WO2020258145A1 - 手持设备 - Google Patents

手持设备 Download PDF

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Publication number
WO2020258145A1
WO2020258145A1 PCT/CN2019/093237 CN2019093237W WO2020258145A1 WO 2020258145 A1 WO2020258145 A1 WO 2020258145A1 CN 2019093237 W CN2019093237 W CN 2019093237W WO 2020258145 A1 WO2020258145 A1 WO 2020258145A1
Authority
WO
WIPO (PCT)
Prior art keywords
clamping
arm
clamping arm
guide
shaft
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/CN2019/093237
Other languages
English (en)
French (fr)
Inventor
赵天菲
杨乃旭
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
Original Assignee
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 CN201980009272.9A priority Critical patent/CN111656079A/zh
Priority to PCT/CN2019/093237 priority patent/WO2020258145A1/zh
Publication of WO2020258145A1 publication Critical patent/WO2020258145A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • F16M11/043—Allowing translations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/02—Constructional features of telephone sets
    • H04M1/04—Supports for telephone transmitters or receivers

Definitions

  • This application relates to the technical field of handheld terminals, and in particular to a handheld device.
  • a mobile phone or a digital camera is generally clipped to a handheld device with a clip for shooting.
  • the phone holder will rotate, which will affect the use on the one hand.
  • the phone holder is not fixed, the handheld device will be scratched due to its movement.
  • the embodiment of the present application provides a handheld device.
  • This application provides a handheld device, which includes:
  • a first shaft arm, the first shaft arm is connected with a first rotating shaft
  • the clamping structure is detachably connected with the first shaft arm.
  • the clamping structure includes a housing, a first clamping arm and a second clamping arm.
  • the housing is connected to the first shaft and can be It is rotatably mounted on the first shaft arm, the first clamping arm and the second clamping arm are respectively telescopically connected on opposite sides of the housing, the first clamping arm and
  • Each of the second clamping arms includes a clamping piece and a guiding piece, the guiding piece connects the clamping piece and the housing, and one of the guiding piece and the first shaft arm is provided with a clip The other is provided with a card slot.
  • the clip when the two clamping arms are not loaded, the clip is stuck in the slot to prevent the relative rotation of the clamping structure and the first shaft arm, so that the handheld device is not in use. Prevent the clamping structure from rotating, so as to ensure the normal use of the handheld device and prevent the handheld device from being scratched.
  • Fig. 1 is a three-dimensional schematic diagram of a handheld device according to an embodiment of the present application
  • FIG 2 is another three-dimensional schematic diagram of the handheld device according to the embodiment of the present application.
  • FIG. 3 is a schematic plan view of a handheld device according to an embodiment of the present application.
  • FIG. 4 is a schematic cross-sectional view of a handheld device according to an embodiment of the present application.
  • FIG. 5 is an enlarged schematic diagram of part V of the handheld device of FIG. 4;
  • FIG. 6 is a partial exploded schematic diagram of the handheld device of the embodiment of the present application.
  • FIG. 7 is a partially exploded enlarged schematic diagram of the handheld device of the embodiment of the present application.
  • FIG. 8 is another partial exploded schematic diagram of the handheld device according to the embodiment of the present application.
  • FIG. 9 is an exploded schematic diagram of another part of the handheld device according to the embodiment of the present application.
  • FIG. 10 is an exploded schematic diagram of another part of the handheld device according to the embodiment of the present application.
  • FIG. 11 is a schematic plan view of a housing and a clamping arm of a handheld device according to an embodiment of the present application.
  • FIG. 12 is another three-dimensional schematic diagram of the handheld device of the embodiment of the present application.
  • FIG. 13 is another three-dimensional schematic diagram of the handheld device of the embodiment of the present application.
  • 15 is a schematic plan view of the first shell of the clamping structure of the embodiment of the present application.
  • FIG. 16 is a perspective schematic view of the second shell of the clamping structure of the embodiment of the present application.
  • FIG. 17 is another perspective schematic view of the second shell of the clamping structure of the embodiment of the present application.
  • 19 is another schematic plan view of the second shell of the clamping structure of the embodiment of the present application.
  • FIG. 20 is a perspective schematic view of a first shaft arm of a handheld device according to an embodiment of the present application.
  • 21 is a perspective schematic view of a clamping arm of a clamping structure according to an embodiment of the present application.
  • FIG. 22 is a schematic plan view of a clamping arm of a clamping structure according to an embodiment of the present application.
  • FIG. 23 is another schematic plan view of the clamping arm of the clamping structure of the embodiment of the present application.
  • 24 is another schematic plan view of the clamping arm of the clamping structure of the embodiment of the present application.
  • 25 is another perspective schematic view of the clamping arm of the clamping structure of the embodiment of the present application.
  • FIG. 26 is another perspective schematic view of the clamping arm of the clamping structure of the embodiment of the present application.
  • 27 is a schematic diagram of the connection of two clamping arms of the clamping structure of the embodiment of the present application.
  • FIG. 28 is another schematic diagram of the connection of two clamping arms of the clamping structure of the embodiment of the present application.
  • first and second are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of the features. In the description of this application, “multiple” means two or more than two, unless otherwise specifically defined.
  • connection should be interpreted broadly unless otherwise clearly specified and limited.
  • it can be a fixed connection or a detachable connection.
  • Connected or integrally connected it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction of two components relationship.
  • connection should be interpreted broadly unless otherwise clearly specified and limited.
  • it can be a fixed connection or a detachable connection.
  • Connected or integrally connected it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction of two components relationship.
  • an embodiment of the present application provides a handheld device 100 that includes a first shaft arm 102 and a clamping structure 104.
  • the first shaft arm 102 is connected with a first rotating shaft 106.
  • the clamping structure 104 is detachably connected to the first shaft arm 102.
  • the clamping structure 104 includes a housing 107, a first clamping arm 108, and a second clamping arm 110.
  • the housing 107 is connected to the first rotating shaft 106 and rotatably Installed on the first shaft arm 102, the first clamping arm 108 and the second clamping arm 110 are respectively telescopically connected to the opposite sides of the housing 107, the first clamping arm 108 and the second clamping arm 110 are both It includes a clamping piece 112 and a guiding piece 114.
  • the guiding piece 114 connects the clamping piece 112 and the housing 107.
  • One of the guiding piece 114 and the first shaft arm 102 is provided with a clamping piece 116, and the other is provided with a clamping slot 118.
  • the clamping member 116 When the first clamping arm 108 and the second clamping arm 110 are not loaded, the clamping member 116 is stuck in the clamping slot 118 to prevent the clamping structure 104 and the first shaft arm 102 from rotating relative to each other (as shown in FIG. 5 ), when the first clamping arm 108 and the second clamping arm 110 are loaded, the clamping member 116 is separated from the clamping slot 118 so that the clamping structure 104 and the first shaft arm 102 can rotate relatively.
  • the clamping member 116 is stuck in the clamping slot 118 to prevent relative rotation of the clamping structure 104 and the first shaft arm 102, so that the handheld device 100 is not in use.
  • the clamping structure 104 is prevented from rotating, so as to ensure the normal use of the handheld device 100 and prevent the handheld device 100 from being scratched.
  • the load includes, but is not limited to, shooting devices and non-shooting devices.
  • the handheld device 100 provided in the embodiments of the present application can be used to carry shooting devices such as mobile phones, tablets, cameras, and video cameras to realize the fixation of the shooting devices and the posture adjustment (for example : Change the height, inclination and/or direction of the camera and stabilize the camera in a determined posture.
  • the load can also be the force when the clamping arm is manually pulled apart.
  • the clamping structure 104 can be detachably connected to the first shaft arm 102 through a buckle, a screw, and a shaft connection.
  • the first pivot arm 102 can be used as a pivot arm of the pan/tilt.
  • the handheld device 100 includes a handle 120, a third shaft component 122, a second shaft component 124 and a first shaft component 126.
  • the handle 120 has a top and a bottom, and the third shaft assembly 122 includes a third motor 128 and a third shaft arm 130 connected to the top.
  • the second shaft assembly 124 includes a second motor 132 and a second shaft arm 134 fixedly connected to the second motor 132.
  • the first shaft assembly 126 includes a first motor 136 and a first shaft arm 102.
  • the first shaft arm 102 is fixedly connected to the second motor 132, and the other end is fixedly connected to the first motor 136.
  • the first rotating shaft 102 may be the rotating shaft of the first motor 136.
  • the clamping structure 104 can be fixedly connected to the rotating shaft of the first motor 136 so that the first motor 136 can drive the clamping structure 104 to rotate. In this way, a three-axis pan/tilt is installed on the handle 120 to control the three-axis attitude of the clamping structure 104 and the load, which enriches the application scenarios of the handheld device 100.
  • the handheld device 100 may also include a single-axis pan/tilt, two-axis pan/tilt or more than three-axis pan/tilt, or the handheld device may also be a selfie stick.
  • the handheld device 100 Switch back and forth between storage state and use state. In this way, it is convenient to reduce the space occupation of the handheld device 100 when the handheld device 100 is not in use, and improve the portability of the handheld device 100.
  • the third motor 128 drives the third shaft arm 130, the second shaft assembly 124, the first shaft assembly 126, the clamping structure 104 and the load to rotate around the third axis Y
  • the second motor 132 drives the first shaft assembly 126
  • the clamping structure 104 and the load rotate around the second axis P
  • the first motor 136 drives the first shaft assembly 126, the clamping structure 104 and the load to rotate around the first axis R.
  • the third axis Y, the second axis P, and the first axis R are all non-orthogonal (as shown in FIG. 12).
  • the second axis P and the first axis R are orthogonal, and the third axis Y and the first axis R are non-orthogonal (as shown in FIG. 13). It can be understood that, in other embodiments, the first axis R, the second axis group P, and the third axis group Y may be orthogonal or non-orthogonal to each other when the handheld device 100 is in the stored state or in use. Make specific restrictions.
  • the first axis component 126 is a roll component of the handheld device 100
  • the second axis component 124 is a pitch component of the handheld device 100
  • the third axis component 122 is a handheld device.
  • the yaw component of the device 100 In this way, the posture of the handheld device 100 can be controlled through the three-axis assembly to control the holding structure 104 and the posture of the load mounted on the handheld device 100, so that the load can be stably maintained in a certain posture to take clear pictures and images. video.
  • the first shaft assembly 126 may be another shaft assembly
  • the second shaft assembly 124 may be another shaft assembly
  • the third shaft assembly 122 may be another shaft assembly.
  • the second shaft assembly 124 may be a handheld The roll axis component of the device 100
  • the first axis component 126 is the pitch axis component of the handheld device 100 and the like.
  • the third motor 128 is installed on the top of the handle 120.
  • the drive axis of the third motor 128 may coincide with the third axis Y or be parallel or perpendicular or inclined.
  • the third motor 128 is used to drive the third shaft arm 130 to rotate around the third axis Y to drive the second shaft assembly 124 and the first shaft
  • the assembly 126, the clamping structure 104 and the load also rotate together about the third axis Y.
  • the third shaft arm 130 may be a rotor or a part of the rotor of the third electric machine 128 or a component connected to the rotor.
  • the driving axis of the second motor 132 coincides with the second axis P or is parallel or perpendicular or inclined.
  • the second motor 132 is used to drive the first shaft arm 102 to rotate around the second axis P to drive the first shaft assembly 126 and the clamping structure 104 Rotates with the load around the second axis P.
  • the second shaft arm 134 may be connected to the stator of the second motor 132, and the first shaft arm 102 may be a rotor of the second motor 132 or a part of the rotor or a component connected to the rotor.
  • the drive axis of the first motor 136 coincides with the first axis R or is parallel or perpendicular or inclined.
  • the first motor 136 is used to drive the clamping structure 104 and the load to rotate around the first axis R so as to drive the clamping structure 104 and the load around the first axis R.
  • the axis R rotates.
  • the axis of the first rotating shaft coincides with the first axis R.
  • the housing 107 can be fixedly connected to the first rotating shaft 106.
  • a connecting shaft 138 is provided at the bottom of the housing 107, and the connecting shaft 138 is fixedly connected to the first rotating shaft 106.
  • the connecting shaft 138 is fixedly connected to the first rotating shaft 106 by interference fit.
  • the connecting shaft 138, the first rotating shaft 106 or the housing 107 may be installed with a magnetic member that interacts with the stator of the first motor 136.
  • the first rotating shaft 106 rotatably passes through the first shaft arm 102, so that the clamping structure 104 is more stable when rotating.
  • the guide parts 114 of the two clamping arms are both provided with a clamping part 116, and the first shaft arm 102 is provided with a clamping slot 118.
  • the card 116 passes through the housing 107.
  • the first clamping arm 108 and the second clamping arm 110 are used for clamping the load, so that the load can be firmly installed on the clamping structure 104.
  • the distance between the first clamping arm 108 and the second clamping arm 110 is small.
  • the first clamping arm The distance between 108 and the second clamping arm 110 is relatively large, and the first clamping arm 108 and the second clamping arm 110 jointly clamp the load.
  • the first clamping arm 108 and the second clamping arm 110 return to their original positions. Due to the movement of the first clamping arm 108 and the second clamping arm 110, the clamping member 116 can be clamped in the clamping slot 118 or separated from the clamping slot 118, so that the clamping structure 104 can be locked and unlocked in rotation.
  • the guide member 114 may be provided with a card slot 118
  • the first shaft arm 102 can be provided with a card member 116
  • the portion of the guide member 114 provided with the card slot 118 can be penetrated by the housing 107 to make the card slot 118 is located outside the housing 107 so that the clamping member 116 can be clamped in the clamping slot 118.
  • the guide 114 of the first clamping arm 108 or the second clamping arm 110 may be provided with a clamping member 116 or a clamping slot 118.
  • the outer surface of the housing 107 is provided with a first convex ring 140
  • the outer surface of the first shaft arm 102 is provided with a second convex ring 142
  • the first The convex ring 140 is disposed on the outer side of the second convex ring 142
  • the second convex ring 142 is provided with a slot 118.
  • the first convex ring 140 is provided on the bottom of the housing 107, and the second convex ring 142 is provided on the top of the first shaft arm 102.
  • the clamping structure 104 clamps a load
  • the first clamping arm 108 and the second clamping arm 110 are relatively outwardly extended, so that the gravity arm of the clamping structure 104 is increased. Even if the clamping structure 104 does not rotate, the clamping The holding structure 104 is not easy to maintain stability.
  • the two convex rings can be in mating contact with each other, and the eccentric vibration of the clamping structure 104 deviating from the first axis R is reduced or avoided.
  • both the first convex ring 140 and the second convex ring 142 are circular convex rings.
  • the second convex ring 142 may be provided with a clamping member 116.
  • the bottom of the housing 107 is provided with a connecting shaft 138, the first convex ring 140 surrounds the connecting shaft 138, and the connecting shaft 138 is fixedly connected to the first rotating shaft 106. In this way, the cooperation of the connecting shaft 138 and the first convex ring 140 can ensure the rotation and non-rotation stability of the clamping structure 104.
  • the connecting shaft 138 is located at the middle position of the first convex ring 140, and the center of the first convex ring 140 is located on the axis of the first rotating shaft 106.
  • the first rotating shaft 106 is connected to the rotor of the motor, and the first shaft arm 102 is fixedly connected to the stator of the first motor 136.
  • the first shaft arm 102 may be used as a stator or a part of a stator of the first motor 136
  • the first rotating shaft 106 may be used as a rotor or a part of a rotor of the first motor 136.
  • the first clamping arm 108 and the second clamping arm 110 each include at least two guide members 114, one of the guide members 114 of the first clamping arm 108 is provided with a clamping member 116, and the second One of the guide members 114 of the clamping arm 110 is provided with another clamping member 116.
  • the guide parts 114 of the two clamping arms have the clamping parts 116, so that the clamping structure 104 is more stable when the clamping structure 104 is locked by rotation.
  • first clamping arm 108 and the second clamping arm 110 are respectively provided on opposite sides of the housing 107, and the first clamping arm 108 and the second clamping arm 110 are connected to the housing 107 through a guide 114.
  • Two guides 114 are shown in the figure. In the embodiment of the present application, two guides are both provided.
  • the 114 shows that the two guides 114 are arranged along the extension direction A1-A2 perpendicular to the clamping arm (direction A1 is the extension direction of the first clamping arm 108 and the retracting direction of the second clamping arm 110, the direction A2 Is the extension direction of the second clamping arm 110 and the retracting direction of the first clamping arm 108).
  • the card 116 is provided on the lower surface of the guide 114.
  • the guide 114 of the first clamping arm 108 may be provided with a clamping member 116, and the guide 114 of the second clamping arm 110 may be provided with a clamping groove 118, or it may be a first clamping
  • the guide 114 of the arm 108 is provided with a card slot 118
  • the guide 114 of the second clamping arm 110 is provided with a card 116
  • the guide 114 of the first clamping arm 108 is provided with a card slot 118
  • the second clamp The guide 114 of the holding arm 110 is provided with a slot 118.
  • the housing 107 includes a first shell 144 and a second shell 146 that are connected, and the first clamping arm 108 and the second clamping arm 110 each include two guides 114.
  • One of the two guides 114 is provided with an upper guide 148 at the top, and the other is provided with a lower guide 150 at the bottom.
  • the inner surface of the first housing 144 is provided with two first housing guides 152, the second The inner surface of the shell 146 is provided with two second shell guide portions 154.
  • the two first shell guide portions 152 are respectively connected to the two upper guide portions 148 of the first clamping arm 108 and the second clamping arm 110, and the two The second housing guide portion 154 is connected to the two lower guide portions 150 of the first clamping arm 108 and the second clamping arm 110 respectively. In this way, through the mutual connection of the guiding parts, the positioning of the guiding piece 114 is more accurate, and the sliding of the guiding piece 114 is smoother.
  • the two guides 114 of the first clamping arm 108 and the second clamping arm 110 can be retracted to the housing 107 when the clamping structure 104 has no load.
  • the inner surface of the first shell 144 is provided with two first shell guide portions 152 for connecting the upper guide portion 148 of the first clamping arm 108 and the upper guide portion 148 of the second clamping arm 110.
  • the second housing guide portion 154 on the inner surface of the second housing 146 is used to connect the lower guide portion 150 of the first clamping arm 108 and the lower guide portion 150 of the second clamping arm 110. In this way, the positioning and guiding of the guide member 114 from the up and down direction increases the stability and smoothness.
  • the upper guide portion 148 and the lower guide portion 150 are both provided with a guide groove 151, and the first housing guide portion 152 and the second housing guide portion 154 are both provided with rails.
  • the track and the guide groove cooperate to achieve guidance.
  • the upper guide portion 148 may be provided with a rail
  • the lower guide portion 150 may be provided with a guide groove.
  • the first shell guide portion 152 is provided with a guide groove
  • the second shell guide portion 154 is provided with a guide groove.
  • both the first shell guide portion 152 and the second shell guide portion 154 are provided with guide grooves.
  • the upper guide portion 148 and the lower guide portion 150 of the second clamping arm 110 may also be provided with guide grooves and/or rails.
  • the first shell 144 and the second shell 146 are detachably connected.
  • the first shell 144 and the second shell 146 of the clamping structure 104 are detachable.
  • the detachable connection of the first shell 144 and the second shell 146 includes, but is not limited to, snaps, screws, and the like.
  • the guide 114 is provided with a first connecting portion 156
  • the housing 107 is provided with a second connecting portion 158
  • the clamping structure 104 includes elastic
  • the elastic member 160 connects the first connecting portion 156 and the second connecting portion 158 and is used to drive the first clamping arm 108 and the second clamping arm 110 to shrink back to the housing 107.
  • each clamping arm is elastically connected to the housing 107 through the respective elastic member 160, so that the two clamping arms can hold the load more stably under the condition of clamping the load.
  • the elastic member 160 of the clamping structure 104 is connected to the first connecting portion 156 of the guide member 114 and the second connecting portion 158 in the housing 107, and the installation of the elastic member 160 is relatively stable.
  • the clamping structure 104 clamps the load
  • the first clamping arm 108 and the second clamping arm 110 extend to both sides of the housing 107, and the elastic member 160 is moved toward the first connecting arm and the second connecting arm by the first connecting portion 156.
  • the extension direction of the connecting arm stretches.
  • the first clamping arm 108 and the second clamping arm 110 are pulled back by the contraction of the elastic member 160 and return to the contracted state.
  • the second connecting portion 158 is provided on the inner surface of the second housing 146.
  • Each of the two clamping arms is provided with two guides 114, a total of 4 guides 114, arranged along the direction perpendicular to the expansion and contraction of the clamping arm, that is, the direction BB in Figure 27 is the direction perpendicular to the expansion and contraction direction of the clamping arm, respectively.
  • the first clamping arm 108 includes a first guide 1141 and a third guide 1143.
  • the second clamping arm 110 includes a second guide 1142 and a fourth guide 1144.
  • the number of elastic members 160 is two, which are respectively the first An elastic element 1601 and a second elastic element (the second elastic element is not visible in Figure 14).
  • Two elastic members 160 are located between the second guide member 1142 and the third guide member 1143.
  • the first elastic member 1601 connects the first connecting portion 156 of the second guide member 1142 and one of the second connecting portions 158 in the housing 107
  • the second elastic member connects the first connecting portion 156 of the third guide 1143 and the other second connecting portion 158 in the housing 107.
  • the connecting part shown in the figure is a connecting post. In other embodiments, the connecting part may have other regular or irregular shapes to ensure that it can be connected to one end of the elastic member 160.
  • the clamping structure 104 includes a first restricting member 162 and a second restricting member 164.
  • the first restricting member 162 is connected to the first connecting portion 156 and restricts one end of the elastic member 160 to the first A connecting portion 156
  • the second limiting member 164 is connected to the second connecting portion 158 and the other end of the elastic member 160 is limited to the second connecting portion 158. In this way, it is possible to prevent the elastic member 160 from falling off the connecting portion during the retracting process of the driving clamping arm or during the stretching process, causing the clamping arm to fail to retract, thereby ensuring the reliability of the clamping structure 104.
  • the first restricting member 162 and the second restricting member 164 may both be screws, and the screws are installed to the connecting portion through a threaded connection so that one end of the elastic member 160 does not fall off from the connecting portion.
  • the structures of the first restricting member 162 and the second restricting member 164 may be the same or different, and the restricting member may be a restricting member of other structural forms, for example, the restricting member may be a pin or integrated with the connecting portion Bumps, or clips installed to the connecting part by interference fit, etc.
  • the side of the first clamping arm 108 facing the second clamping arm 110 is provided with a first soft pad 166 facing the second clamping arm of the first clamping arm 108
  • a second soft pad 168 is provided on one side of 110.
  • the first soft pad 166 is disposed on the inner side of the clamping member 112 of the first clamping arm 108
  • the second soft pad 168 is disposed on the inner side of the clamping member 112 of the second clamping arm 110.
  • the soft pad can be made of flexible soft materials such as silicone, rubber, sponge, etc.
  • the side surface of the guide member 114 is provided with a side guide groove 170 and a side guide bar 172 along the thickness direction CC of the housing 107, and the side guide bar 172 of the first clamping arm 108
  • the side guide bar 172 of the second clamping arm 110 is at least partially accommodated in the side guide groove 170 of the second clamping arm 110
  • the side guide bar 172 of the second clamping arm 110 is at least partially accommodated in the side guide groove 170 of the first clamping arm 108.
  • the side guide bars 172 and the side guide grooves 170 of the two clamping arms guide and cooperate with each other, so that there is no need to separately provide additional slides for the two clamping arms in the housing 107, so that the space in the housing 107 is less occupied , It is beneficial to design more structural space inside the housing 107 for installing other components, and the side guide groove 170 and the side guide bar 172 of the same clamping arm are arranged along the thickness direction of the housing 107, which realizes the stacking of structures optimization.
  • the sides of the guide 114 of the first clamping arm 108 and the second clamping arm 110 are both provided with a side guide groove 170 and a side guide bar 172.
  • the side guide bar 172 of the first clamping arm 108 and the side guide groove 170 of the second clamping arm 110 are arranged oppositely and matched with each other.
  • the side guide groove 170 of the first clamping arm 108 and the side guide groove 170 of the second clamping arm 110 The positions of the side guide bars 172 are relatively arranged and matched with each other.
  • the side guide bar 172 of the guide member 114 is received in the side guide groove 170 and can slide along the side guide groove 170.
  • the side of the guide 114 is provided with a protruding strip 174.
  • the protruding strip 174 and the side guide strip 172 are arranged along the retracting direction of the clamping arm.
  • the height of the protruding strip 174 is greater than the height of the side guide strip 172.
  • the side surface of the member 114 is provided with an accommodation space 176 formed by the height difference between the protruding bar 174 and the side guide bar 172, and the guide member 114 of the first clamping arm 108 is at least partially located in the accommodation space of the second clamping arm 110 176.
  • the guide 114 of the second clamping arm 110 is at least partially located in the accommodating space 176 of the first clamping arm 108. In this way, the space occupied by the guide member 114 in the housing 107 can be further reduced, thereby enabling more space in the housing 107 for placing other structural or electrical components.
  • a circuit board assembly may be placed in the housing 107, and the circuit board assembly includes related processors, memories, sensors, and necessary processing and control circuits. At least one of the electrical components. More space in the housing 107 makes the arrangement of electrical components more flexible and can install more electrical components.
  • the circuit board assembly can be made into PCBA (Printed Circuit Board Assembly).
  • the protruding bars 174 and the side guide bars 172 are arranged along the retracting direction A2 of the first clamping arm 108, and for the second clamping arm 110, the protruding bars 174 The and side guide bars 172 are arranged along the retraction direction A1 of the second clamping arm 110.
  • the guide member 114 includes an outer side surface and an inner side surface.
  • the inner side surface of the guide member 114 of one of the first clamping arm 108 and the second clamping arm 110 is provided with a side guide groove 170 and a side guide bar 172.
  • the outer surface of the other guide 114 of the first clamping arm 108 and the second clamping arm 110 is provided with a side guide groove 170 and a side guide bar 172. In this way, the side guide grooves 170 and the side guide bars 172 of the two clamping arms can be matched with each other through the inner and outer side cooperation, which further reduces the space occupation inside the housing 170.
  • the inner surface of the guide member 114 of one clamping arm (such as the first clamping arm 108) is provided with a side guide groove 170 and a side guide bar 172, and the other clamps
  • the outer surface of the guide 114 of the arm (such as the second clamping arm 110) is provided with a side guide groove 170 and a side guide bar 172.
  • the first guide 1141 of the first clamping arm 108 and the second guide 1142 of the second clamping arm 110 cooperate with each other, and the inner part of the first guide 1141
  • a side guide groove 170 and a side guide bar 172 are provided on the side surface
  • a side guide groove 170 and a side guide bar 172 are provided on the outer side surface of the second guide member 1142.
  • the third guide 1142 of the first clamping arm 108 and the fourth guide 1144 of the second clamping arm 110 cooperate with each other.
  • the outer surface of the third guide 1143 is provided with side guide grooves 170 and side guide bars 172.
  • the inner surface of the guide 1144 is provided with a side guide groove 170 and a side guide bar 172.
  • the inner side of the guide 114 is the side facing the inside of the casing 107, and the outer side is the side facing away from the inside of the casing 107.
  • a posture sensor (not shown) is provided in the housing 107, and the posture sensor is located between the two guides 114.
  • the attitude sensor can detect the attitude of the clamping structure 104 and the load in real time, and play a positive role in controlling the attitude of the load.
  • the attitude sensor can be used as one of the sensors of the circuit board assembly and can be connected to the processor (including the controller) of the handheld device 100.
  • the processor obtains the attitude information of the holding structure 104 and the load through the attitude sensor to control the pan/tilt.
  • the orientation adjusts the posture of the load, such as adjusting the shooting angle of the camera and stabilizing the camera at a certain spatial position.
  • the attitude sensor is located between the two guide members 114, which will not adversely affect the sliding of the guide member 114, and can make full use of the internal space of the housing 107.
  • the housing 107 is provided with a housing through hole 178, and the housing through hole 178 communicates with the space between the two guides 114. In this way, the housing through hole 178 can allow wires to extend into the housing 107 to be electrically connected with the electrical components in the housing 107 to transmit power, signals, commands, and the like.
  • the housing through hole 178 is provided in the middle of the housing 107 and penetrates the connecting shaft 138. Wires enter the housing 107 from the first shaft arm 102 through the housing through hole 178 and are connected with electrical components in the housing 107. It can be understood that, in other embodiments, the housing through hole 178 is also opened in other positions of the housing, or other structures are used for the wire to pass through.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Telephone Set Structure (AREA)
  • Clamps And Clips (AREA)

Abstract

一种手持设备（100），包括第一轴臂（102）和夹持结构（104）。第一轴臂（102）连接有第一转轴（106）。夹持结构（104）包括壳体（107）、第一夹持臂（108）和第二夹持臂（110），壳体（107）连接第一转轴（106）并可转动地安装在第一轴臂（102），第一夹持臂（108）和第二夹持臂（110）均包括夹持件（112）和导向件（114），导向件（114）连接夹持件（112）和壳体（107），导向件（114）和第一轴臂（102）的其中之一设有卡件（116），另一设有卡槽（118）。在第一夹持臂（108）和第二夹持臂（110）未有负载作用的情况下，卡件（116）卡在卡槽（118）以防止夹持结构（104）和第一轴臂（102）相对转动，在第一夹持臂（108）和第二夹持臂（110）有负载作用的情况下，卡件（116）脱离卡槽（118）以使得夹持结构（104）和第一轴臂（102）能够相对转动。

Description

手持设备 技术领域
本申请涉及手持终端技术领域，特别涉及一种手持设备。
背景技术
目前，在相关技术中，为了实现较佳的拍摄效果，手机或数码相机一般会夹在带有夹子的手持设备上进行拍摄。然而，手持设备在不夹持手机的时候会出现手机夹转动，这样一方面会影响使用，另一方面，在手机夹未固定状态下，由于其运动，会对手持设备产生划伤等问题。
发明内容
本申请的实施方式提供一种手持设备。
本申请提供一种手持设备，其包括：
第一轴臂，所述第一轴臂连接有第一转轴；及
夹持结构，与所述第一轴臂可拆卸地连接，所述夹持结构包括：壳体、第一夹持臂和第二夹持臂，所述壳体连接所述第一转轴并可转动地安装在所述第一轴臂，所述第一夹持臂和所述第二夹持臂分别可伸缩地连接在所述壳体相背的两侧，所述第一夹持臂和所述第二夹持臂均包括夹持件和导向件，所述导向件连接所述夹持件和所述壳体，所述导向件和所述第一轴臂的其中之一设有卡件，另一设有卡槽，在所述第一夹持臂和所述第二夹持臂未有负载作用的情况下，所述卡件卡在所述卡槽以防止所述夹持结构和所述第一轴臂相对转动，在所述第一夹持臂和所述第二夹持臂有所述负载作用的情况下，所述卡件脱离所述卡槽以使得所述夹持结构和所述第一轴臂能够相对转动。
上述手持设备中，通过两个夹持臂在未有负载作用的情况下，卡件卡在卡槽来防止夹持结构和第一轴臂的相对转动，使得手持设备在不使用的情况下，防止夹持结构转动，这样保证手持设备的正常使用及防止手持设备产生划伤。
本申请的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实施方式的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本申请实施方式的手持设备的立体示意图；
图2是本申请实施方式的手持设备的另一立体示意图；
图3是本申请实施方式的手持设备的平面示意图；
图4是本申请实施方式的手持设备的剖面示意图；
图5是图4的手持设备V部分的放大示意图；
图6是本申请实施方式的手持设备的部分分解示意图；
图7是本申请实施方式的手持设备部分分解的放大示意图；
图8是本申请实施方式的手持设备的另一部分分解示意图；
图9是本申请实施方式的手持设备的再一部分分解示意图；
图10是本申请实施方式的手持设备的又一部分分解示意图；
图11是本申请实施方式的手持设备的壳体和夹持臂的平面示意图；
图12是本申请实施方式的手持设备的再一立体示意图；
图13是本申请实施方式的手持设备的又一立体示意图；
图14是本申请实施方式的夹持结构的剖面示意图；
图15是本申请实施方式的夹持结构的第一壳的平面示意图；
图16是本申请实施方式的夹持结构的第二壳的立体示意图；
图17是本申请实施方式的夹持结构的第二壳的另一立体示意图；
图18是本申请实施方式的夹持结构的第二壳的平面示意图；
图19是本申请实施方式的夹持结构的第二壳的另一平面示意图；
图20是本申请实施方式的手持设备的第一轴臂的立体示意图；
图21是本申请实施方式的夹持结构的夹持臂的立体示意图；
图22是本申请实施方式的夹持结构的夹持臂的平面示意图；
图23是本申请实施方式的夹持结构的夹持臂的又一平面示意图；
图24是本申请实施方式的夹持结构的夹持臂的再一平面示意图；
图25是本申请实施方式的夹持结构的夹持臂的另一立体示意图；
图26是本申请实施方式的夹持结构的夹持臂的又一立体示意图；
图27是本申请实施方式的夹持结构的两个夹持臂的连接示意图；
图28是本申请实施方式的夹持结构的两个夹持臂的另一连接示意图。
具体实施方式
下面详细描述本申请的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在本申请的描述中，需要理解的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通信；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。
请参图1至图7，本申请实施方式提供一种手持设备100，其包括第一轴臂102和夹持结构104。第一轴臂102连接有第一转轴106。夹持结构104与第一轴臂102可拆卸地连接，夹持结构104包括壳体107、第一夹持臂108和第二夹持臂110，壳体107连接第一转轴106并可转动地安装在第一轴臂102，第一夹持臂108和第二夹持臂110分别可伸缩地连接在壳体107相背的两侧，第一夹持臂108和第二夹持臂110均包括夹持件112和导向件114，导向件114连接夹持件112和壳体107，导向件114和第一轴臂102的其中之一设有卡件116，另一设有卡槽118。
在第一夹持臂108和第二夹持臂110未有负载作用的情况下，卡件116卡在卡槽118以防止夹持结构104和第一轴臂102相对转动(如图5所示)，在第一夹持臂108和第二夹持臂110有负载作用的情况下，卡件116脱离卡槽118以使得夹持结构104和第一轴臂102能够相对转动。
如此，通过两个夹持臂在未有负载作用的情况下，卡件116卡在卡槽118来防止夹持结构104和第一轴臂102的相对转动，使得手持设备100在不使用的情况下，防止夹持结构104转动，这样保证手持设备100的正常使用及防止手持设备100产生划伤。
具体地，负载包括但不限于拍摄装置和非拍摄装置，本申请实施方式提供的手持设备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确定的姿态上。负载也可以是手动地去拉开夹持臂时的作用力。
夹持结构104可通过卡扣、螺丝、轴连接的方式与所述第一轴臂102可拆卸地连接。
在本申请实施方式中，第一轴臂102可用为云台的一个轴臂。请参图12和图13，手持设备100包括手柄120、第三轴组件122、第二轴组件124和第一轴组件126。手柄120具有顶部和底部，第三轴组件122包括与顶部相连接的第三电机128以及第三轴臂130。第二轴组件124包括第二电机132以及与第二电机132固定连接的第二轴臂134。第一轴组件126包括第一电机136以及第一轴臂102，第一轴臂102的一端与第二电机132固定连接，另一端与第一电机136固定连接。第一转轴102可为第一电机136的转轴。夹持结构104可固定连接第一电机136的转轴，这样第一电机136可驱动夹持结构104转动。如此，手柄120上安装三轴云台，可控制夹持结构104和负载的三轴姿态，丰富了手持设备100的应用场景。可以理解，在其它实施方式中，手持设备100也可包括单轴云台、两轴云台或三轴以上云台，或手持设备也可以是自拍杆。
进一步地，第三轴臂130的一端与第三电机128固定连接，另一端与第二轴臂134转动连接，随第三轴臂130与第二轴臂134的相对转动，使手持设备100在收纳状态和使用状态之间来回切换。如此，方便手持设备100在不使用的情况下，减少手持设备100的空间占用，提高了手持设备100的便携性。
具体地，第三电机128驱动第三轴臂130、第二轴组件124、第一轴组件126、夹持结构104和负载绕第三轴线Y转动，第二电机132驱动第一轴组件126、夹持结构104和负载绕第二轴线P转动，第一电机136驱动第一轴组件126、夹持结构104和负载绕第一轴线R转动。在手持设备100处于展开使用状态的情况下，第三轴线Y、第二轴线P和第一轴线R均非正交(如图12所示)，在手持设备100处于收纳状态的情况下，第二轴线P和第一轴线R正交，第三轴线Y和第一轴线R非正交(如图13所示)。可以理解，在其它实施方式中，第一轴线R、第二轴组P和第三轴组Y在手持设备100处于收纳状态还是使用状态下都可以是相互正交或非正交，在此不做具体限定。
在图示的实施方式中，第一轴组件126为手持设备100的横滚轴(roll)组件，第二轴组件124为手持设备100的俯仰轴(pitch)组件，第三轴组件122为手持设备100的偏航轴(yaw)组件。这样，通过三个轴组件可控制手持设备100的姿态以控制安装在手持设备100上的夹持结构104和负载的姿态，从而使得负载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126可其它轴组件，第二轴组件124可为其它轴组件，第三轴组件122可为其它轴组件，例如，第二轴组件124为手持设备100的横滚轴组件，第一轴组件126为手持设备100的俯仰轴组件等。
另外，在本实施方式中，第三电机128安装在手柄120的顶部。第三电机128的驱动轴线可与第三轴线Y重合或平行或垂直或倾斜，第三电机128用于驱动第三轴臂130绕第三轴线Y转动从而带动第二轴组件124、第一轴组件126、夹持结构104和负载也绕第三轴线Y一起转动。第三轴臂130可为第三电机128的转子或转子的一部分或连接转子的部件。
第二电机132的驱动轴线与第二轴线P重合或平行或垂直或倾斜，第二电机132用于驱动第一轴臂102绕第二轴线P转动从而带动第一轴组件126、夹持结构104和负载绕第二轴线P一起转动。第二轴臂134可连接第二电机132的定子，第一轴臂102可为第二电机132的转子或转子的一部分或连接转子的部件。
第一电机136的驱动轴线与第一轴线R重合或平行或垂直或倾斜，第一电机136用于驱动夹持结构104和负载绕第一轴线R转动从而带动夹持结构104和负载绕第一轴线R转动。第一转轴的轴线与第一轴线R重合。
壳体107可与第一转轴106固定连接，具体地，壳体107的底部设有连接轴138，连接轴138固定连接第一转轴106，例如连接轴138通过过盈配合的方式固定连接第一转轴106。连接轴138、第一转轴106或壳体107上可安装有与第一电机136的定子作用的磁性件。第一转轴106可转动地穿设第一轴臂102，这样夹持结构104转动时更加稳定。
在图示的实施方式中，两个夹持臂的导向件114均设有卡件116，第一轴臂102设有卡槽118。卡件116穿设壳体107。第一夹持臂108和第二夹持臂110用于夹持负载，这样负载能够稳固地安装在夹持结构104。当夹持结构104未安装有负载的情况下，第一夹持臂108与第二夹持臂110之间的距离较小，当夹持结构104安装有负载的情况下，第一夹持臂108与第二夹持臂110之间的距离较大，第一夹持臂108与第二夹持臂110共同夹持负载。负载卸载后，第一夹持臂108与第二夹持臂110回复到原来的位置。因第一夹持臂108和第二夹持臂110的移动，使得卡件116可卡设在卡槽118中，或从卡槽118中脱离，实现了夹持结构104转动的锁定和解锁。在其它实施方式中， 导向件114可设有卡槽118，第一轴臂102可设有卡件116，设有卡槽118的导向件114的部位可穿设壳体107，以使卡槽118位于壳体107外，这样卡件116能够卡在卡槽118。在另外的实施方式中，也可以是第一夹持臂108或第二夹持臂110的导向件114设有卡件116或卡槽118。
请参阅图5、图9和图10，在某些实施方式中，壳体107的外表面设有第一凸环140，第一轴臂102的外表面设有第二凸环142，第一凸环140设在与第二凸环142的外侧，第二凸环142设有卡槽118。如此，通过第一凸环140与第二凸环142的配合作用，使得夹持结构104和负载在转动过程中更稳定。
具体的，请参图5，第一凸环140设在壳体107的底部，第二凸环142设在第一轴臂102的顶部。夹持结构104夹持负载的情况下，第一夹持臂108和第二夹持臂110相对向外伸出，使夹持结构104的重力力臂增长，即使在不转动的情况下，夹持结构104也不易于保持稳定。通过设置两个凸环，使得两个凸环可相互配合接触，减少或避免了夹持结构104在偏离第一轴线R的偏心振动。同时，将卡槽118设在第二凸环142，也充分利用手持设备100的结构件，避免新增结构件而带来的结构复杂、空间占用多的问题。第一凸环140和第二凸环142均为圆形凸环。在其它实施方式中，第二凸环142可设有卡件116。
在某些实施方式中，请参图9和图11，壳体107的底部设有连接轴138，第一凸环140围绕连接轴138，连接轴138固定连接第一转轴106。如此，连接轴138与第一凸环140的配合可保证夹持结构104在转动和非转动的稳定性。
具体的，在图示的实施方式中，连接轴138位于第一凸环140的中间位置，第一凸环140的中心位于第一转轴106的轴线上。第一转轴106连接电机的转子，第一轴臂102固定连接第一电机136的定子。可以理解，在其它实施方式，第一轴臂102可作为第一电机136的定子或定子的一部分，第一转轴106可作为第一电机136的转子或转子的一部分。
在某些实施方式中，第一夹持臂108和第二夹持臂110均包括至少两个导向件114，第一夹持臂108的其中一个导向件114设有一个卡件116，第二夹持臂110的其中一个导向件114设有另一个卡件116。如此，两个夹持臂的导向件114均有卡件116，使得在夹持结构104转动锁定的情况下，夹持结构104更稳定。
具体的，第一夹持臂108和第二夹持臂110分别设于壳体107相背的两侧，第一夹持臂108和第二夹持臂110通过导向件114连接壳体107。第一夹持臂108和第二夹持臂110的导向件114是两个或两个以上，图示的是两个导向件114，在本申请的实施方式中以均设有两个导向件114示出，两个导向件114沿垂直于夹持臂的伸缩方向A1-A2排列(方向A1为第一夹持臂108的伸出方向和第二夹持臂110的回缩方向，方向A2为第二夹持臂110的伸出方向和第一夹持臂108回缩方向)。请参图21，卡件116设在导向件114的下表面。
可以理解，在其它实施方式中，可以是第一夹持臂108的导向件114设有卡件116，第二夹持臂110的导向件114设有卡槽118，还可以是第一夹持臂108的导向件114设有卡槽118，第二夹持臂110的导向件114设有卡件116，还可以是第一夹持臂108的导向件114设有卡槽118，第二夹持臂110的导向件114设有卡槽118。
在某些实施方式中，请参图14至图19，壳体107包括连接的第一壳144和第二壳146，第一 夹持臂108和第二夹持臂110均包括两个导向件114，两个导向件114的其中一个的顶部设有上导向部148，另一个的底部设有下导向部150，第一壳144的内表面设有两个第一壳导向部152，第二壳146的内表面设有两个第二壳导向部154，两个第一壳导向部152分别与第一夹持臂108和第二夹持臂110的两个上导向部148连接，两个第二壳导向部154分别与第一夹持臂108和第二夹持臂110的两个下导向部150连接。如此，通过导向部的相互连接，使得导向件114的定位更准确，导向件114的滑动更顺畅。
具体的，第一夹持臂108和第二夹持臂110的两个导向件114在夹持结构104没有负载作用的情况下，都可回缩至壳体107。第一壳144内表面设有两个第一壳导向部152，用于连接第一夹持臂108的上导向部148和第二夹持臂110的上导向部148。第二壳146内表面的第二壳导向部154，用于连接第一夹持臂108的下导向部150和第二夹持臂110的下导向部150。这样从上下方向对导向件114进行定位的导向，增加稳定性和顺滑性。
在图示的实施方式中，在第一夹持臂108中，上导向部148和下导向部150均设有导向槽151，第一壳导向部152和第二壳导向部154均设有轨道，轨道与导向槽配合实现导向。可以理解，在其它实施方式中，可以是上导向部148设有轨道，下导向部150设有导向槽，对应地，第一壳导向部152设有导向槽，第二壳导向部154均设有轨道，也可以是上导向部148和下导向部150均设有轨道，对应地，第一壳导向部152和第二壳导向部154均设有导向槽。类似地，第二夹持臂110的上导向部148和下导向部150也可设有导向槽和/或轨道。
优选的，第一壳144和第二壳146是可拆卸地连接。如此，夹持结构104的第一壳144和第二壳146可拆卸，在夹持结构104出现故障或需要性能维护时，只需要进行壳体107拆卸检测维护，方便后期维护和使用。第一壳144和第二壳146可拆卸连接的方式包括但不限于卡扣、螺钉等。
在某些实施方式中，请参图14、图23、图25和图26，导向件114设有第一连接部156，壳体107内设有第二连接部158，夹持结构104包括弹性件160，弹性件160连接第一连接部156和第二连接部158并用于驱动第一夹持臂108和第二夹持臂110收缩回壳体107。如此，每个夹持臂通过各自的弹性件160弹性伸缩连接壳体107，这样两个夹持臂在夹持负载的情况下，能够更稳固夹持住负载。
具体的，夹持结构104的第一夹持臂108和第二夹持臂110从伸出状态回缩到收缩状态时，通过夹持结构104的弹性件160实现。夹持结构104的弹性件160连接在导向件114的第一连接部156和壳体107的内的第二连接部158上，弹性件160的安装较为稳固。当夹持结构104夹持负载时，第一夹持臂108和第二夹持臂110向壳体107的两侧伸出，弹性件160被第一连接部156向第一连接臂和第二连接臂的伸出方向拉伸。当夹持结构104夹持的负载被取下时，第一夹持臂108和第二夹持臂110通过弹性件160的收缩被拉回，重新回到收缩状态。
在图14和图27所示的实施方式中，第二连接部158设在第二壳146的内表面。两个夹持臂均设有两个导向件114，共4个导向件114，沿垂直于夹持臂的伸缩方向排列，即图27的方向B-B为垂直于夹持臂伸缩方向的方向，分别为第一导向件1141、第二导向件1142、第三导向件1143和第四导向件1144。第一夹持臂108包括第一导向件1141和第三导向件1143，第二夹持臂110包括第二导向件1142和第四导向件1144，弹性件160的数量是两个，分别为第一弹性件1601和第二 弹性件(第二弹性件在图14中不可见)。两个弹性件160位于第二导向件1142和第三导向件1143之间，第一弹性件1601连接第二导向件1142的第一连接部156和壳体107内的其中一个第二连接部158，第二弹性件连接第三导向件1143的第一连接部156和壳体107内的另一个第二连接部158。如此，从四个导向件114的中间位置设置两个弹性件160，使得弹性件160对夹持臂的驱动更稳定。图示的连接部是连接柱，在其它实施方式中，连接部可为其它规则或不规则的形状，保证能连接到弹性件160的一端即行。
在某些实施方式中，请参图14，夹持结构104包括第一限制件162和第二限制件164，第一限制件162连接第一连接部156并将弹性件160的一端限制在第一连接部156，第二限制件164连接第二连接部158并将弹性件160的另一端限制在第二连接部158。如此，可避免弹性件160在驱动夹持臂回缩过程中或被拉伸过程中，弹性件160从连接部脱落而造成夹持臂回缩失效，保证了夹持结构104的可靠性。
具体地，在本实施方式中，第一限制件162和第二限制件164可均为螺钉，螺钉通过螺纹连接的方式安装到连接部以使得弹性件160的一端不从连接部脱落。在其它实施方式中，第一限制件162和第二限制件164的结构可相同或不同，而限制件可为其它结构形式的限制件，例如，限制件可为销钉，或与连接部一体的凸块，或通过过盈配合安装到连接部的卡块等。
在某些实施方式中，请参图11，朝向第二夹持臂110的第一夹持臂108一侧设有第一软性垫166，朝向第一夹持臂108的第二夹持臂110一侧设有第二软性垫168。如此，可以防止夹持结构104在夹持负载时对负载造成划伤，影响负载的美观效果以及客户体验。具体地，第一软性垫166设在第一夹持臂108的夹持件112的内侧，第二软性垫168设在第二夹持臂110的夹持件112的内侧。软性垫可以采用硅胶、橡胶、海绵等具有弹性的软性材质。
在某些实施方式中，请参图14和图21，导向件114的侧面沿壳体107厚度方向C-C设有侧导向槽170和侧导向条172，第一夹持臂108的侧导向条172至少部分地收容在第二夹持臂110的侧导向槽170中，第二夹持臂110的侧导向条172至少部分地收容在第一夹持臂108的侧导向槽170中。如此，通过两个夹持臂的侧导向条172和侧导向槽170相互导向配合，这样壳体107内无需单独为两个夹持臂设置额外的滑道，使得壳体107内的空间占用少，有利于在壳体107内部设计更多的结构空间用于安装其它部件，而且同一个夹持臂的侧导向槽170和侧导向条172是沿壳体107厚度方向设置，实现了结构的堆叠优化。
具体的，第一夹持臂108和第二夹持臂110的导向件114侧面都设有侧导向槽170和侧导向条172。第一夹持臂108的侧导向条172与第二夹持臂110的侧导向槽170的位置相对设置且相互配合，第一夹持臂108的侧导向槽170和第二夹持臂110的侧导向条172的位置相对设置且相互配合。在第一夹持臂108和第二夹持臂110滑动过程中，导向件114的侧导向条172收容在侧导向槽170内并能够沿侧导向槽170滑动。
在某些实施方式中，导向件114的侧面设有凸条174，凸条174和侧导向条172沿夹持臂的回缩方向排列，凸条174的高度大于侧导向条172的高度，导向件114的侧面设有由凸条174和侧导向条172的高度差所形成的容置空间176，第一夹持臂108的导向件114至少部分地位于第二夹持臂110的容置空间176，第二夹持臂110的导向件114至少部分地位于第一夹持臂108的容置空间 176。如此，可进一步减少导向件114在壳体107内的空间占用，进而能够使壳体107内有更多的空间用于放置其它结构件或电气件。
具体地，例如为实现夹持结构104或手持设备100的某些电气功能，壳体107内可放置有电路板组件，电路板组件包括相关的处理器、存储器、传感器、必要的处理和控制电路等中的至少一种电气部件。更多的壳体107内空间使得对于电气部件的设置更灵活和可安装更多的电气部件。在一个例子中，电路板组件可以制作成PCBA(Printed Circuit Board Assembly)。
请参图14，对于第一夹持臂108来说，凸条174和侧导向条172沿第一夹持臂108的回缩方向A2排列，对于第二夹持臂110来说，凸条174和侧导向条172沿第二夹持臂110的回缩方向A1排列。
在某些实施方式中，导向件114包括外侧面和内侧面，第一夹持臂108和第二夹持臂110的其中一个的导向件114内侧面设有侧导向槽170和侧导向条172，第一夹持臂108和第二夹持臂110的另外一个的导向件114外侧面设有侧导向槽170和侧导向条172。如此通过内外侧配合的方式来使两个夹持臂的侧导向槽170和侧导向条172相互配合，进一步减少了壳体170内部的空间占用。
具体地，对于相互配合的两个导向件117来说，一个夹持臂(如第一夹持臂108)的导向件114内侧面设有侧导向槽170和侧导向条172，另一夹持臂(如第二夹持臂110)的导向件114外侧面设有侧导向槽170和侧导向条172。
请参图21和27，在图示的实施方式中，第一夹持臂108的第一导向件1141和第二夹持臂110的第二导向件1142相互配合，第一导向件1141的内侧面设有侧导向槽170和侧导向条172，第二导向件1142的外侧面设有侧导向槽170和侧导向条172。第一夹持臂108的第三导向件1142和第二夹持臂110的第四导向件1144相互配合，第三导向件1143的外侧面设有侧导向槽170和侧导向条172，第四导向件1144的内侧面设有侧导向槽170和侧导向条172。
导向件114的内侧面为朝向壳体107内部的侧面，外侧面为背向壳体107内部的侧面。
在某些实施方式中，壳体107内设有姿态传感器(图未示)，姿态传感器位于两个导向件114之间。如此，可通过姿态传感器，能够实时检测到夹持结构104和负载的姿态，对控制负载的姿态起到积极作用。具体的，姿态传感器可以作为电路板组件的传感器之一，并可连接手持设备100的处理器(包括控制器)，处理器通过姿态传感器获取夹持结构104和负载的姿态信息，以控制云台方位调整负载的姿态，例如调整拍摄装置的拍摄角度和将拍摄装置稳定在某个空间位置。姿态传感器位于两个导向件114之间，不会对导向件114的滑动造成不利影响，并且可充分利用壳体107的内部空间。
在某些实施方式中，请参图16和图18，壳体107开设有壳体通孔178，壳体通孔178连通两个导向件114之间的空间。如此，壳体通孔178可以使线材伸入壳体107以与壳体107内的电气部件电连接，以传输电力、信号、指令等。
具体的，壳体通孔178设于壳体107的中间位置，并贯穿连接轴138。线材从第一轴臂102经壳体通孔178进入壳体107内并与壳体107内的电气部件连接。可以理解，在其它实施方式中，也将壳体通孔178开设在壳体的其它位置，或通过其它结构来供线材通过。
在本说明书的描述中，参考术语“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”等的描述意指结合实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
尽管已经示出和描述了本申请的实施方式，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施方式进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。

Claims (16)

  1. 一种手持设备，其特征在于，包括：
    第一轴臂，所述第一轴臂连接有第一转轴；及
    夹持结构，与所述第一轴臂可拆卸地连接，所述夹持结构包括：
    壳体、第一夹持臂和第二夹持臂，所述壳体连接所述第一转轴并可转动地安装在所述第一轴臂，所述第一夹持臂和所述第二夹持臂分别可伸缩地连接在所述壳体相背的两侧，所述第一夹持臂和所述第二夹持臂均包括夹持件和导向件，所述导向件连接所述夹持件和所述壳体，所述导向件和所述第一轴臂的其中之一设有卡件，另一设有卡槽，
    在所述第一夹持臂和所述第二夹持臂未有负载作用的情况下，所述卡件卡在所述卡槽以防止所述夹持结构和所述第一轴臂相对转动，在所述第一夹持臂和所述第二夹持臂有所述负载作用的情况下，所述卡件脱离所述卡槽以使得所述夹持结构和所述第一轴臂能够相对转动。
  2. 根据权利要求1所述的手持设备，其特征在于，所述壳体的外表面设有第一凸环，所述第一轴臂的外表面设有第二凸环，所述第一凸环设在与所述第二凸环的外侧，所述第二凸环设有所述卡槽或所述卡件。
  3. 根据权利要求2所述的手持设备，其特征在于，所述壳体的底部设有连接轴，所述第一凸环围绕所述连接轴，所述连接轴固定连接所述第一转轴。
  4. 根据权利要求1所述的手持设备，其特征在于，所述第一夹持臂和所述第二夹持臂均包括至少两个所述导向件，所述第一夹持臂的其中一个所述导向件设有一个所述卡件或所述卡槽，所述第二夹持臂的其中一个所述导向件设有一个所述卡件或所述卡槽。
  5. 根据权利要求1所述的手持设备，其特征在于，所述壳体包括连接的第一壳和第二壳，所述第一夹持臂和所述第二夹持臂均包括两个所述导向件，两个所述导向件的其中一个的顶部设有上导向部，另一个的底部设有下导向部，所述第一壳的内表面设有两个第一壳导向部，所述第二壳的内表面设有两个第二壳导向部，所述两个第一壳导向部分别与所述第一夹持臂和所述第二夹持臂的两个上导向部连接，所述两个第二壳导向部分别与所述第一夹持臂和所述第二夹持臂的两个下导向部连接。
  6. 根据权利要求5所述的手持设备，其特征在于，所述第一壳和所述第二壳是可拆卸地连接。
  7. 根据权利要求1所述的手持设备，其特征在于，所述导向件设有第一连接部，所述壳体内设有第二连接部，所述夹持结构包括弹性件，所述弹性件连接所述第一连接部和所述第二连接部并用于驱动所述第一夹持臂和所述第二夹持臂收缩回所述壳体。
  8. 根据权利要求7所述的手持设备，其特征在于，所述夹持结构包括第一限制件和第二限制件，所述第一限制件连接所述第一连接部并将所述弹性件的一端限制在所述第一连接部，所述第二限制件连接所述第二连接部并将所述弹性件的另一端限制在所述第二连接部。
  9. 根据权利要求1所述的手持设备，其特征在于，朝向所述第二夹持臂的所述第一夹持臂一侧设有第一软性垫，朝向所述第一夹持臂的所述第二夹持臂一侧设有第二软性垫。
  10. 根据权利要求1所述的手持设备，其特征在于，所述导向件的侧面沿所述壳体厚度方向设有侧导向槽和侧导向条，所述第一夹持臂的侧导向条至少部分地收容在所述第二夹持臂的侧导向槽中，所述第二夹持臂的侧导向条至少部分地收容在所述第一夹持臂的侧导向槽中。
  11. 根据权利要求10所述的手持设备，其特征在于，所述导向件的侧面设有凸条，所述凸条和所述侧导向条沿夹持臂的回缩方向排列，所述凸条的高度大于所述侧导向条的高度，所述导向件的侧面设有由所述凸条和所述侧导向条的高度差所形成的容置空间，所述第一夹持臂的导向件至少部分地位于所述第二夹持臂的容置空间，所述第二夹持臂的导向件至少部分地位于所述第一夹持臂的容置空间。
  12. 根据权利要求10所述的手持设备，其特征在于，所述导向件包括外侧面和内侧面，所述第一夹持臂和所述第二夹持臂的其中一个的导向件内侧面设有所述侧导向槽和所述侧导向条，所述第一夹持臂和所述第二夹持臂的另外一个的导向件外侧面设有所述侧导向槽和所述侧导向条。
  13. 根据权利要求1所述的手持设备，其特征在于，所述第一夹持臂和所述第二夹持臂均包括多个所述导向件，多个所述导向件沿垂直于夹持臂的伸缩方向排列。
  14. 根据权利要求13所述的手持设备，其特征在于，所述壳体内设有姿态传感器，所述姿态传感器位于多个所述导向件之间。
  15. 根据权利要求13所述的手持设备，其特征在于，所述壳体开设有壳体通孔，所述壳体通孔连通多个所述导向件之间的空间。
  16. 根据权利要求1所述的手持设备，其特征在于，所述手持设备包括：
    手柄，具有顶部和底部；
    第三轴组件，包括与所述顶部相连接的第三电机以及第三轴臂；
    第二轴组件，包括第二电机以及与所述第二电机固定连接的第二轴臂；
    第一轴组件，包括第一电机以及所述第一轴臂，所述第一轴臂的一端与所述第二电机固定连接，另一端与所述第一电机固定连接；
    所述第三轴臂的一端与所述第三电机固定连接，另一端与所述第二轴臂转动连接，随所述第三轴臂与所述第二轴臂的相对转动，使所述手持设备在收纳状态和使用状态之间来回切换。
PCT/CN2019/093237 2019-06-27 2019-06-27 手持设备 Ceased WO2020258145A1 (zh)

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