴孔24，转轴30的数量为两个，一个转轴30依次穿过第一壁14上的第一轴孔17、盖体22上的第二轴孔24、及主体21上的第二轴孔24；另一转轴30依次穿过第二壁16上的第一轴孔17及第主体21上的第二轴孔24。
转轴30与第一壁14及第二壁16转动连接，转轴30与第二连接臂20固定连接。在本发明实施例中，第一轴孔17内安装有轴承，转轴30穿过第一轴孔17且通过轴承与第一壁14及第二壁16转动连接。转轴30穿入第二轴孔24后与第二连接臂20固定连接，在一个例子中，转轴30为螺钉，转轴30穿入第二轴孔24可以与第二连接臂20螺合连接。第二连接臂20与第一连接臂10相对转动时，转轴30与第二连接臂20同步转动。
当然，在其他实施方式中，转轴30也可以与第一连接臂10固定连接并同步转动，同时转轴30与第二连接臂20可相对转动地连接。第一轴孔17也可以只开设在第一壁14上，或者只开设在第二壁16上，转轴30的数量也可以是单个。转轴30的具体形式也不限于上述举例的方式，只要能实现转动连接第一连接臂10及第二连接臂20即可。
在另一些实施例中，第一连接臂10与第二连接臂20可以为相反的连接结构，例如，第二连接臂20可以包括第一壁、连接壁和第二壁，并形成有“凹”字形结构，而第一连接臂10可以形成有“凸”字形结构，并位于第二连接臂20的第一壁、连接臂和第二壁所形成的避让空间中；第一连接臂10的“凸”字形结构与第二连接臂20的“凹”字形结构相互配合且可绕转轴30相对转动。此时，相对应的避让孔11可以设于第二连接臂20的第一壁或第二壁的至少之一上，连接件40通过该避让孔11一端连接于避让空间13内的第一连接臂10，另一端连接于第二连接臂20的第一壁或第二壁上，从而实现与前述第一连接臂10与第二连接臂20的连接结构所相同的连接功能。
请参阅图5至图8，连接件40穿设避让孔11，连接件40的一部分位于避让空间13内，一部分位于避让空间13外，连接件40的两端分别连接第一连接臂10及第二连接臂20。在本发明实施例中，连接件40还穿设盖体22的通孔221，当然，盖体22在某些实施方式中可以省略，对应地，连接件40也不需要穿过通孔221。在本发明实施例中，连接件40 的两端电连接第一连接臂10及第二连接臂20，以使第一连接臂10与第二连接臂20之间通过连接件40互相导通并传递电信号，或者安装在第一连接臂10与第二连接臂20上的元器件之间通过连接件40互相导通并传递电信号。当然，连接件40也可以将第一连接臂10及第二连接臂20物理地连接，而非电连接。
具体地，连接件40包括导线41及连接头42。导线41穿过避让孔11及通孔221，当第一连接臂10及第二连接臂20相对转动时，导线41在避让孔11中运动。连接头42设置在导线41的两端，设置在导线41的任意一端的连接头42的数量可以是单个，也可以是多个。在如图5及图8所示的实施例中，导线41的两端分别设置一个连接头42，连接头42可以是能够用于电性连接的插头。其中，位于导线41的一端的连接头42与第一连接座12连接，位于导线41的另一端的连接头42与第二连接座23连接。如此，连接件40将第一连接座12与第二连接座23电连接，也即是电连接了安装在第一连接臂10上的电子元器件及安装在第二连接臂20上的电子元器件。
进一步地，请参阅图5、图6及图8，导线41包括第一段411及第二段412，第一段411及第二段412为可拆装地连接。第一段411与一个连接头42连接，第二段412与另一个连接头42连接。在组装云台100时，可以先将与第一段411连接的连接头42与第一连接座12连接，将与第二段412连接的连接头42与第二连接座23连接，再将第一段411穿过避让孔11及通孔221，将第一段411与第二段412连接，使得在安装的过程中，连接头42不用穿过避让孔11及通孔221，避让孔11及通孔221的尺寸可以设计得较小。
请参阅图2、图7及图8，电机50用于驱动第一连接臂10和第二连接臂20相对转动。具体地，电机50可以是无刷电机、步进电机等。电机50可以安装在第二连接臂20上，电机50与负载200可以分别安装在转轴30的相背的两侧，以使电机50可以作为配重的一部分。电机50与连接件40电连接，电机50的控制信号可以通过连接件40、第二连接座23传输到电机50上。
云台100工作时，电机50在连接件40传输的控制信号的作用下，带动第二连接臂20与第一连接臂10绕转轴30相对转动，负载200也跟随第二连接臂20转动。图1及图2所示为第二连接臂20与第一连接臂10相对转动到不同的角度时的状态示意图，请结合图3及图4，在第二连接臂20与第一连接臂10相对转动到不同的角度时，连接件40在避让孔11中的位置也相应发生改变，具体地，连接头42始终与第一连接座12及第二连接座23连接，导线41在避让孔11中运动以适应第二连接臂20与第二连接臂20的相对转动。
综上，云台100的连接件40穿设避让孔11以连接第一连接臂10及第二连接臂20，且在第一连接臂10及第二连接臂20相对转动时，连接件40可以在避让孔11中运动，不需要在转轴30内形成空间以供连接件40穿过，因此转轴30的直径可以制作得较小，进而 利于实现云台100的小型化，云台100的便携性较高。
请参阅图3及图4，在某些实施方式中，避让孔11的中心线呈圆弧形，避让孔11的中心线以转轴30为中心。可以理解，在本发明实施例中，第二连接臂20相对于第一连接臂10转动时，第二连接臂20带动连接件40在避让孔11中运动，且连接件40在避让孔11中的运动轨迹呈以转轴30为中心的圆弧形。将避让孔11设计成中心线呈圆弧形，可以较好地配合连接件40在避让孔11中的运动轨迹。当连接件40运动至避让孔11的一端时，表示第二连接臂20转动到一个方向上的极限位置；当连接件40运动至避让孔11的另一端时，表示第二连接臂20转动到另一个方向上的极限位置。
当然，避让孔11的具体形状不限于上述讨论，还可以有其他，例如避让孔11也可以开设为圆形，椭圆形、方形等，只需要使得避让孔11内有让连接件40运动的空间即可。
请参阅图2及图5，在某些实施方式中，第一轴孔17开设在第一壁14及第二壁16的靠近顶部的位置。第二连接臂20用于连接负载200，第二连接臂20包括配重结构25，配重结构25及负载200位于转轴30的相背的两侧。第一壁14及第二壁16的靠近顶部的位置，可以是第一壁14及第二壁16上，远离连接壁15的一端的位置。在第二连接臂20绕转轴30转动时，第二连接臂20实际上绕转轴30自转，配重结构25与负载200位于转轴30的相背的两侧，使得第二连接臂20转动地更平稳，第二连接臂20的转动角度容易控制。
请参阅图4及图5，在某些实施方式中，第一壁14上开设有收容槽18，收容槽18开设在第一壁14上远离第二壁16的一侧。避让孔11开设在收容槽18的槽底，连接件40部分收容在收容槽18内。第一连接臂10还包括端盖19，端盖19可拆装地安装在第一壁14上以遮盖收容槽18。具体地，第一连接座12可以安装在收容槽18内，部分连接件40可以收容在收容槽18内，而避免第一连接座12及连接件40从第一壁14中凸出。第一轴孔17及避让孔11等均可以开设在收容槽18的槽底。通过端盖19遮盖收容槽18，一来遮挡了第一连接座12等元件，云台100的外形较美观，二来便于密封收容槽18，避免灰尘进入第一连接座12等元件上。当然，在其他实施方式中，第一壁14也可以未形成收容槽18，避让孔11可以直接开设在第一壁14的外壁上。上述实施方式中的端盖19也可以省略。
请参阅图2及图5，在某些实施方式中，云台100还包括手柄60。手柄60与连接壁15转动连接。第一壁14的底部开设有连接孔1a，连接孔1a与收容槽18连通，以允许手柄60的连接线61穿过连接孔1a，连接线61进入收容槽18与第一连接臂10上的连接器1b连接。
用户可以手持手柄60以握持住云台100。手柄60上可以设置有操作件62，操作件62可以是按键、拨杆、触摸屏、触控表面等，用户手持手柄60的同时还可以在操作件62上操作以控制云台100，例如控制第一连接臂10相对于手柄60转动，控制第二连接臂20相 对于第一连接臂10转动、控制负载200相对于第二连接臂20转动等。连接线61可以是柔性电路板，连接线61可以连接在连接器1b上。连接器1b可以与第一连接臂10上的电子元器件电连接，例如与第一连接座12电连接。
用户在手柄60上输入的操作指令，可以通过连接线61传输到连接器1b上，连接器1b再传输到第一连接臂10上的电子元器件上，或者再通过第一连接座12、连接件40及第二连接座23传输到第二连接臂20上的电子元器件上。当然，第二连接臂20上的电子元器件、第一连接臂10上的电子元器件的运行状态等信息也可以通过连接线61传输到手柄60中。
第一壁14的底部可以是第一壁14上与连接壁15连接的一端。连接器1b及连接线61均可以由端盖19遮盖，不会外露在云台100外以使云台100外形较美观，且避免连接器1b及连接线61受到外界灰尘及水汽的影响。
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”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
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至少一个所述特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个，除非另有明确具体的限定。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (21)

  1. 一种云台，包括至少一个转轴及电机，其特征在于，所述云台还包括：
    第一连接臂，所述第一连接臂开设有避让孔；
    第二连接臂，所述第二连接臂与所述第一连接臂转动连接；及
    连接件，所述连接件穿设所述避让孔，所述连接件的两端分别连接所述第一连接臂及所述第二连接臂；
    其中，所述电机用于驱动所述第一连接臂和所述第二连接臂绕所述转轴相对转动，且所述连接件在所述避让孔中运动。
  2. 根据权利要求1所述的云台，其特征在于，所述避让孔的中心线呈圆弧形，所述避让孔的中心线以所述转轴为中心。
  3. 根据权利要求1所述的云台，其特征在于，所述第二连接臂包括主体及连接在所述主体上的盖体，所述盖体上开设有通孔，所述通孔的位置与所述避让孔的位置对应，所述连接件穿过所述通孔以穿设所述盖体，并与所述主体连接。
  4. 根据权利要求3所述云台，其特征在于，所述通孔的中心线呈圆弧形，所述通孔的中心线以所述转轴为中心。
  5. 根据权利要求1所述的云台，其特征在于，所述连接件包括导线及连接在所述导线的两端的连接头，所述第一连接臂上安装有第一连接座，所述第二连接臂上安装有第二连接座，所述导线穿设所述避让孔，位于所述导线的一端的所述连接头与所述第一连接座连接，位于所述导线的另一端的所述连接头与所述第二连接座连接。
  6. 根据权利要求5所述的云台，其特征在于，所述导线包括可拆装的第一段及第二段，所述第一段与一个所述连接头连接，所述第二段与另一个所述连接头连接。
  7. 根据权利要求1所述的云台，其特征在于，所述转轴为所述云台的偏航轴、横滚轴、俯仰轴中的至少之一。
  8. 根据权利要求1至7任意一项所述的云台，其特征在于，所述第一连接臂形成有避 让空间，所述避让孔与所述避让空间连通，所述连接件及所述第二连接臂部分位于所述避让空间内。
  9. 根据权利要求8所述的云台，其特征在于，所述第一连接臂包括依次连接的第一壁、连接壁及第二壁，所述第一壁、所述连接壁及所述第二壁整体呈U形，所述第一壁与所述第二壁相对间隔设置以形成所述避让空间。
  10. 根据权利要求9所述的云台，其特征在于，所述避让孔设于所述第一壁及所述第二壁的至少之一上。
  11. 根据权利要求9所述的云台，其特征在于，所述第一壁及/或所述第二壁上开设有第一轴孔，所述第二连接臂开设有与所述第一轴孔对准的第二轴孔，所述转轴穿设所述第一轴孔及所述第二轴孔。
  12. 根据权利要求11所述的云台，其特征在于，所述转轴通过轴承与所述第一壁及/或所述第二壁转动连接，所述转轴穿入所述第二轴孔后与所述第二连接臂固定连接。
  13. 根据权利要求11所述的云台，其特征在于，所述转轴为螺钉，所述转轴穿入所述第二轴孔并与所述第二连接臂螺合连接。
  14. 根据权利要求11所述的云台，其特征在于，所述第一轴孔开设在所述第一壁及/或所述第二壁的靠近顶部的位置，所述第二连接臂还用于连接负载，所述第二连接臂包括配重结构，所述配重结构及所述负载位于所述转轴的相背的两侧。
  15. 根据权利要求9所述的云台，其特征在于，所述第一壁上远离所述第二壁的一侧开设有收容槽，所述避让孔开设在所述收容槽的槽底，所述连接件部分收容在所述收容槽内，所述第一连接臂还包括端盖，所述端盖可拆装地安装在所述第一壁上以遮盖所述收容槽。
  16. 根据权利要求15所述的云台，其特征在于，所述云台包括手柄，所述手柄与所述连接壁转动连接，所述第一壁的底部开设有连接孔，所述连接孔与所述收容槽连通，以允许所述手柄的连接线穿过所述连接孔，并进入所述收容槽与所述第一连接臂上的连接器连 接。
  17. 根据权利要求1至7任意一项所述的云台，其特征在于，所述云台为手持云台或机载云台。
  18. 根据权利要求1至7任意一项所述的云台，其特征在于，所述电机安装在所述第二连接臂上。
  19. 根据权利要求1至7任意一项所述的云台，其特征在于，所述连接件与所述电机电连接。
  20. 一种云台系统，其特征在于，包括：
    权利要求1至19任意一项所述的云台；及
    负载，所述负载安装在所述第二连接臂上，所述第二连接臂相对于所述第一连接臂转动时带动所述负载相对于所述第一连接臂转动。
  21. 根据权利要求20所述的云台系统，其特征在于，所述负载包括成像装置及显示装置中的至少一种。
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