WO2020124441A1 - 手持云台 - Google Patents

手持云台 Download PDF

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Publication number
WO2020124441A1
WO2020124441A1 PCT/CN2018/122118 CN2018122118W WO2020124441A1 WO 2020124441 A1 WO2020124441 A1 WO 2020124441A1 CN 2018122118 W CN2018122118 W CN 2018122118W WO 2020124441 A1 WO2020124441 A1 WO 2020124441A1
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WO
WIPO (PCT)
Prior art keywords
handheld gimbal
yaw axis
pitch
yaw
axis motor
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2018/122118
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English (en)
French (fr)
Inventor
谢旻钊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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 SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2018/122118 priority Critical patent/WO2020124441A1/zh
Priority to CN201880040631.2A priority patent/CN110785602A/zh
Publication of WO2020124441A1 publication Critical patent/WO2020124441A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand

Definitions

  • the invention relates to the field of gimbals, in particular to a handheld gimbal.
  • the handle and shaft assembly of most hand-held gimbals cannot be folded relatively, resulting in the hand-held gimbal being too bulky and not easy to carry.
  • the hand-held pan/tilt heads that can be folded, such hand-held pan/tilt heads lack freedom (most have only pitch freedom) and cannot effectively stabilize the shooting device, so high-quality images cannot be obtained.
  • the invention provides a handheld gimbal.
  • a handheld gimbal, the handheld gimbal includes:
  • the handle has a top, a bottom, and a side wall between the top and the bottom;
  • a yaw axis assembly including a yaw axis motor and a yaw axis arm connected to the top;
  • a pitch axis assembly including a pitch axis motor and a pitch axis arm connected to the pitch axis motor;
  • the bearing part is used for carrying a shooting device and is connected with the pitch axis arm;
  • One end of the yaw axis arm is rotatably connected to the yaw axis motor, and the other end is rotatably connected to the pitch axis motor.
  • the yaw axis arm is attached to the side wall of the handle;
  • the yaw axis arm and the side wall of the handle form a preset angle, and the yaw axis motor can drive the pitch axis motor to rotate in the yaw direction ,
  • the pitch motor can drive the bearing portion to rotate in the pitch direction.
  • the yaw axis arm and the yaw axis motor and the pitch axis motor are respectively rotationally connected, and the relative position of the yaw axis arm and the yaw axis motor and the pitch axis motor can be changed
  • the angle allows the yaw axis arm to switch between the relative handle folding and the relative handle unfolding.
  • FIG. 1 is a perspective view of a handheld gimbal in use in an embodiment of the present invention
  • FIG. 2 is a perspective view of the handheld gimbal of the embodiment shown in FIG. 1 in another direction;
  • FIG. 3 is a perspective view of the handheld gimbal in the stored state in an embodiment of the present invention.
  • FIG. 4 is a perspective view of the handheld gimbal of the embodiment shown in FIG. 3 in another direction;
  • FIG. 5 is a perspective view of the handheld gimbal of the embodiment shown in FIG. 3 in yet another direction;
  • FIG. 6 is a perspective view of a handheld gimbal in use in another embodiment of the present invention.
  • FIG. 7 is a perspective view of the handheld gimbal of the embodiment shown in FIG. 6 in a stored state.
  • pitch axis assembly 31: pitch axis motor; 32: pitch axis arm; 321: main body; 322: connecting end;
  • an embodiment of the present invention provides a handheld gimbal
  • the handheld gimbal may include a handle 1, a yaw axis assembly 2, a pitch axis assembly 3 and a bearing portion 4, wherein the handle 1 has a top 11, The bottom 12 and the side wall 13 are located between the top 11 and the bottom 12.
  • the yaw axis assembly 2 includes a yaw axis motor 21 and a yaw axis arm 22, and the pitch axis assembly 3 includes a pitch axis motor 31 and a pitch axis arm 32.
  • the yaw axis motor 21 is connected to the top 11, one end of the yaw axis arm 22 is rotatably connected to the yaw axis motor 21, the other end of the yaw axis arm 22 is rotatably connected to the pitch axis motor 31, and the pitch axis axis
  • the arm 32 is connected to the pitch axis motor 31.
  • the carrying portion 4 of this embodiment is used to mount an imaging device, and the carrying portion 4 is connected to the pitch axis arm 32.
  • the handheld gimbal is switched between the storage state and the use state. Specifically, when the handheld gimbal is switched to the storage state, the yaw axis arm 22 is attached to the side wall 13 of the handle 1, as shown in FIGS. 3 to 5, by folding the yaw axis arm 22, the The volume when the handheld gimbal is stored.
  • the yaw axis arm 22 and the side wall 13 of the handle 1 form a preset angle
  • the yaw axis motor 21 can drive the pitch axis motor 31 to rotate in the yaw direction
  • the pitch motor can drive The bearing portion 4 rotates in the pitch direction, as shown in FIGS. 1 and 2.
  • the yaw axis arm 22 is rotatably connected to the yaw axis motor 21 and the pitch axis motor 31, respectively, by changing the yaw axis arm 22 and the yaw axis motor 21 and the pitch axis motor
  • the relative angle of 31 makes the yaw axis arm 22 switch between the folded state of the relative handle 1 and the expanded state of the relative handle 1.
  • the flexibility of the handheld gimbal between the use state and the storage state is realized Switching, and reducing the volume when the handheld gimbal is stored, making the handheld gimbal easy to carry; in addition, the handheld gimbal of the present invention has two degrees of freedom in yaw and pitch directions, which can effectively increase the stability of the camera Get high-quality images.
  • the handle 1 of this embodiment is a rod-shaped structure.
  • the handle 1 can be a non-telescopic rod with a fixed length and a variable length.
  • the yaw axis arm 22 may have a rod-shaped structure, or may have other shapes.
  • the yaw axis arm 22 is a rod-shaped structure.
  • the length extension direction of the yaw axis arm 22 is the same as the length extension direction of the handle 1.
  • the yaw axis arm 22 is substantially perpendicular to the yaw axis motor 21 and the pitch axis motor 31, which improves the aesthetics of the handheld gimbal when folded, as shown in FIGS. 3 to 5 As shown.
  • the yaw axis arm 22 is not perpendicular to the yaw axis motor 21 and the pitch axis motor 31, as shown in FIGS. 1 and 2.
  • the yaw axis arm 22 and the yaw axis motor 21 are substantially perpendicular to the longitudinal direction of the yaw axis arm 22 and the bottom surface of the yaw axis motor 21 (the surface of the yaw axis motor 21 facing the top 11 )
  • the included angle is approximately 90°.
  • the included angle between the longitudinal direction of the yaw axis arm 22 and the bottom surface of the yaw axis motor 21 is 90° ⁇ 1°.
  • the yaw axis arm 22 is substantially perpendicular to the pitch axis motor 31, which means that the angle between the surface of the yaw axis arm 22 and the pitch axis motor 31 connected to the pitch axis motor 32 is approximately 90°.
  • the angle between the surface of the longitudinal axis arm 22 and the pitch axis motor 31 connected to the pitch axis axis arm 32 is 90° ⁇ 1°.
  • the yaw axis arm 22 is a non-telescopic rod, that is, the length of the yaw axis arm 22 cannot be changed.
  • the length of the yaw axis arm 22 is approximately equal to the length of the handle 1.
  • the handle 1 is a telescopic rod
  • the length of the yaw axis arm 22 is approximately equal to the minimum length of the handle 1.
  • the yaw axis arm 22 is a telescopic rod.
  • the yaw axis arm 22 when the handheld gimbal is switched to the storage state, the yaw axis arm 22 can be shortened to a minimum length, which further reduces the volume of the handheld gimbal when stored.
  • the distance of the shooting device relative to the handle 1 can be adjusted by adjusting the length of the yaw axis arm 22 to meet the user's shooting needs.
  • the minimum length of the yaw axis arm 22 is approximately equal to the length of the handle 1.
  • the minimum length of the yaw axis arm 22 is approximately equal to the minimum length of the handle 1.
  • the minimum length of the yaw axis arm 22 is less than the length of the handle 1.
  • the minimum length of the yaw axis arm 22 is smaller than the minimum length of the handle 1.
  • the retractable structure of the yaw axis arm 22 may include various methods.
  • the yaw axis arm 22 may include multiple links, and the multiple links may cooperate to achieve an increase in the length of the yaw axis arm 22 or shorten.
  • the yaw axis arm 22 includes a first link 221 and a second link 222, the first link 221 and the second link 222 can be based on different ways to achieve the yaw axis arm 22 The length increases or decreases.
  • the first link 221 is rotatably connected to the yaw axis motor 21
  • the second link 222 is rotatably connected to the pitch axis motor 31
  • the second link 222 is slidingly connected to the first link 221
  • the first link 221 and the second link 222 slide relative to each other, the length of the yaw axis arm 22 increases or decreases.
  • the first link 221 and the second link 222 are movably connected, and the relative movement of the first link 221 and the second link 222 increases the length of the yaw axis arm 22 Or shorten it.
  • the first link 221 is provided with one or more fixing structures arranged at intervals along the length direction, such as a snap-fit structure, and when the second link 222 moves relative to the first link 221, it can be fixed by the fixing structure
  • the second link 222 ensures that when the handheld gimbal is in use, the first link 221 and the second link 222 maintain a stable state to ensure the stability of the camera.
  • retractable structure of the yaw axis arm 22 is not limited to the implementation of the structures listed in the above embodiments, and other retractable structures may also be used.
  • the yaw axis motor 21 includes a yaw axis rotor.
  • the yaw axis rotor is rotatably connected to the top 11 and the yaw axis rotor and the yaw axis arm 22 are rotatably connected by a rotation axis.
  • the yaw axis rotor and the yaw axis arm 22 are rotatably connected through the first rotating shaft 6.
  • the pitch axis motor 31 includes a pitch axis stator.
  • the pitch axis stator and the yaw axis arm 22 are rotatably connected by a rotation axis.
  • the pitch axis stator and the yaw axis arm 22 are rotatably connected by a second rotation axis 7.
  • the pitch axis arm 32 of this embodiment may include a main body 321 and a connecting end 322 provided at one end of the main body 321, wherein the connecting end 322 is connected to the pitch motor.
  • the body portion 321 is rod-shaped, and when the hand-held gimbal is switched to the storage state, the body portion 321 is substantially parallel to the side wall 13 of the handle 1, further reducing the occupied space of the pitch axis arm 32, thereby reducing the handhold The volume when the gimbal is stored, and the aesthetics when the hand-held gimbal is stored is improved.
  • the connecting end 322 is substantially perpendicular to the main body 321.
  • the connecting end 322 is substantially perpendicular to the side wall 13 of the handle 1, further reducing the pitch axis
  • the space occupied by the shaft arm 32 reduces the volume when the handheld gimbal is stored, and improves the aesthetics when the handheld gimbal is stored.
  • the handheld gimbal may further include a roll axis motor 5, and the pitch axis arm 32 is connected to the carrying portion 4 via the roll axis motor 5; specifically, roll The shaft motor 5 is connected to the end of the main body portion 321 away from the connecting end 322, and the bearing portion 4 is rotatably connected to the side of the roll shaft motor 5.
  • the pitch axis motor 31 can drive the roll axis motor 5 to rotate in the pitch direction
  • the roll axis motor 5 can drive the bearing portion 4 to rotate in the roll direction.
  • the imaging device mounted on the carrying portion 4 is better stabilized, so that the imaging device can capture high-quality images.
  • the carrier 4 is directly connected to the roll motor 5.
  • the handheld gimbal may further include a roll shaft arm, and the carrying part 4 is connected to the roll shaft motor 5 via the roll shaft arm.
  • the bearing portion 4 is directly connected to the roll axis motor 5.
  • the roll axis motor 5 and the side wall 13 of the handle 1 are substantially parallel, reducing the occupied space of the roll axis motor 5, thereby reducing the volume when the handheld gimbal is stored And, it improves the aesthetics of the handheld gimbal when stored.
  • the yaw direction, the pitch direction and the roll direction are respectively orthogonal, and the handheld gimbal is decoupled in the yaw direction, pitch direction and roll direction, and the control is simpler.
  • the carrying portion 4 is substantially parallel to the side wall 13 of the handle 1, reducing the space occupied by the carrying portion 4, thereby reducing the volume when the handheld gimbal is stored, and, Improves the aesthetics of the handheld gimbal when stored.
  • the carrying portion 4 when the handheld gimbal is switched to the storage state, the carrying portion 4 is located between the yaw axis arm 22 and the roll axis motor 5 to improve the aesthetics of the handheld gimbal during storage.
  • the roll axis motor 5 when the hand-held gimbal is switched to the storage state, the roll axis motor 5 is located between the yaw axis arm 22 and the bearing portion 4, that is, the bearing portion 4 is located on the yaw axis
  • the side of the shaft arm 22 away from the handle 1 improves the aesthetics when the handheld gimbal is stored.
  • the structure of the bearing portion 4 can be designed according to needs.
  • the bearing portion 4 is a sandwiching structure for sandwiching a photographing device.
  • the bearing portion 4 can also be designed as other structures, for example, the bearing portion 4 can be a magnetic structure, and the imaging device is attracted by magnetic force.
  • the photographing device in this embodiment may be a mobile phone, a camera, or other devices with a photographing function.

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

Abstract

一种手持云台，包括：手柄(1)，具有顶部(11)、底部(12)和位于顶部(11)和底部(12)之间的侧壁(13)；偏航轴组件(2)，包括与顶部(11)相连接的偏航轴电机(21)及偏航轴轴臂(22)；俯仰轴组件(3)，包括俯仰轴电机(31)及与俯仰轴电机(31)相连接的俯仰轴轴臂(32)；和承载部(4)，用于搭载拍摄装置，并与俯仰轴轴臂(32)相连接。

Description

手持云台 技术领域
本发明涉及云台领域，尤其涉及一种手持云台。
背景技术
相关技术中，大多数手持云台的手柄与轴组件之间不能相对折叠，导致手持云台的体积过大，不便于携带。目前，虽然存在一些能够折叠的手持云台，但这类手持云台缺少自由度(大多数仅具有俯仰自由度)，无法对拍摄装置进行有效增稳，故而无法获取到高质量的图像。
发明内容
本发明提供一种手持云台。
具体地，本发明是通过如下技术方案实现的：
一种手持云台，所述手持云台包括：
手柄，具有顶部、底部和位于所述顶部和所述底部之间的侧壁；
偏航轴组件，包括与所述顶部相连接的偏航轴电机以及偏航轴轴臂；
俯仰轴组件，包括俯仰轴电机以及与所述俯仰轴电机相连接的俯仰轴轴臂；和
承载部，用于搭载拍摄装置，并与所述俯仰轴轴臂相连接；
所述偏航轴轴臂的一端与所述偏航轴电机可转动连接，另一端与所述俯仰轴电机可转动连接，随所述偏航轴轴臂与所述偏航轴电机以及所述俯仰轴电机的相对转动，使手持云台在收纳状态和使用状态之间切换；
当手持云台切换至所述收纳状态时，所述偏航轴轴臂贴设在所述手柄的侧壁上；
当手持云台切换至所述使用状态时，所述偏航轴轴臂与所述手柄的侧壁成预设夹角，所述偏航轴电机能够驱动所述俯仰轴电机在偏航方向转动，所述俯仰电机能够驱动所述承载部在俯仰方向转动。
由以上本发明实施例提供的技术方案可见，将偏航轴轴臂与偏航轴电机以及俯仰轴电机分别转动连接，可通过改变偏航轴轴臂与偏航轴电机以及俯仰轴电机的相对角度，使得偏航轴轴臂在相对手柄折叠与相对手柄展开两个状态之间切换，通过简单的结构设计，实现了手持云台在使用状态和收纳状态之间的灵活切换，并减小了手持云台收纳时的体积，使得手持云台便于便携；此外，本发明的手持云台具有偏航和俯仰两个方向的自由度，能有效对拍摄装置进行增稳而获得高质量的图像。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一实施例中的手持云台在使用状态下的立体图；
图2是图1所示实施例的手持云台在另一方向的立体图；
图3是本发明一实施例中的手持云台在收纳状态下的立体图；
图4是图3所示实施例的手持云台在另一方向的立体图；
图5是图3所示实施例的手持云台在又一方向的立体图；
图6是本发明另一实施例中的手持云台在使用状态下的立体图；
图7是图6所示实施例的手持云台在收纳状态下的立体图。
附图标记：
1：手柄；11：顶部；12：底部；13：侧壁；
2：偏航轴组件；21：偏航轴电机；22：偏航轴轴臂；221：第一连杆；222：第二连杆；
3：俯仰轴组件；31：俯仰轴电机；32：俯仰轴轴臂；321：主体部；322：连接端；
4：承载部；
5：横滚轴电机；
6：第一转轴；
7：第二转轴。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
下面结合附图，对本发明的手持云台进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
结合图1至图5，本发明实施例提供一种手持云台，该手持云台可包括手柄1、 偏航轴组件2、俯仰轴组件3和承载部4，其中，手柄1具有顶部11、底部12和侧壁13，侧壁13位于顶部11和底部12之间。本实施例中，偏航轴组件2包括偏航轴电机21和偏航轴轴臂22，俯仰轴组件3包括俯仰轴电机31和俯仰轴轴臂32。偏航轴电机21与顶部11相连接，偏航轴轴臂22的一端与偏航轴电机21可转动连接，偏航轴轴臂22的另一端与俯仰轴电机31可转动连接，俯仰轴轴臂32与俯仰轴电机31相连接。进一步的，本实施例的承载部4用于搭载拍摄装置，并且，承载部4与俯仰轴轴臂32相连接。
在本实施例中，随偏航轴轴臂22与偏航轴电机21以及俯仰轴电机31的相对转动，使手持云台在收纳状态和使用状态之间切换。具体的，当手持云台切换至收纳状态时，偏航轴轴臂22贴设在手柄1的侧壁13上，如图3至图5所示，通过折叠偏航轴轴臂22，减小手持云台收纳时的体积。当手持云台切换至使用状态时，偏航轴轴臂22与手柄1的侧壁13成预设夹角，偏航轴电机21能够驱动俯仰轴电机31在偏航方向转动，俯仰电机能够驱动承载部4在俯仰方向转动，如图1和图2所示。
本发明实施例的手持云台，将偏航轴轴臂22与偏航轴电机21以及俯仰轴电机31分别转动连接，可通过改变偏航轴轴臂22与偏航轴电机21以及俯仰轴电机31的相对角度，使得偏航轴轴臂22在相对手柄1折叠与相对手柄1展开两个状态之间切换，通过简单的结构设计，实现了手持云台在使用状态和收纳状态之间的灵活切换，并减小了手持云台收纳时的体积，使得手持云台便于便携；此外，本发明的手持云台具有偏航和俯仰两个方向的自由度，能有效对拍摄装置进行增稳而获得高质量的图像。
本实施例的手柄1为杆状结构，手柄1可为长度固定不变的非伸缩杆，也可为长度可变的可伸缩杆。
其中，偏航轴轴臂22可为杆状结构，也可为其他形状。
在一实施例中，偏航轴轴臂22为杆状结构。当手持云台切换至收纳状态时，偏航轴轴臂22的长度延伸方向与手柄1的长度延伸方向相同。
可选的，当手持云台切换至收纳状态时，偏航轴轴臂22与偏航轴电机21以及俯仰轴电机31大致垂直，提高手持云台折叠时的美观性，如图3至图5所示。当手持云台切换至使用状态时，偏航轴轴臂22与偏航轴电机21以及俯仰轴电机31非垂直，如图1和图2所示。
需要说明的是，偏航轴轴臂22与偏航轴电机21大致垂直设是指偏航轴轴臂22的长度方向与偏航轴电机21的底面(偏航轴电机21朝向顶部11的表面)夹角大致为90°，可选的，偏航轴轴臂22的长度方向与偏航轴电机21的底面夹角为90°±1°。偏航轴轴臂22与俯仰轴电机31大致垂直设是指偏航轴轴臂22的长度方向与俯仰轴电机31连接俯仰轴轴臂32的表面夹角大致为90°，可选的，偏航轴轴臂22的长度方向与俯仰轴电机31连接俯仰轴轴臂32的表面夹角为90°±1°。
在一些实施例中，偏航轴轴臂22为非伸缩杆，即偏航轴轴臂22的长度不可改变。可选的，偏航轴轴臂22的长度与手柄1的长度大致相等。当手柄1为可伸缩杆时，偏航轴轴臂22的长度与手柄1的最小长度大致相等。
在另一些实施例中，偏航轴轴臂22为可伸缩杆。本实施例中，当手持云台切换至收纳状态时，偏航轴轴臂22能够缩短至最小长度，进一步减小手持云台收纳时的体积。并且，当手持云台切换至使用状态时，可通过调节偏航轴轴臂22的长度来调节拍摄装置相对手柄1的距离，满足用户的拍摄需求。
在一些实施例中，偏航轴轴臂22的最小长度与手柄1的长度大致相等。当手柄1为可伸缩杆时，偏航轴轴臂22的最小长度与手柄1的最小长度大致相等。在另一些实施例中，偏航轴轴臂22的最小长度小于手柄1的长度。偏航轴轴臂22的最小长度小于手柄1的最小长度。
偏航轴轴臂22可伸缩的结构实现方式可包括多种，例如，偏航轴轴臂22可包括多根连杆，多根连杆相配合实现偏航轴轴臂22的长度增大或缩短。
结合图6和图7，偏航轴轴臂22包括第一连杆221和第二连杆222，第一连杆221和第二连杆222可基于不同的方式实现偏航轴轴臂22的长度增大或缩短。可选的，在一些例子中，第一连杆221与偏航轴电机21转动连接，第二连杆222与俯仰轴电机31转动连接，第二连杆222滑动连接在第一连杆221的一侧，随第一连杆221与第二连杆222的相对滑动，使偏航轴轴臂22的长度增大或缩短。在另一些例子中，第一连杆221与第二连杆222可移动插接连接，随第一连杆221与第二连杆222的相对移动，使偏航轴轴臂22的长度增大或缩短。
上述实施例中，当第二连杆222沿着第一连杆221朝向偏航轴电机21的方向移动时，第一连杆221与第二连杆222在长度方向的重合度逐渐增大，使得偏航轴轴臂22的长度逐渐减小。当第二连杆222沿着第一连杆221朝向远离偏航轴电机21的方向移动时，第一连杆221与第二连杆222在长度方向的重合度逐渐减小，使得偏航轴轴臂22的长度逐渐增大。
可选的，第一连杆221设有一个或多个沿长度方向间隔排布的固定结构，如卡接结构，当第二连杆222相对第一连杆221移动时，可通过固定结构固定第二连杆222，确保手持云台在使用状态时，第一连杆221和第二连杆222保持稳定状态，以确保拍摄装置的稳定性。
可以理解的是，偏航轴轴臂22可伸缩的结构实现方式并不限于上述实施例所列举的结构实现方式，还可采用其他可伸缩结构实现。
本实施例中，偏航轴电机21包括偏航轴转子，可选的，偏航轴转子与顶部11可转动连接，并且，偏航轴转子与偏航轴轴臂22通过一转轴转动连接，如图图6和图7所示，偏航轴转子与偏航轴轴臂22通过第一转轴6实现转动连接。
进一步的，俯仰轴电机31包括俯仰轴定子。可选的，俯仰轴定子与偏航轴轴臂22通过一转轴转动连接，如图图6和图7所示，俯仰轴定子与偏航轴轴臂22通过第二转轴7实现转动连接。
结合图1至图7，本实施例的俯仰轴轴臂32可包括主体部321以及设于主体部321一端的连接端322，其中，连接端322与俯仰电机相连接。
可选的，主体部321呈杆状，当手持云台切换至收纳状态时，主体部321与手柄1的侧壁13大致平行，进一步减小俯仰轴轴臂32的占用空间，从而减小手持云台收纳时的体积，并且，提高了手持云台收纳时的美观性。
在一些例子中，结合图3至图7，连接端322与主体部321大致垂直，当手持云台切换至收纳状态时，连接端322与手柄1的侧壁13大致垂直，进一步减小俯仰轴轴臂32的占用空间，从而减小手持云台收纳时的体积，并且，提高了手持云台收纳时的美观性。
此外，结合图1、图3、图5和图7，手持云台还可包括横滚轴电机5，俯仰轴轴臂32经横滚轴电机5与承载部4相连接，具体的，横滚轴电机5与主体部321远离连接端322的一端相连接，承载部4与横滚轴电机5的一侧可转动连接。在本实施例中，当手持云台切换至使用状态时，俯仰轴电机31能够驱动横滚轴电机5在俯仰方向转动，横滚轴电机5能够驱动承载部4在横滚方向转动。本实施例通过增加横滚方向的自由度，更好地对搭载在承载部4上的拍摄装置进行增稳，使得拍摄装置能够拍摄出高质量的画面。
在一些实施例中，承载部4与横滚轴电机5直接连接。在另一些实施例中，手持云台还可包括横滚轴轴臂，承载部4经横滚轴轴臂与横滚轴电机5相连接。本实施例中，为简化手持云台结构，承载部4与横滚轴电机5直接连接。
可选的，当手持云台切换至收纳状态时，横滚轴电机5与手柄1的侧壁13大致平行，减小横滚轴电机5的占用空间，从而减小手持云台收纳时的体积，并且，提高了手持云台收纳时的美观性。
可选的，所述偏航方向、所述俯仰方向以及所述横滚方向分别正交，手持云台在偏航方向、俯仰方向以及横滚方向解耦合，控制更加简单。进一步可选的，当手持云台切换至收纳状态时，承载部4与手柄1的侧壁13大致平行，减小承载部4的占用空间，从而减小手持云台收纳时的体积，并且，提高了手持云台收纳时的美观性。
在一些例子中，参见图7，当手持云台切换至收纳状态时，承载部4位于偏航轴轴臂22与横滚轴电机5之间，提高手持云台收纳时的美观性。在另一些例子中，结合图3和图5，当手持云台切换至收纳状态时，横滚轴电机5位于偏航轴轴臂22与承载部4之间，即承载部4位于偏航轴轴臂22远离手柄1的一侧，提高手持云台收纳时的美观性。
另外，承载部4的结构可根据需要设计，在一实施例中，承载部4为夹设结构，用于夹设拍摄装置。当然，承载部4也可设计为其他结构，如承载部4可为磁力结构，通过磁力吸附拍摄装置。
本实施例的拍摄装置可为手机、相机或其他具有拍摄功能的装置。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的手持云台进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (15)

  1. 一种手持云台，其特征在于，所述手持云台包括：
    手柄，具有顶部、底部和位于所述顶部和所述底部之间的侧壁；
    偏航轴组件，包括与所述顶部相连接的偏航轴电机以及偏航轴轴臂；
    俯仰轴组件，包括俯仰轴电机以及与所述俯仰轴电机相连接的俯仰轴轴臂；和
    承载部，用于搭载拍摄装置，并与所述俯仰轴轴臂相连接；
    所述偏航轴轴臂的一端与所述偏航轴电机可转动连接，另一端与所述俯仰轴电机可转动连接，随所述偏航轴轴臂与所述偏航轴电机以及所述俯仰轴电机的相对转动，使手持云台在收纳状态和使用状态之间切换；
    当手持云台切换至所述收纳状态时，所述偏航轴轴臂贴设在所述手柄的侧壁上；
    当手持云台切换至所述使用状态时，所述偏航轴轴臂与所述手柄的侧壁成预设夹角，所述偏航轴电机能够驱动所述俯仰轴电机在偏航方向转动，所述俯仰电机能够驱动所述承载部在俯仰方向转动。
  2. 根据权利要求1所述的手持云台，其特征在于，所述偏航轴轴臂为杆状结构；
    当手持云台切换至所述收纳状态时，所述偏航轴轴臂与所述偏航轴电机以及所述俯仰轴电机大致垂直；
    当手持云台切换至所述使用状态时，所述偏航轴轴臂与所述偏航轴电机以及所述俯仰轴电机非垂直。
  3. 根据权利要求2所述的手持云台，其特征在于，所述偏航轴轴臂为可伸缩杆；
    当手持云台切换至收纳状态时，所述偏航轴轴臂能够缩短至最小长度。
  4. 根据权利要求3所述的手持云台，其特征在于，所述偏航轴轴臂的最小长度与所述手柄的长度大致相等。
  5. 根据权利要求3所述的手持云台，其特征在于，所述偏航轴轴臂包括与所述偏航轴电机转动连接的第一连杆和与所述俯仰轴电机转动连接的第二连杆；
    所述第二连杆滑动连接在所述第一连杆的一侧，随所述第一连杆与所述第二连杆的相对滑动，使所述偏航轴轴臂的长度增大或缩短；或者，
    所述第一连杆与所述第二连杆可移动插接连接，随所述第一连杆与所述第二连杆的相对移动，使所述偏航轴轴臂的长度增大或缩短。
  6. 根据权利要求1所述的手持云台，其特征在于，所述偏航轴电机包括偏航轴转子，所述偏航轴转子与所述顶部可转动连接，并且，所述偏航轴转子与所述偏航轴轴臂通过一转轴转动连接。
  7. 根据权利要求1所述的手持云台，其特征在于，所述俯仰轴电机包括俯仰轴定子，所述俯仰轴定子与所述偏航轴轴臂通过一转轴转动连接。
  8. 根据权利要求1至7任一项所述的手持云台，其特征在于，所述俯仰轴轴臂包括主体部以及设于所述主体部一端的连接端，所述连接端与所述俯仰电机相连接；
    所述主体部呈杆状，当手持云台切换至收纳状态时，所述主体部与所述手柄的侧 壁大致平行。
  9. 根据权利要求8所述的手持云台，其特征在于，所述连接端与所述主体部大致垂直；
    当手持云台切换至收纳状态时，所述连接端与所述手柄的侧壁大致垂直。
  10. 根据权利要求1所述的手持云台，其特征在于，所述手持云台还包括横滚轴电机，所述俯仰轴轴臂经所述横滚轴电机与所述承载部相连接；
    当手持云台切换至所述使用状态时，所述俯仰轴电机能够驱动所述横滚轴电机在俯仰方向转动，所述横滚轴电机能够驱动所述承载部在横滚方向转动。
  11. 根据权利要求10所述的手持云台，其特征在于，所述偏航方向、所述俯仰方向以及所述横滚方向分别正交。
  12. 根据权利要求10所述的手持云台，其特征在于，当手持云台切换至收纳状态时，所述横滚轴电机与所述手柄的侧壁大致平行。
  13. 根据权利要求10所述的手持云台，其特征在于，当手持云台切换至收纳状态时，所述承载部与所述手柄的侧壁大致平行。
  14. 根据权利要求13所述的手持云台，其特征在于，当手持云台切换至收纳状态时，所述承载部位于所述偏航轴轴臂与所述横滚轴电机之间；或者
    当手持云台切换至收纳状态时，所述横滚轴电机位于所述偏航轴轴臂与所述承载部之间。
  15. 根据权利要求1所述的手持云台，其特征在于，所述承载部为夹设结构，用于夹设拍摄装置。
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