WO2020258144A1 - 手持云台 - Google Patents

手持云台 Download PDF

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Publication number
WO2020258144A1
WO2020258144A1 PCT/CN2019/093236 CN2019093236W WO2020258144A1 WO 2020258144 A1 WO2020258144 A1 WO 2020258144A1 CN 2019093236 W CN2019093236 W CN 2019093236W WO 2020258144 A1 WO2020258144 A1 WO 2020258144A1
Authority
WO
WIPO (PCT)
Prior art keywords
locking member
handheld
groove
shaft
pan
Prior art date
Application number
PCT/CN2019/093236
Other languages
English (en)
French (fr)
Inventor
谢旻钊
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 CN201980008952.9A priority Critical patent/CN111684192B/zh
Priority to PCT/CN2019/093236 priority patent/WO2020258144A1/zh
Publication of WO2020258144A1 publication Critical patent/WO2020258144A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • 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
    • F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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

Definitions

  • This application relates to the technical field of pan-tilt devices, and specifically relates to a handheld pan-tilt.
  • the shooting device is generally installed on a handheld pan/tilt.
  • the handheld pan/tilt can keep the shooting device installed on it stable during shooting to capture clear pictures and videos.
  • a foldable handheld PTZ is used. In the folding handheld pan/tilt, the handheld pan/tilt can be switched back and forth between the unfolded use state and the folded storage state.
  • the foldable handheld PTZ may accidentally switch between the two states due to strenuous exercise, which may cause damage to the foldable handheld PTZ and/or load.
  • This application provides a handheld PTZ.
  • a handheld pan/tilt provided by the implementation manner of the present application includes:
  • a hand-held part the hand-held part includes a top and a bottom;
  • a first shaft assembly comprising a first motor and a first shaft arm connected to the top of the hand-held part;
  • a second shaft assembly including a second motor and a second shaft arm fixedly connected to the second motor;
  • a rotating connecting piece, the rotating connecting piece is provided between the first shaft arm and the second shaft arm so that the first shaft arm and the second shaft arm can rotate relatively to enable the handheld cloud
  • the table can switch back and forth between the storage state and the use state
  • the locking member is movably connected to the rotating connecting member, and the locking member can be switched back and forth between the first position and the second position of the handheld platform, when the handheld platform is in the storage In the state or the use state, the locking member is located in the first position to lock the handheld pan/tilt in the storage state or the use state; or
  • the locking member When the locking member is located in the second position, the locking member unlocks the storage state or the use state of the handheld pan/tilt.
  • the handheld gimbal of the present application can lock or unlock the state of the handheld gimbal through the setting of the locking member, thereby preventing the handheld gimbal from accidentally switching between the two states due to strenuous exercise, and avoiding the handheld gimbal and/or The damage of the load increases the service life of the handheld gimbal.
  • FIG. 1 is a schematic diagram of the structure of the handheld pan/tilt in an expanded state of use according to an embodiment of the present application
  • FIG. 2 is an enlarged schematic diagram of the handheld PTZ II of Figure 1;
  • FIG. 3 is another schematic diagram of the structure of the handheld pan/tilt in the unfolded use state of the embodiment of the present application
  • FIG. 4 is a schematic partial cross-sectional view of the handheld pan/tilt head according to the embodiment of the present application when it is in an unfolded use state;
  • FIG. 5 is an enlarged schematic diagram of the handheld PTZ V of FIG. 4;
  • FIG. 6 is a schematic structural diagram of the handheld pan/tilt in the storage state of the embodiment of the present application.
  • FIG. 7 is a schematic partial cross-sectional view of the handheld gimbal according to the embodiment of the present application when it is in a storage state;
  • FIG. 8 is a partial exploded schematic diagram of the handheld pan/tilt according to the embodiment of the present application.
  • Fig. 9 is another partial exploded schematic diagram of the handheld pan/tilt according to the embodiment of the present application.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of the features.
  • plurality means two or more than two, unless specifically defined otherwise.
  • connection should be interpreted broadly unless otherwise clearly specified and limited.
  • it can be a fixed connection or a detachable connection.
  • Connect, or connect in one piece It can be a mechanical connection or an electrical connection.
  • It can be directly connected, or indirectly connected through an intermediate medium, and it can be a communication between two elements or an interaction relationship between two elements.
  • an embodiment of the present application provides a handheld PTZ 100
  • the handheld PTZ 100 can be used to carry mobile phones, tablets, cameras, video cameras and other shooting devices to achieve the fixation of the shooting device, and Posture adjustment (for example: changing the height, inclination and/or direction of the camera) and stabilize the camera in a certain posture.
  • Posture adjustment for example: changing the height, inclination and/or direction of the camera
  • the handheld pan/tilt head 100 includes a handheld portion 10, a first shaft assembly 11, a second shaft assembly 12, a rotating connector 14 and a locking part 15.
  • the handle 10 includes a top and a bottom.
  • the first shaft assembly 11 includes a first motor 111 and a first shaft arm 112 connected to the top of the handle 10.
  • the second shaft assembly 12 includes a second motor 121 and a second shaft arm 122 fixedly connected to the second motor 121.
  • the rotating connector 14 is provided between the first shaft arm 112 and the second shaft arm 122 to enable the first shaft arm 112 and the second shaft arm 122 to rotate relative to each other so that the handheld pan/tilt head 100 can be between the storage state and the use state Switch back and forth.
  • the locking member 15 is movably connected to the rotating connecting member 14.
  • the locking member 15 can be switched back and forth between the first position and the second position of the handheld platform 100.
  • the locking member 15 is located in the first position to lock the handheld pan/tilt head 100 in the storage state or use state, and when the locking member 15 is located in the second position, the lock member 15 unlocks the storage state or use state of the handheld pan/tilt head 100.
  • the arrangement of the rotating connector 14 of the handheld PTZ 100 of the present application enables the first shaft assembly 11 and the second shaft assembly 12 to achieve relative rotation, so that the handheld PTZ 100 can switch back and forth between the storage state and the use state, and lock
  • the setting of the component 15 can lock or unlock the state of the handheld PTZ 100, thereby preventing the handheld PTZ 100 from accidentally switching between the two states due to strenuous exercise, and avoiding damage to the handheld PTZ 100 and/or the load. Increase the service life of the handheld PTZ 100.
  • the locking member 15 when the handheld pan/tilt head 100 is in use, the locking member 15 is located in the first position to lock the handheld pan/tilt head 100 in the use state, and when the lock member 15 is located in the second position, The locking member 15 unlocks the use state of the handheld pan/tilt head 100, and when unlocked, the handheld pan/tilt head 100 can be switched from the use state to the storage state under a user operation.
  • the locking member 15 when the hand-held pan/tilt head 100 is in the storage state, the locking member 15 is located in the first position to lock the hand-held pan/tilt head 100 in the storage state, and when the lock member 15 is in the second position , The locking member 15 unlocks the storage state of the hand-held pan/tilt head 100, and when unlocked, the hand-held pan/tilt 100 can be switched from the stored state to the use state under a user operation.
  • the rotating connecting member 14 includes a rotating shaft 141 passing through a first shaft arm 112 and a second shaft arm 122, the first shaft arm 112 is provided with a first groove 1121, The second shaft arm 122 is provided with a second groove 1221.
  • the locking member 15 When the locking member 15 is in the first position, the locking member 15 penetrates the first groove 1121 and the second groove 1221 to lock the handheld pan/tilt head 100 in the storage state or the use state.
  • the locking member 15 When the locking member 15 is in the second position, the locking member 15 is separated from the first groove 1121 or the second groove 1221 so that the first shaft arm 112 and the second shaft arm 122 can relatively rotate along the rotating shaft 141. In this way, the locking and unlocking of the hand-held pan-tilt 100 can be realized by the way that the locking member 15 penetrates and detaches from the groove, the structure is simple, the cost is low, and the space is small.
  • the locking member 15 when the locking member 15 is in the first position, the locking member 15 penetrates the first groove 1121 and the second groove 1221 to lock the handheld pan/tilt head 100 in the use state.
  • the locking member 15 When the locking member 15 is located at the second position, the locking member 15 escapes from the second groove 1221 so that the first shaft arm 112 and the second shaft arm 122 can relatively rotate along the rotating shaft 141. It can be understood that, in other embodiments, when the locking member 15 is in the first position, the locking member 15 penetrates the first groove 1121 and the second groove 1221 to lock the handheld platform 100 in the use state.
  • the locking member 15 When the member 15 is in the second position, the locking member 15 is separated from the first groove 1121 so that the first shaft arm 112 and the second shaft arm 122 can rotate relative to each other along the rotating shaft 141, or when the locking member 15 is in the first position In this case, the locking member 15 penetrates through the first groove 1121 and the second groove 1221 to lock the handheld pan/tilt head 100 in the storage state.
  • the locking member 15 When the locking member 15 is in the second position, the locking member 15 escapes from the second groove 1221 so that the first shaft arm 112 and the second shaft arm 122 can rotate relative to each other along the rotating shaft 141, or, when the locking member 15 is in the first position, the locking member 15 penetrates the first groove 1121 and the second groove 1221 to lock the handheld pan/tilt head 100 in the storage state.
  • the locking member 15 When the locking member 15 is in the second position, the locking member 15 is separated from the first groove 1121 so that the first shaft arm 112 and the second shaft arm 122 can move along the rotating shaft 141 Relative rotation.
  • the first groove 1121 and the second groove 1221 will also rotate relative to each other.
  • the locking member 15 penetrates the first groove 1121 and the second groove 1221 In the middle, the first groove 1121 and the second groove 1221 are restricted by the locking member 15, that is, the first shaft arm 112 and the second shaft arm 122 cannot rotate relative to each other at this time, thus locking the first shaft
  • the effects of the arm 112 and the second axis arm 122 keep the handheld pan/tilt head 100 in use.
  • the first groove 1121 and the second groove 1221 are not restricted by the locking member 15, that is, the first shaft arm 112 and the second shaft arm 122 can face each other
  • the unlocking of the first shaft arm 112 and the second shaft arm 122 is achieved in this way, so that the handheld pan/tilt head 100 is switched from the use state to the storage state.
  • the locking and unlocking of the first shaft arm 112 and the second shaft arm 122 can be controlled, which is convenient and fast, and improves user experience.
  • the rotating connector 14 has a supporting force
  • the handheld pan/tilt head 100 is maintained in the use state by the supporting force of the rotating connector 14. In this way, the handheld pan/tilt head 100 has high stability when used in a use state.
  • first shaft arm 112 and the second shaft arm 122 achieve relative rotation through the rotating connecting member 14.
  • the rotating connecting member 14 has a supporting force
  • the first shaft arm 112 and the second shaft arm 122 can be rotated between Maintained in one position, so that it is convenient for the user to rotate the first shaft arm 112 and the second shaft arm 122 to the required position, and the first shaft arm 112 and the second shaft arm 122 will not rotate rapidly, so lift the first shaft
  • the rotation efficiency of the arm 112 and the second axis arm 122 and the stability of the handheld pan/tilt head 100 are examples of the arm 112 and the second axis arm 122 and the stability of the handheld pan/tilt head 100.
  • the locking member 15 needs to be controlled to lock the state at this time, and the locking member 15 needs to be moved at this time. If the connecting member 14 is rotated at this time When there is no supporting force, due to the action of gravity, the second shaft arm 12 may rotate relative to the first shaft arm 121, which is not conducive to the locking of the locking member 15, and it is also not conducive to controlling the first shaft arm 112 and the second shaft arm. 122.
  • the rotating connector 14 includes a damping structure, and the handheld pan/tilt head 100 is maintained in a use state by the supporting force of the damping structure. In this way, the supporting force is provided by the damping structure, and the cost is low and the structure is simple.
  • the damping structure can provide supporting force to the rotating connection member 14 so that the first shaft arm 112 and the second shaft arm 122 can maintain a certain angle during the rotation.
  • the damping structure includes one of the following structures:
  • the above-mentioned four structures can all provide supporting force for the rotating connecting member 14.
  • the damping structure can be selected according to the actual situation.
  • the specific type of damping structure is not limited here.
  • the locking member 15 is installed on the first shaft arm 112, the number of the first groove 1121 is single, the number of the second groove 1221 is multiple or single, and the plurality of second grooves 1221 are along the axis of rotation. 141 are arranged at intervals in the circumferential direction. In this way, single-angle or multi-angle locking and unlocking of the first shaft arm 112 and the second shaft arm 122 can be realized, so that the handheld pan/tilt head 100 can realize multiple states.
  • the locking member 15 is installed on the first shaft arm 112, the number of the first groove 1121 is single, and the number of the second groove 1221 is single. In this way, the first shaft arm 112 and the second shaft arm 122 can be locked and unlocked at a single angle. It can be understood that, in other embodiments, the locking member 15 is installed on the first shaft arm 112, the number of the first groove 1121 is single, the number of the second groove 1221 is multiple, and the plurality of second grooves 1221 are along the axis of rotation. 141 are arranged at intervals in the circumferential direction, so that the first shaft arm 112 and the second shaft arm 122 can be locked and unlocked at multiple angles.
  • the first groove 1121 When the first shaft arm 112 rotates relative to the second shaft arm 122, the first groove 1121 will also rotate relative to the second groove 1221, that is, the relative positions of the first groove 1121 and the second groove 1221 will change.
  • the locking member 15 penetrates the first groove 1121 and the second groove 1221 to lock the gap between the first shaft arm 112 and the second shaft arm 122. angle.
  • the number of the second grooves 1221 is multiple, this enables the first shaft arm 112 and the second shaft arm 122 to be aligned with one of the second grooves 1221 in the first groove 1121
  • the locking member can penetrate the first groove 1121 and the second groove 1221 to achieve an angular position lock.
  • the first groove 1121 is aligned with the other second groove 1221, at this time, the locking member penetrates the first groove
  • the groove 1121 and the second groove 1221 further realize the locking of another angular position.
  • the locking member 15 may also be installed on the second shaft arm 122, the number of the second groove 1221 is single, the number of the first groove 1121 is multiple or single, and the number of the first groove 1121 is multiple. They are arranged at intervals along the circumference of the rotating shaft 141. In this way, the single-angle or multi-angle locking and unlocking of the first shaft arm 112 and the second shaft arm 122 can also be realized, so that the handheld pan/tilt head 100 can realize multiple states.
  • the specific number can be set according to the state of the handheld pan/tilt head 100, for example, the specific number can be 2, 3 or 3. the above.
  • the specific number of the first groove 1121 and the second groove 1221 is not limited here.
  • a coupling member 142 is connected to one end of the rotating shaft 141, and the coupling member 142 is provided with a second groove 1221.
  • the second groove 1221 is opened by arranging the connecting member 142 to facilitate the processing of the second groove 1221.
  • the coupling member 141 can be directly mounted on the rotating shaft, without the need for the second shaft arm 122 with a more complicated structure or the rotating connection The processing on the piece 14 reduces the processing complexity.
  • the coupling member 142 and the rotating shaft 141 are fixed by screws.
  • the coupling member 142 and the rotating shaft 141 can not only be fixed by a nut.
  • the specific connection manner of the coupling member 142 and the rotating shaft 141 can be set according to different situations.
  • the connecting member 142 can also be fixed with the rotating shaft 141 by clamping, bonding, interference fit, or the like.
  • the specific fixed connection manner of the coupling member 142 and the rotating shaft 141 is not limited here.
  • the coupling member 142 may be made of a metal material, such as stainless steel.
  • the stainless steel has high hardness and good corrosion resistance, which can increase the service life of the coupling member 142.
  • the connecting member 142 can not only be made of metal materials, but the material of the connecting member 142 can be set according to different situations, for example, made of plastic. The specific material of the coupling member 142 is not limited here.
  • the handheld pan/tilt head 100 includes an operating member 16 connected to the locking member 15.
  • the operating member 16 can drive the locking member 15 to move when it is pushed for operation to lock
  • the piece 15 switches back and forth between the first position and the second position.
  • the setting of the operating member 16 facilitates the operation of the movement of the locking member 15.
  • the operating member 16 is used to move the locking member 15 to switch back and forth between the first position and the second position, which facilitates the state switching of the handheld pan/tilt head 100.
  • the operating member 16 may be made of plastic.
  • Plastic has strong plasticity and is economical, which is conducive to the mass production of the handheld PTZ 100. It can be understood that the operating member 16 can not only be made of plastic.
  • the specific material of the operating member 16 can be set according to different situations. The specific material of the operating member 16 is not limited here.
  • the operating member 16 and the locking member 15 can be an integral structure.
  • the operating member 16 and the locking member 15 can be formed into an integral structure by using an injection molding process.
  • the operating member 16 and the locking member 15 are made of metal
  • the operating member 16 and the locking member 15 can be formed into an integral structure by a stamping process.
  • the handheld PTZ 100 includes a cover plate 17 installed on the first shaft arm 112, the cover plate 17 installs the locking member 15 on the first shaft arm 112, and the cover plate 17 A cover plate through hole 171 is opened, and the operating member 16 penetrates the cover plate through hole 171 and can drive the locking member 15 to move back and forth along the radial direction A of the cover plate through hole 171.
  • the setting of the cover plate 17 can limit the locking member 15 and the operating member 16 and prevent the locking member 15 and the operating member 16 from loosening during the movement.
  • the operating member 16 penetrates through the cover plate through hole 171 and moves back and forth in the radial direction A of the cover plate through hole 171, and the cover plate through hole 171 can limit the moving range of the operating member 16.
  • cover plate 17 can be made of plastic. Of course, the cover plate 17 can not only be made of plastic. The specific material of the cover plate 17 can be set according to different situations. For example, the cover plate 17 can also be made of a metal material. The specific material of the cover plate 17 is not limited here.
  • a protrusion 152 is provided on the side of the locking member 15 away from the operating member 16, and the protrusion 152 is used to pass through the first groove 1121 and/or the second groove 1221 or escape from the first groove 1121 or It is the second groove 1221.
  • the protrusion 152 penetrates the first groove 1121 and the second groove 1221, the angle between the first shaft arm 112 and the second shaft arm 122 is fixed, and the handheld platform 100 can be held In a certain state, when the protrusion 152 is out of the first groove 1121 or the second groove 1221, the first shaft arm 112 and the second shaft arm 122 can rotate relative to each other, and the handheld platform 100 can perform state switching and shaft arm Angle adjustment.
  • the cover plate through hole 171 has a racetrack shape.
  • a racetrack-shaped cover plate through hole 171 facilitates the better fit between the operating member 16 and the cover plate through hole 171, and also enables the cover plate through hole 171 to better guide the movement of the operating member 16.
  • the operating member 16 also has a racetrack shape that matches the cover plate through hole 171.
  • the length of the cover plate through hole 171 in the radial direction A is greater than the length of the operating member 16 in the radial direction A, so that the operating member 16 can be moved.
  • the cover plate through hole 171 can not only be a racetrack type, and the specific shape of the cover plate through hole 171 can be set according to different situations.
  • the cover plate through hole 171 may also be rectangular.
  • the specific shape of the through hole 171 of the cover plate is not limited here.
  • the outer surface of the cover plate 17 is formed with a convex-concave structure 172.
  • the convex-concave structure 152 provides the user with a tactile sensation when touching the cover plate 17, so that the user can easily locate the position of the operating member 16 when the light is not good or when dealing with other things, which is convenient for the user to operate.
  • the surface of the locking member 15 is provided with a status indicator 151.
  • the status indicator 151 is exposed from the cover plate through hole 171 and the locking member 15 is in the second position. Next, the status indicator 151 is blocked by the cover 17. In this way, it is convenient for the user to distinguish whether the handheld PTZ 100 is in the locked state, and it is convenient for the user to make the next decision.
  • the status indicator 151 on the surface of the locking member 15 can be exposed from the cover plate through hole 171, and the user can know from the status indicator 151 that the locking member 15 is in the first position.
  • the handheld PTZ 100 is in the locked state.
  • the status indicator 151 on the surface of the locking member 15 can be blocked by the cover plate 17.
  • the user cannot see the status indicator 151, and the user can know this
  • the handheld pan/tilt head 100 is in an unlocked state. Through whether the status indicator 151 is blocked, the user can clearly know the position of the locking member 15 so as to perform corresponding operations on the handheld pan/tilt 100 according to the position of the locking member 15 according to requirements, thereby improving user experience.
  • the status indicator 151 when the locking member 15 is in the second position, the status indicator 151 is exposed from the cover plate through hole 171 and the locking member 15 is in the first position, the status indicator 151 is covered by the cover plate 17. Occlude. In this way, it is also convenient for the user to distinguish whether the handheld PTZ 100 is in the locked state.
  • the status indicator 151 can be a racetrack type, and the area of the status indicator 151 is smaller than the area of the cover plate through hole 171, so that the status indicator 151 can be fully exposed in the cover plate through hole 171 for the user to view. It is understandable that the status indicator 151 can not only be a racetrack type, but the shape of the status indicator 151 can be set according to different situations. For example, the status indicator 151 may also be a circle, a triangle, a polygon, an irregular shape, and the like. The specific shape of the status indicator 151 is not limited here.
  • the status indicator 151 can be embedded in the locking member 15, and the surface of the status indicator 151 is lower than or equal to the surface of the locking member 15, so that when the locking member 15 is moved, it will not appear due to the high surface of the status indicator 151.
  • the surface of the locking member 15 causes the status indicator 151 to collide with the cover plate 17, resulting in damage to the status indicator 151.
  • the status indicator 151 can also be a coating formed on the locking member 15, for example, a paint of a certain color (for example, red, which is more conspicuous and convenient for the user to view) or a shape of paint is coated on one side of the locking member 15.
  • the status identification 151 is formed.
  • the specific type and composition of the status indicator 151 are not limited here.
  • the handheld pan/tilt head 100 includes a driving member 18 for driving the locking member 15 to switch from the second position to the first position and maintaining the locking member 15 in the first position, or
  • the driving member 18 is used to drive the locking member 15 to switch from the first position to the second position and to keep the locking member 15 in the second position. In this way, with the help of the driving member 18, the movement of the locking member 15 can be made easier and the state of holding the pan/tilt head 100 can be kept more stable.
  • the locking member 15 When the locking member 15 is located at the first position, the locking member 15 penetrates the first groove 1121 and the second groove 1221, so as to realize the angular locking between the first shaft arm 112 and the second shaft arm 122, and thus can Prevent the state switching of the hand-held pan-tilt 100 and the adjustment of the pivot arm angle.
  • the locking member 15 When the locking member 15 penetrates the first groove 1121 and the second groove 1221, the locking member 15 may be separated from the first groove 1121 or the second groove 1221 due to unexpected force, so that the first shaft arm 112 and the second groove 1221 The shaft arm 122 will rotate relatively.
  • the driving member 18 can be used to keep the locking member 15 in the first position or the second position, so that the state of the handheld PTZ 100 is maintained more stable, and it is not easy to switch the state of the handheld PTZ 100 or the angle of the pivot arm due to accidents. Adjustment.
  • the driving member 18 includes one of the following structures:
  • the above-mentioned four structures can hold the locking member 15 in the first position or the second position and drive the locking member 15 to move.
  • the driving member 18 adopts an elastic member.
  • the elastic member can be installed in the first groove 1121.
  • One end of the elastic member can resist the groove wall of the first groove 1121, and the other end can resist and lock.
  • the elastic member is compressed by the locking member 15.
  • the compressed elastic member drives the locking member 15 to move, so that the locking member 15 penetrates the first groove 1121 and the second groove 1221, and the elastic member
  • the force applied to the locking member 15 to maintain the first position the locking member 15 locks the handheld pan/tilt head 100 in the use state.
  • the operating member 16 can be operated to drive the locking member 15 to move to escape the second groove 1221, so that it can be unlocked. At this time, the elastic member is compressed again, and the locking member 15 is in the second position.
  • the driving member 15 can be a motor, and the motor drives the locking member to move through a transmission structure, such as gears, belts, hinges, racks, and screws.
  • the driving member 15 may be a magnetic member.
  • the magnetic member may be provided on the first shaft arm 1121 or the second shaft arm 1221 or a combination member, and the locking member 15 may be provided with a magnetic member that can be mutually adsorbed or
  • the repelling magnetic member, or the locking member 15 itself is made of a magnetic material and serves as another magnetic member. The movement and retention of the locking member 15 in the first position or the second position are driven by the mutual adsorption or repulsion of the two magnetic members.
  • the functioning principle of the electromagnetic part is similar to that of the magnetic part, and will not be detailed here.
  • the specific type of the driving member 18 can be set according to the specific situation.
  • the specific type of the driving member 18 is not limited here.
  • the handheld pan/tilt head 100 includes a third shaft assembly 13 and a load 19, and the third shaft assembly 13 includes a third motor 131 and a third shaft arm 132, One end of the third shaft arm 132 is fixedly connected to the second motor 121, the other end is fixedly connected to the third motor 131, and the carrying object 19 is fixedly connected to the rotor of the third motor 131.
  • the setting of the third axis assembly 13 enables the camera mounted on the handheld PTZ 100 to change more postures (for example: changing the height, inclination and/or direction of the camera), and the setting of the supporting object 19 can be fixed Camera device to prevent loosening of the camera device.
  • the carrying object 19 may carry an imaging lens, which is directly or indirectly fixedly connected to the rotor of the third motor 131.
  • the carrying object 19 may further include a carrying part for fixing a photographing device, which may be a camera, a smart terminal with photographing function (such as a mobile phone, a tablet computer, etc.), or other devices with photographing function.
  • the carrying object 19 is located on the side of the third motor 131 away from the side wall of the handheld portion 10.
  • Such a configuration facilitates the storage of the handheld pan/tilt head 100, thereby making the handheld pan/tilt head 100 easy to carry, which meets the requirements of consumers for portability.
  • the first motor 111 rotates around the first axis Y
  • the second motor 121 rotates around the second axis P
  • the third motor 131 rotates around the third axis R.
  • the first axis Y, the second axis P, and the third axis R are all non-orthogonal (as shown in FIGS. 1, 3, and 4).
  • the second axis P and the third axis R are orthogonal
  • the first axis Y and the third axis R are non-orthogonal (as shown in FIG. 7).
  • the first motor 111 is installed on the top of the handle 10.
  • the drive axis of the first motor 111 coincides with or is parallel to the first axis Y.
  • the first motor 111 is used to drive the first shaft arm 112 to rotate around the first axis Y to drive the second shaft assembly 1222 and the third shaft assembly 1323 to also rotate around the first axis.
  • One axis Y rotates together.
  • the first shaft arm 112 may be a rotor or a part of the rotor of the first electric machine 111 or a component connected to the rotor.
  • the driving axis of the second motor 121 coincides with or is parallel to the second axis P, and the second motor 121 is used to drive the third shaft arm 132 to rotate around the second axis P so as to drive the third shaft assembly 13 and the load 19 together around the second axis P rotates together.
  • the second shaft arm 122 may be connected to the stator of the second motor 121, and the third shaft arm 132 may be a rotor of the second motor 121 or a part of the rotor or a component connected to the rotor.
  • the driving axis of the third motor 131 coincides with or is parallel to the third axis R, and the third motor 131 is used to drive the carrier 19 to rotate around the third axis R so as to drive the carrier 19 to rotate around the third axis R.
  • the carrying object 19 includes a carrying part for fixing the photographing device as an example for description. Please refer to FIGS. 6-9.
  • the carrying object 19 includes a mounting side 191.
  • the mounting side 191 faces away from the handle 10.
  • the camera can be installed at the installation side 191.
  • the mobile phone can be clamped or adsorbed on the installation side 191.
  • the part where the carrier 19 and the camera device (for example, a mobile phone) fit together is made of a soft material with elasticity such as silica gel or rubber to prevent the camera device from being scratched.
  • the carrying portion is a clamping structure provided with clamping openings to facilitate the installation of different size shooting devices on the supporting object 19.
  • the clamping structure may include an adjustable clamping opening size The clamping arm 192.
  • the opening of the clamping structure is set away from the third motor 131.
  • the opening arrangement of the clamping structure can ensure that when the handheld pan/tilt head 100 is stored, the camera can face the outside, which is convenient for the user to use the camera. .
  • the clamping structure of this embodiment has a locked state and an unlocked state.
  • the clamping structure When the clamping structure is in the unlocked state, it can clamp and fix the imaging device, and the third motor 131 can rotate around the third axis R; when the clamping structure is When in the locked state, the clamping structure is locked on the third shaft arm 132 to restrict the rotation of the third motor 131.
  • the clamping structure when the handheld PTZ 100 is switched to the storage state, the clamping structure is automatically switched to the locked state; optionally, when the handheld PTZ 100 is switched to the storage state, the clamping structure is still in the unlocked state and requires the user to pass Manually switch the clamping structure to the locked state.
  • the clamping structure when the clamping structure is in the locked state, the clamping structure can be switched from the locked state to the unlocked state based on automatic unlocking (key/button unlocking) or manual unlocking.
  • the clamping structure and the third shaft arm 132 can be locked to a conventional structure, which is not described in this embodiment.
  • the carrier 19 may also include a magnetic connection member.
  • the housing of a magnetic camera or a camera with a metal that can be magnetically attracted can be directly placed on the carrier 19, and the magnetic connector can attract and fix the camera.
  • the supporting object 19 there is no need to additionally provide a clamping arm 192 to fix the camera, and the operation is simpler and more convenient.
  • the handheld pan/tilt head 100 of the present application is a three-axis pan/tilt head.
  • the first axis assembly 11 is a yaw axis (yaw) assembly
  • the second axis assembly 12 is a pitch axis (pitch) assembly
  • the third axis assembly 13 is a roll axis. Components.
  • the posture of the handheld PTZ 100 can be controlled through the three-axis assembly to control the posture of the camera mounted on the handheld PTZ 100, so that the camera can be stably maintained in a certain posture to take clear pictures and videos.
  • the first shaft assembly 11 may be other shaft assemblies
  • the second shaft assembly 12 may be other shaft assemblies
  • the third shaft assembly 13 may be other shaft assemblies.
  • the locking member 15 of this embodiment can be used to lock or unlock the relative rotation between the first shaft assembly 11 and the second shaft assembly 12.
  • the housing of the handheld portion 10 may be provided with function keys and/or a touch screen, and the handheld portion 10 is provided with a controller and related circuits that control the operation of the handheld platform 100 (not shown) ,
  • the function buttons and the touch screen are connected to the controller in communication.
  • the controller receives user instructions from the function buttons or the touch screen, and controls the operation of the handheld PTZ 100 according to the user instructions.
  • the function keys include but are not limited to other function keys such as an on-off key, a menu key, and a shooting key.
  • the hand-held part 10 may also be provided with a non-slip part to prevent the hand-held pan/tilt head 100 from slipping off the user's hand.
  • the non-slip part may be a friction part provided on the grip part 10 or a groove part or a protrusion part convenient for finger grip. It is understandable that a finger ring or a wristband can be provided on the hand-held part 10 with a protection device that can be put on the user's finger or wrist to further protect the hand-held pan/tilt head 100 from slipping off the user's hand.
  • a posture sensor may be provided on the carrier 19 to obtain posture information of the carrier 19 and then the posture information of the load.
  • the posture sensor It communicates with the controller to transmit the posture information of the camera to the controller, and the controller controls the operation of the handheld PTZ 100 according to the posture information of the camera and user instructions.
  • the attitude sensor may be a sensor capable of sensing the attitude information of the camera, such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass.

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Abstract

一种手持云台（100），手持云台（100）包括手持部（10）、第一轴组件（11）、第二轴组件（12）、转动连接件（14）和锁定件（15）。手持部（10）包括顶部和底部。第一轴组件（11）包括与手持部（10）顶部相连接的第一电机（111）以及第一轴臂（112）。第二轴组件（12）包括第二电机（121）和与第二电机（121）固定连接的第二轴臂（122）。转动连接件（14）设于第一轴臂（112）与第二轴臂（122）之间以使第一轴臂（112）和第二轴臂（122）能够相对转动以使手持云台（100）能够在收纳状态和使用状态之间来回切换。

Description

手持云台 技术领域
本申请涉及云台设备技术领域，具体涉及一种手持云台。
背景技术
目前，便捷式的拍摄装置，如手机，数码相机等越来越受到人们的喜爱。这些拍摄装置可以满足用户随时随地的拍摄需求。而为了保证拍摄品质，拍摄装置一般安装在手持云台上，手持云台可使安装其上的拍摄装置在拍摄时保持稳定以拍摄出清晰的图片和视频。而为了解决手持云台的便携性，折叠式手持云台被使用。在折叠式手持云台中，手持云台可以在展开使用状态和折叠收纳状态之间来回切换。然而，折叠式手持云台有可能因为剧烈运动而意外地导致在两个状态之间进行切换，可能会造成折叠式手持云台和/或负载的损坏。
发明内容
本申请提供一种手持云台。
本申请实施方式提供的一种手持云台，包括：
手持部，所述手持部包括顶部和底部；
第一轴组件，所述第一轴组件包括与所述手持部顶部相连接的第一电机以及第一轴臂；
第二轴组件，所述第二轴组件包括第二电机和与所述第二电机固定连接的第二轴臂；
转动连接件，所述转动连接件设于所述第一轴臂与所述第二轴臂之间以使所述第一轴臂和所述第二轴臂能够相对转动以使所述手持云台能够在收纳状态和使用状态之间来回切换；
锁定件，所述锁定件活动地连接所述转动连接件，所述锁定件能够在所述手持云台的第一位置和第二位置之间来回切换，在所述手持云台处于所述收纳状态或所述使用状态的情况下，所述锁定件位于所述第一位置以将所述手持云台锁定在所述收纳状态或所述使用状态；或
在所述锁定件位于所述第二位置的情况下，所述锁定件将所述手持云台的所述收纳状态或所述使用状态解锁。
本申请的手持云台通过锁定件的设置能够锁定或者解锁手持云台的状态，从而防止手持云台因为剧烈运动而意外地导致在两个状态之间进行切换，避免造成手持云台和/或负载的损坏，提升手持云台的使用年限。
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手持云台处于展开使用状态时的结构示意图；
图2是图1的手持云台II处的放大示意图；
图3是本申请实施方式的手持云台处于展开使用状态时的另一结构示意图；
图4是本申请实施方式的手持云台处于展开使用状态时的部分剖面示意图；
图5是图4的手持云台V处的放大示意图；
图6是本申请实施方式的手持云台处于收纳状态时的结构示意图；
图7是本申请实施方式的手持云台处于收纳状态时的部分剖面示意图；
图8是本申请实施方式的手持云台的部分分解示意图；
图9是本申请实施方式的手持云台的另一部分分解示意图。
主要附图元件说明：
手持云台100、手持部10、第一轴组件11、第一电机111、第一轴臂112、第一凹槽1121、第二轴组件12、第二电机121、第二轴臂122、第二凹槽1221、第三轴组件13、第三电机131、第三轴臂132、转动连接件14、转轴141、结合件142、锁定件15、状态标识151、凸块152、操作件16、盖板17、盖板通孔171、凸凹结构172、驱动件18、承载物19、安装侧191、夹持臂192。
具体实施方式
下面详细描述本申请的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系， 仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对申请的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接。可以是机械连接，也可以是电连接。可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
下文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本申请提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
请参阅图1、图2和图3，本申请实施方式提供一种手持云台100，该手持云台100可以用于搭载手机、平板、照相机和摄像机等拍摄装置以实现拍摄装置的固定、及姿态调节(例如：改变拍摄装置的高度、倾角和/或方向)和使拍摄装置稳定保持在某个确定的姿态。
具体地，该手持云台100包括手持部10、第一轴组件11、第二轴组件12、转动连接件14和锁定件15。手持部10包括顶部和底部。第一轴组件11包括与手持部10顶部相连接的第一电机111以及第一轴臂112。第二轴组件12包括第二电机121和与第二电机121固定连接的第二轴臂122。转动连接件14设于第一轴臂112与第二轴臂122之间以使第一轴臂112和第二轴臂122能够相对转动以使手持云台100能够在收纳状态和使用状态之间来回切换。
锁定件15活动地连接转动连接件14，锁定件15能够在手持云台100的第一位置和第二位置之间来回切换，在手持云台100处于收纳状态或使用状态的情况下，锁定件15位于第一位置以将手持云台100锁定在收纳状态或使用状态，在锁定件15位于第二位置的情况下，锁定件15将手持云台100的收纳状态或使用状态解锁。
本申请的手持云台100的转动连接件14的设置使得第一轴组件11和第二轴组件12能 够实现相对转动，从而使得手持云台100能够在收纳状态和使用状态之间来回切换，锁定件15的设置能够锁定或者解锁手持云台100的状态，从而防止手持云台100因为剧烈运动而意外地导致在两个状态之间进行切换，避免造成手持云台100和/或负载的损坏，提升手持云台100的使用年限。
在图示的实施方式中，在手持云台100处于使用状态的情况下，锁定件15位于第一位置以将手持云台100锁定在使用状态，在锁定件15位于第二位置的情况下，锁定件15将手持云台100的使用状态解锁，解锁时手持云台100能够在用户操作的情况下从使用状态切换至收纳状态。可以理解，在其它实施方式中，在手持云台100处于收纳状态的情况下，锁定件15位于第一位置以将手持云台100锁定在收纳状态，在锁定件15位于第二位置的情况下，锁定件15将手持云台100的收纳状态解锁，解锁时手持云台100能够在用户操作的情况下从收纳状态切换至使用状态。
请参阅图1和图2，在某些实施方式中，转动连接件14包括穿设第一轴臂112和第二轴臂122的转轴141，第一轴臂112设有第一凹槽1121，第二轴臂122设有第二凹槽1221。在锁定件15位于第一位置的情况下，锁定件15穿设第一凹槽1121和第二凹槽1221以将手持云台100锁定在收纳状态或使用状态。
在锁定件15位于第二位置的情况下，锁定件15脱离第一凹槽1121或第二凹槽1221以使第一轴臂112和第二轴臂122能够沿转轴141相对转动。如此，通过锁定件15穿设凹槽和脱离凹槽的方式以实现手持云台100状态的锁定和解锁，结构简单，成本低，而且占用空间小。
具体地，在图示的实施方式中，在锁定件15位于第一位置的情况下，锁定件15穿设第一凹槽1121和第二凹槽1221以将手持云台100锁定在使用状态。在锁定件15位于第二位置的情况下，锁定件15脱离第二凹槽1221以使第一轴臂112和第二轴臂122能够沿转轴141相对转动。可以理解，在其它实施方式中，在锁定件15位于第一位置的情况下，锁定件15穿设第一凹槽1121和第二凹槽1221以将手持云台100锁定在使用状态，在锁定件15位于第二位置的情况下，锁定件15脱离第一凹槽1121以使第一轴臂112和第二轴臂122能够沿转轴141相对转动，或，在锁定件15位于第一位置的情况下，锁定件15穿设第一凹槽1121和第二凹槽1221以将手持云台100锁定在收纳状态，在锁定件15位于第二位置的情况下，锁定件15脱离第二凹槽1221以使第一轴臂112和第二轴臂122能够沿转轴141相对转动，或，在锁定件15位于第一位置的情况下，锁定件15穿设第一凹槽1121和第二凹槽1221以将手持云台100锁定在收纳状态，在锁定件15位于第二位置的情况下，锁定件15 脱离第一凹槽1121以使第一轴臂112和第二轴臂122能够沿转轴141相对转动。
在第一轴臂112和第二轴臂122转动过程中，第一凹槽1121和第二凹槽1221也会相对转动，在锁定件15穿设在第一凹槽1121和第二凹槽1221中时，第一凹槽1121和第二凹槽1221被锁定件15限制，也即是说，第一轴臂112和第二轴臂122此时不能发生相对转动，如此起到锁定第一轴臂112和第二轴臂122的效果，使得手持云台100保持在使用状态。在锁定件15脱离第二凹槽1221的情况下，第一凹槽1121和第二凹槽1221没有被锁定件15限制，也即是说，第一轴臂112和第二轴臂122能够相对转动，如此实现第一轴臂112和第二轴臂122的解锁，使得手持云台100从使用状态切换至收纳状态。这样，控制锁定件15在第一位置和第二位置之间移动即可控制第一轴臂112和第二轴臂122的锁定和解锁，方便快捷，提升用户体验。
在某些实施方式中，转动连接件14具有支撑力，手持云台100依靠转动连接件14的支撑力维持在使用状态。如此，手持云台100在使用状态的情况下使用时，稳定性较高。
具体地，第一轴臂112和第二轴臂122通过转动连接件14实现相对转动，在转动连接件14具有支撑力的时候，能够使得第一轴臂112和第二轴臂122之间转动维持在一个位置，如此方便用户将第一轴臂112和第二轴臂122转动至需求的位置，并且第一轴臂112和第二轴臂122不会出现快速转动的情况，提升第一轴臂112和第二轴臂122的转动效率和手持云台100的稳定性。
例如，在第一轴臂112和第二轴臂122相对转动成某一角度的情况下，需要控制锁定件15锁定此时的状态，此时需要移动锁定件15，如果此时转动连接件14没有支撑力的时候，由于重力的作用，第二轴臂12可能会相对第一轴臂121发生转动，如此不利于锁定件15的锁定，也不利于控制第一轴臂112和第二轴臂122之间的角度，当转动连接件14有支撑力的时候，在第一轴臂112和第二轴臂122相对转动成某一角度的情况下，由于支撑力的作用，能够使得第一轴臂112和第二轴臂122能够保持该角度的位置，不会出现第一轴臂112与第二轴臂122发生相对转动，有利于锁定件15锁定两者的位置，便于用户实现手持云台100状态的锁定。
在某些实施方式中，转动连接件14包括阻尼结构，手持云台100依靠阻尼结构的支撑力维持在使用状态。如此，通过阻尼结构来提供支撑力，成本低且结构简单。
阻尼结构能够给转动连接件14提供支撑力，从而使得第一轴臂112和第二轴臂122能够在转动过程中维持在某个角度的状态。
在某些实施方式中，阻尼结构包括以下结构中的一种：
弹片、凸轮、弹性销钉、扭簧。
上述四种结构均能给转动连接件14提供支撑力。当然阻尼结构可根据实现情况来选择具体的结构形式。在此不对阻尼结构的具体类型做限定。
在某些实施方式中，锁定件15安装在第一轴臂112，第一凹槽1121的数量是单个，第二凹槽1221的数量是多个或单个，多个第二凹槽1221沿转轴141的周向间隔排列。如此，可以实现第一轴臂112和第二轴臂122单角度或多角度的锁定和解锁，使得手持云台100能够实现多个状态。
具体地，在图示的实施方式中，锁定件15安装在第一轴臂112，第一凹槽1121的数量是单个，第二凹槽1221的数量是单个。如此，可实现第一轴臂112和第二轴臂122单角度锁定和解锁。可以理解，在其它实施方式中，锁定件15安装在第一轴臂112，第一凹槽1121的数量是单个，第二凹槽1221的数量是多个，多个第二凹槽1221沿转轴141的周向间隔排列，如此，可实现第一轴臂112和第二轴臂122多角度锁定和解锁。
在第一轴臂112相对第二轴臂122转动时候，第一凹槽1121也会相对第二凹槽1221转动，即，第一凹槽1121和第二凹槽1221的相对位置会发生变化，在第一凹槽1121和第二凹槽1221对准的情况下，锁定件15穿设第一凹槽1121和第二凹槽1221能够锁定第一轴臂112和第二轴臂122之间的角度。在第二凹槽1221的数量是多个的情况下，这样能够使得第一轴臂112和第二轴臂122在第一凹槽1121与其中的一个第二凹槽1221对准的情况下，锁定件可穿设第一凹槽1121和第二凹槽1221，进而实现一个角度位置的锁定。当第一轴臂112和第二轴臂122之间的角度因相对转动而发生变化时，第一凹槽1121与另一个第二凹槽1221对准，此时，锁定件穿设第一凹槽1121和第二凹槽1221，进而实现另一个角度位置的锁定。。
在某些实施方式中，锁定件15也可安装在第二轴臂122，第二凹槽1221的数量是单个，第一凹槽1121的数量是多个或单个，多个第一凹槽1121沿转轴141的周向间隔排列。如此，也能实现第一轴臂112和第二轴臂122单角度或多角度的锁定和解锁，使得手持云台100能够实现多个状态。
另外，在第一凹槽1121和第二凹槽1221的多个的情况下，具体数量可以根据对手持云台100的状态来设定，例如，具体数量可为2个，3个或3个以上。在此不对第一凹槽1121和第二凹槽1221的具体数量做限定。
请参阅图1、图4和图5，在某些实施方式中，转轴141的一端连接有结合件142，结合件142开设有第二凹槽1221。如此，通过设置结合件142来开设第二凹槽1221，便于第 二凹槽1221的加工。具体地，在设置第二凹槽1221时，只需将结合件142单独加工，加工完成后，直接将结合件141安装在转轴即可，无需在结构较为复杂的第二轴臂122或转动连接件14上加工，减少了加工的复杂度。在图示的实施方式中，结合件142与转轴141通过螺钉进行固定。可以理解的是，结合件142和转轴141不仅仅可以通过螺母进行固定。可以根据不同情况来设置结合件142与转轴141的具体连接方式。例如，结合件142还可以与转轴141卡接、粘接、过盈配合等方式进行固定。在此不对结合件142和转轴141的具体固定连接方式做限定。
进一步地，结合件142可以采用金属材料，如不锈钢制成。不锈钢硬度高且耐腐蚀性好，如此能够提升结合件142的使用年限。当然，结合件142不仅仅可以采用金属材料制成，可以根据不同情况来设置结合件142的材料，如采用塑料制成。在此不对结合件142的具体材料做限定。
请进一步参阅图1至图3，在某些实施方式中，手持云台100包括连接锁定件15的操作件16，操作件16能够在被推动操作下的情况下带动锁定件15移动以使锁定件15在第一位置和第二位置之间来回切换。如此，操作件16的设置方便对锁定件15的移动进行操作，通过操作件16来移动锁定件15在第一位置和第二位置之间来回切换，便于手持云台100的状态切换。
进一步地，操作件16可以采用塑料制成。塑料的可塑性强并且经济，如此有利于手持云台100的量产化。可以理解的是，操作件16不仅仅可以采用塑料制成。可以根据不同情况来设置操作件16的具体材料。在此不对操作件16的具体材料做限定。较佳地，操作件16和锁定件15可为一体结构。例如，操作件16和锁定件15采用塑料制成时，可利用注塑工艺将操作件16和锁定件15形成为一体结构。操作件16和锁定件15采用金属制成时，可利用冲压工艺将操作件16和锁定件15形成为一体结构。
请参阅图1至图2，在某些实施方式中，手持云台100包括安装在第一轴臂112的盖板17，盖板17将锁定件15安装在第一轴臂112，盖板17开设有盖板通孔171，操作件16穿设盖板通孔171并能够带动锁定件15沿盖板通孔171的径向A来回移动。如此，盖板17的设置能够限定住锁定件15和操作件16，防止锁定件15和操作件16在移动过程中出现松动的情况。具体地，操作件16穿设在盖板通孔171并在盖板通孔171的径向A来回移动，盖板通孔171能够限制操作件16的移动范围。
进一步地，盖板17可以采用塑料制成。当然，盖板17不仅仅可以采用塑料制成。可以根据不同情况来设置盖板17的具体材料。例如，盖板17还可以采用金属材料制成。在此不 对盖板17的具体材料做限定。
进一步地，锁定件15背离操作件16的一侧设置有凸块152，凸块152用于穿设于第一凹槽1121和/或第二凹槽1221中或者是脱离第一凹槽1121或者是第二凹槽1221，在凸块152穿设于第一凹槽1121和第二凹槽1221时，第一轴臂112和第二轴臂122之间的角度固定，手持云台100可保持在某一状态，在凸块152脱离第一凹槽1121或者是第二凹槽1221时，第一轴臂112和第二轴臂122能够相对转动，手持云台100可进行状态切换和轴臂的角度调整。
在某些实施方式中，盖板通孔171呈跑道型。如此呈跑道型的盖板通孔171有利于操作件16与盖板通孔171较好地贴合，而且也使得盖板通孔171更好的导引操作件16的移动。具体地，操作件16也呈与盖板通孔171相匹配的跑道型，盖板通孔171沿径向A的长度大于操作件16沿径向A的长度，这样能够为操作件16的移动提供空间。当然，盖板通孔171不仅仅可以为跑道型，可以根据不同情况来设置盖板通孔171的具体形状。例如，盖板通孔171还可以为长方形。在此不对盖板通孔171的具体形状做限定。
在某些实施方式中，盖板17的外表面形成有凸凹结构172。如此，能够使得用户更便捷地定位到操作件16的位置。。具体地，凸凹结构152提供给用户接触盖板17时的触感，使得用户在光线不太好或在处理其它事情的情况下，也能便捷地定位到操作件16的位置，便于用户操作。
在某些实施方式中，锁定件15的表面设有状态标识151，在锁定件15位于第一位置的情况下，状态标识151从盖板通孔171露出和锁定件15位于第二位置的情况下，状态标识151被盖板17遮挡。如此，可方便用户分辨手持云台100是否处于锁定状态，方便用户进行下一步的决策。
具体地，在锁定件15位于第一位置的情况下，锁定件15表面的状态标识151能够从盖板通孔171中露出，用户能够根据状态标识151得知此时锁定件15位于第一位置，手持云台100处于锁定状态，在锁定件15位于第二位置时，锁定件15表面的状态标识151能够被盖板17遮挡，此时用户看不到状态标识151，进而用户能够得知此时锁定件15位于第二位置，手持云台100处于解锁状态。通过状态标识151是否被遮挡，用户能够清楚的得知锁定件15的位置，从而根据需求对锁定件15的位置对手持云台100进行相应操作，提升用户体验。
可以理解，在其它实施方式中，在锁定件15位于第二位置的情况下，状态标识151从盖板通孔171露出和锁定件15位于第一位置的情况下，状态标识151被盖板17遮挡。如此， 也可方便用户分辨手持云台100是否处于锁定状态。
进一步地，状态标识151可以为跑道型，且状态标识151的面积小于盖板通孔171的面积，如此能够使得状态标识151能够充分的露出于盖板通孔171中，便于用户查看。可以理解的是，状态标识151不仅仅可以为跑道型，可以根据不同情况来设置状态标识151的形状。例如，状态标识151还可以为圆形、三角形、多边形、不规则形状等。在此不对状态标识151的具体形状做限定。
更进一步地，状态标识151可嵌于锁定件15中，且状态标识151的表面低于或者等于锁定件15的表面，如此在移动锁定件15的时候，不会出现由于状态标识151的表面高于锁定件15的表面导致状态标识151会与盖板17出现碰擦导致状态标识151的损坏。可以理解的是，状态标识151也可以是形成在锁定件15的涂层，例如在锁定件15的一侧涂覆一些特定颜色(例如红色，红色较为显眼，便于用户查看)或形状的颜料来形成状态标识151。在此不对状态标识151的具体类型和构成做限定。
在某些实施方式中，手持云台100包括驱动件18，驱动件18用于驱动锁定件15从第二位置切换至第一位置和使锁定件15保持在第一位置，或
驱动件18用于驱动锁定件15从第一位置切换至第二位置和使锁定件15保持在第二位置。如此，借助驱动件18可使得锁定件15的移动更容易及手持云台100的状态保持更稳定。
在锁定件15位于第一位置的情况下，锁定件15穿设第一凹槽1121和第二凹槽1221，这样实现第一轴臂112和第二轴臂122之间的角度锁定，进而可防止手持云台100的状态切换和轴臂角度的调整。在锁定件15穿设第一凹槽1121和第二凹槽1221时，锁定件15可能因意外作用力而脱离第一凹槽1121或第二凹槽1221，使得第一轴臂112和第二轴臂122会出现相对转动。因此，可利用驱动件18来使锁定件15保持在第一位置或第二位置，使得手持云台100的状态保持更稳定，不容易因意外而使手持云台100的状态切换或轴臂角度调整。
在某些实施方式中，驱动件18包括以下结构中的一种：
弹性件、电机、磁性件、电磁件。
上述四种结构均能将锁定件15保持在第一位置或第二位置以及驱动锁定件15移动。
具体地，在图示的实施方式中，驱动件18采用弹性件，弹性件可安装在第一凹槽1121，弹性件的一端可抵持第一凹槽1121的槽壁，另一端抵持锁定件15，这样在第一凹槽1121和第二凹槽1221没对准的情况下，弹性件被锁定件15压缩。在第一凹槽1121和第二凹槽1221对准的情况下，被压缩的弹性件驱动锁定件15移动，使得锁定件15穿设第一凹槽1121和第二凹槽1221，且弹性件施加给锁定件15保持在第一位置的作用力，锁定件15将手持 云台100锁定在使用状态。当需要解锁时，可通过操作操作件16带动锁定件15移动以脱离第二凹槽1221，从而可解锁。此时，弹性件被重新压缩，锁定件15位于第二位置。
在其它实施方式中，驱动件15可采用电机，电机通过传动结构，如齿轮、皮带、铰链、齿条、螺杆等来带动锁定件移动。在另外的实施方式中，驱动件15可采用磁性件，例如，磁性件可设在第一轴臂1121或第二轴臂1221或结合件，锁定件15可设有与磁性件可相互吸附或排斥的另一磁性件，或锁定件15本身是由磁性材料制成而作为另一磁性件。通过两个磁性件相互吸附或排斥的作用来驱动锁定件15的移动和保持在第一位置或第二位置。电磁件的作用原理与磁性件的相类似，在此不再详细展开。
可以根据具体情况来设置驱动件18的具体类型。在此不对驱动件18的具体类型做限定。
请参阅图1、图6和图7，在某些实施方式中，手持云台100包括第三轴组件13和承载物19，第三轴组件13包括第三电机131以及第三轴臂132，第三轴臂132的一端与第二电机121固定连接，另一端与第三电机131固定连接，承载物19与第三电机131的转子固定连接。
如此，第三轴组件13的设置能够使得手持云台100搭载的拍摄装置能够改变更多的姿态(例如：改变拍摄装置的高度、倾角和/或方向))，承载物19的设置能够固定住拍摄装置，防止拍摄装置出现松动的情况。
进一步地，承载物19可以承载成像镜头，该成像镜头直接或间接与第三电机131的转子固定连接。可选的，承载物19还可以包括用于固定拍摄装置的承载部，该拍摄装置可为相机、具有拍摄功能的智能终端(如手机、平板电脑等)或其他具有拍摄功能的装置。
请参阅图6，在某些实施方式中，当手持云台100切换至收纳状态的情况下，承载物19位于第三电机131远离手持部10的侧壁的一侧。
如此设置方便手持云台100的收纳，进而使得手持云台100易于携带，符合消费者对便携性的要求。
进一步地，在图示的实施方式中，第一电机111绕第一轴线Y转动，第二电机121绕第二轴线P转动，第三电机131绕第三轴线R转动。在手持云台100处于展开使用状态的情况下，第一轴线Y、第二轴线P和第三轴线R均非正交(如图1、3和4所示)，在手持云台100处于收纳状态的情况下，第二轴线P和第三轴线R正交，第一轴线Y和第三轴线R非正交(如图7所示)。
具体的，请参阅图1，在本实施方式中，第一电机111安装在手持部10的顶部。第一电机111的驱动轴线与第一轴线Y重合或平行，第一电机111用于驱动第一轴臂112绕第一 轴线Y转动从而带动第二轴组件1222和第三轴组件1323也绕第一轴线Y一起转动。第一轴臂112可为第一电机111的转子或转子的一部分或连接转子的部件。
第二电机121的驱动轴线与第二轴线P重合或平行，第二电机121用于驱动第三轴臂132绕第二轴线P转动从而带动第三轴组件13和承载物19一起绕第二轴线P一起转动。第二轴臂122可连接第二电机121的定子，第三轴臂132可为第二电机121的转子或转子的一部分或连接转子的部件。
第三电机131的驱动轴线与第三轴线R重合或平行，第三电机131用于驱动承载物19绕第三轴线R转动从而带动承载物19绕第三轴线R转动。
进一步地，本申请实施方式以承载物19包括用于固定拍摄装置的承载部为例进行说明，请参阅图6至图9，承载物19包括安装侧191，在手持云台100处于收纳状态的情况下，安装侧191背向手持部10。具体地，拍摄装置可安装在安装侧191处，例如，拍摄装置为手机时，可将手机夹持或吸附在安装侧191处。
如此，在折叠手持云台100时，由于安装侧191背向手持部10，因此无需将夹持在安装侧191处的负载拆下再进行折叠，这样可以使得在将手持云台100展开情况下不需要再重新安装负载，使用更加方便。
此外，在一些实施方式中，承载物19与拍摄装置(例如手机)配合的部位为硅胶、橡胶等具有弹性的软性材质，以防划伤拍摄装置。
在图示的实施方式中，承载部为夹设结构，该夹设结构设有夹持开口，以便于在承载物19上安装不同尺寸的拍摄装置，夹设结构可包括能调节夹持开口大小的夹持臂192。
当手持云台100切换至收纳状态时，夹设结构的开口背离第三电机131设置，夹设结构的开口设置方式能够确保手持云台100收纳时，拍摄装置能够朝向外侧，方便用户使用拍摄装置。
进一步的，本实施例的夹设结构具有锁定状态和解锁状态，当夹设结构处于解锁状态时，能够夹持固定拍摄装置，且第三电机131能够绕第三轴线R转动；当夹设结构处于锁定状态时，夹设结构锁定在第三轴臂132上，限制第三电机131转动。可选的，当手持云台100切换至收纳状态时，夹设结构自动切换至锁定状态；可选的，当手持云台100切换至收纳状态时，夹设结构仍然处于解锁状态，需要用户通过手动操作方式将夹设结构切换至锁定状态。此外，当夹设结构处于锁定状态时，可基于自动解锁(按键/按钮解锁)或手动解锁方式将夹设结构由锁定状态切换至解锁状态。其中，夹设结构与第三轴臂132实现锁定的结构可选择常规结构，本实施例对此不作介绍。
可以理解的是，在某些实施方式中，承载物19也可包括磁性连接件。
具体地，采用磁性连接件时，可以将带有磁性的拍摄装置的外壳或者是带有能够被磁吸 引的金属的拍摄装置直接放置在承载物19上，磁性连接件将拍摄装置吸住以固定在承载物19上，这样可以无需另外设置夹持臂192以将拍摄装置固定，操作更为简单、方便。
进一步地，本申请的手持云台100为三轴云台。具体地，在图示的实施方式中，第一轴组件11为偏航轴(yaw)组件，第二轴组件12为俯仰轴(pitch)组件和第三轴组件13为横滚轴(roll)组件。这样，通过三个轴组件可控制手持云台100的姿态以控制安装在手持云台100上的拍摄装置的姿态，从而使得拍摄装置稳定地保持在确定的姿态上以拍摄出清晰的图片和视频。可以理解，在其它实施方式中，第一轴组件11可其它轴组件，第二轴组件12可为其它轴组件，第三轴组件13可为其它轴组件。
本实施方式的锁定件15能够用于锁定或者解锁第一轴组件11和第二轴组件12之间的相对转动。
在某些实施方式中，手持部10的壳体上可设置有功能按键和/或触摸显示屏，手持部10的内部设置有控制手持云台100工作的控制器及相关电路(图未示)，功能按键和触摸显示屏与控制器通信连接，控制器从功能按键或触摸显示屏接收用户指令，并根据用户指令控制手持云台100的运作。功能按键包括但不限于开关键、菜单键、拍摄键等其它功能按键。
在一些实施方式中，为便于握持，手持部10还可以设置防滑部以防止手持云台100从用户手中滑脱。防滑部可为设置在手持部10上的摩擦部或便于手指握持的凹槽部或凸起部。可以理解的是手持部10上还可以设置指环或腕带等能够套设在用户手指或手腕上的保护装置，以进一步保护手持云台100从用户手中滑脱。
另外，在某些实施方式中，为了更精准调节拍摄装置的拍摄角度，承载物19上可设有姿态感测器，以获取承载物19的姿态信息进而获取负载的姿态信息，姿态感测器与控制器通信连接以传送拍摄装置的姿态信息至控制器，控制器根据该拍摄装置的姿态信息及用户指令控制手持云台100的运作。姿态感测器可为三轴陀螺仪、三轴加速度计和三轴电子罗盘等能感测拍摄装置的姿态信息的传感器。
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进 行变化、修改、替换和变型。

Claims (16)

  1. 一种手持云台，其特征在于，所述手持云台包括：
    手持部，所述手持部包括顶部和底部；
    第一轴组件，所述第一轴组件包括与所述手持部顶部相连接的第一电机以及第一轴臂；
    第二轴组件，所述第二轴组件包括第二电机和与所述第二电机固定连接的第二轴臂；
    转动连接件，所述转动连接件设于所述第一轴臂与所述第二轴臂之间以使所述第一轴臂和所述第二轴臂能够相对转动以使所述手持云台能够在收纳状态和使用状态之间来回切换；锁定件，所述锁定件活动地连接所述转动连接件，所述锁定件能够在所述手持云台的第一位置和第二位置之间来回切换，在所述手持云台处于所述收纳状态或所述使用状态的情况下，所述锁定件位于所述第一位置以将所述手持云台锁定在所述收纳状态或所述使用状态；所述锁定件位于所述第二位置的情况下，所述锁定件将所述手持云台的所述收纳状态或所述使用状态解锁。
  2. 根据权利要求1所述的手持云台，其特征在于，所述转动连接件包括穿设所述第一轴臂和所述第二轴臂的转轴，所述第一轴臂设有第一凹槽，所述第二轴臂设有第二凹槽；
    在所述锁定件位于所述第一位置的情况下，所述锁定件穿设所述第一凹槽和所述第二凹槽以将所述手持云台锁定在所述收纳状态或所述使用状态；
    在所述锁定件位于所述第二位置的情况下，所述锁定件脱离所述第一凹槽或所述第二凹槽以使所述第一轴臂和所述第二轴臂能够沿所述转轴相对转动。
  3. 根据权利要求1所述的手持云台，其特征在于，所述转动连接件具有支撑力，所述手持云台依靠所述转动连接件的支撑力维持在所述使用状态。
  4. 根据权利要求3所述的手持云台，其特征在于，所述转动连接件包括阻尼结构，所述手持云台依靠所述阻尼结构的支撑力维持在所述使用状态。
  5. 根据权利要求4所述的手持云台，其特征在于，所述阻尼结构包括以下结构中的一种：
    弹片、凸轮、弹性销钉、扭簧。
  6. 根据权利要求2所述的手持云台，其特征在于，所述锁定件安装在所述第一轴臂，所述第一凹槽的数量是单个，所述第二凹槽的数量是多个或单个，多个所述第二凹槽沿所述转轴的周向间隔排列；或
    所述锁定件安装在所述第二轴臂，所述第二凹槽的数量是单个，所述第一凹槽的数量是多个或单个，多个所述第一凹槽沿所述转轴的周向间隔排列。
  7. 根据权利要求2所述的手持云台，其特征在于，所述转轴的一端连接有结合件，所述结合件开设有所述第二凹槽。
  8. 根据权利要求1所述的手持云台，其特征在于，所述手持云台包括连接所述锁定件的操作件，所述操作件能够在被推动操作下的情况下带动所述锁定件移动以使所述锁定件在所述第一位置和所述第二位置之间来回切换。
  9. 根据权利要求8所述的手持云台，其特征在于，所述手持云台包括安装在所述第一轴臂的盖板，所述盖板将所述锁定件安装在所述第一轴臂，所述盖板开设有盖板通孔，所述操作件穿设所述盖板通孔并能够带动所述锁定件沿所述盖板通孔的径向移动。
  10. 根据权利要求9所述的手持云台，其特征在于，所述盖板通孔呈跑道型。
  11. 根据权利要求9所述的手持云台，其特征在于，所述盖板的外表面形成有凸凹结构。
  12. 根据权利要求9所述的手持云台，其特征在于，所述锁定件的表面设有状态标识，在所述锁定件位于所述第一位置的情况下，所述状态标识从所述盖板通孔露出和所述锁定件位于所述第二位置的情况下，所述状态标识被所述盖板遮挡；或
    在所述锁定件位于所述第二位置的情况下，所述状态标识从所述盖板通孔露出和所述锁定件位于所述第一位置的情况下，所述状态标识被所述盖板遮挡。
  13. 根据权利要求1所述的手持云台，其特征在于，所述手持云台包括驱动件，所述驱动件用于驱动所述锁定件从所述第二位置切换至所述第一位置和使所述锁定件保持在所述第一位置，或
    所述驱动件用于驱动所述锁定件从所述第一位置切换至所述第二位置和使所述锁定件保持在所述第二位置。
  14. 根据权利要求13所述的手持云台，其特征在于，所述驱动件包括以下结构中的一种：
    弹性件、电机、磁性件、电磁件。
  15. 根据权利要求1所述的手持云台，其特征在于，所述手持云台包括第三轴组件和承载物，所述第三轴组件包括第三电机以及第三轴臂，所述第三轴臂的一端与所述第二电机固定连接，另一端与所述第三电机固定连接，所述承载物与所述第三电机的转子固定连接。
  16. 根据权利要求15所述的手持云台，其特征在于，当所述手持云台切换至所述收纳状态的情况下，所述承载物位于所述第三电机远离所述手持部的侧壁的一侧。
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