WO2020258145A1

WO2020258145A1 - Handheld device

Info

Publication number: WO2020258145A1
Application number: PCT/CN2019/093237
Authority: WO
Inventors: 赵天菲; 杨乃旭
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-06-27
Filing date: 2019-06-27
Publication date: 2020-12-30
Also published as: CN111656079A

Abstract

A handheld device (100), comprising a first shaft arm (102) and a clamping structure (104). The first shaft arm (102) is connected to a first rotating shaft (2) (106). The clamping structure (104) comprises a housing (107), a first clamping arm (108), and a second clamping arm (110); the housing (107) is connected to the first rotating shaft (2) (106) and rotatably mounted on the first shaft arm (102); the first clamping arm (108) and the second clamping arm (110) each comprise a clamping piece (112) and a guide piece (114); the guide piece (114) is connected to the clamping piece (112) and the housing (107); one of the guide piece (114) and the first shaft arm (102) is provided with a clamping piece (116), and the other one is provided with a clamping groove (118). In the case that the first clamping arm (108) and the second clamping arm (110) do not have a loading function, the clamping piece (116) is clamped in the clamping groove (118) to prevent relative rotation between the clamping structure (104) and the first shaft arm (102), and in the case that the first clamping arm (108) and the second clamping arm (110) have the loading function, the clamping piece (116) is detached from the clamping groove (118) so that the clamping structure (104) and the first shaft arm (102) can rotate relative to each other.

Description

Handheld devices

Technical field

This application relates to the technical field of handheld terminals, and in particular to a handheld device.

Background technique

At present, in related technologies, in order to achieve a better shooting effect, a mobile phone or a digital camera is generally clipped to a handheld device with a clip for shooting. However, when the handheld device is not holding the mobile phone, the phone holder will rotate, which will affect the use on the one hand. On the other hand, when the phone holder is not fixed, the handheld device will be scratched due to its movement.

Summary of the invention

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; and

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. When the first clamping arm and the second clamping arm are not loaded, the card is caught in the card slot to prevent the clamping structure Rotating relative to the first shaft arm, when the load is applied to the first clamping arm and the second clamping arm, the clamping member is disengaged from the clamping slot to make the clamping The structure and the first shaft arm can rotate relatively.

In the above-mentioned handheld device, 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.

The additional aspects and advantages of the embodiments of the present application will be partly given in the following description, and part of them will become obvious from the following description, or be understood through the practice of the embodiments of the present application.

Description of the drawings

The above and/or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

Fig. 1 is a three-dimensional schematic diagram of a handheld device according to an embodiment of the present application;

2 is another three-dimensional schematic diagram of the handheld device according to the embodiment of the present application;

3 is a schematic plan view of a handheld device according to an embodiment of the present application;

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;

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;

14 is a schematic cross-sectional view of the clamping structure 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;

18 is a schematic plan 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;

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.

Detailed ways

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The following embodiments described with reference to the accompanying drawings are exemplary, and are only used to explain the present application, and cannot be understood as a limitation to the present application.

In the description of this application, it should be understood that the terms "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.

In the description of this application, it should be noted that the terms "installation", "connection", and "connection" should be interpreted broadly unless otherwise clearly specified and limited. For example, 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. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

The following disclosure provides many different embodiments or examples for realizing different structures of the present application. To simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the application. In addition, the present application may repeat reference numerals and/or reference letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and/or settings discussed. In addition, this application provides examples of various specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and/or the use of other materials.

Please refer to FIGS. 1 to 7, 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.

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.

In this way, when the two clamping arms are not loaded, 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. Next, 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.

Specifically, 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.

In the embodiment of the present application, the first pivot arm 102 can be used as a pivot arm of the pan/tilt. Please refer to FIGS. 12 and 13, 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. One end of 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. It can be understood that, in other embodiments, 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.

Further, one end of the third shaft arm 130 is fixedly connected to the third motor 128, and the other end is rotatably connected to the second shaft arm 134. With the relative rotation of the third shaft arm 130 and the second shaft arm 134, 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.

Specifically, 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, and the second motor 132 drives the first shaft assembly 126, The clamping structure 104 and the load rotate around the second axis P, and the first motor 136 drives the first shaft assembly 126, the clamping structure 104 and the load to rotate around the first axis R. When the handheld device 100 is in the deployed state, the third axis Y, the second axis P, and the first axis R are all non-orthogonal (as shown in FIG. 12). When the handheld device 100 is in the stored state, 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.

In the illustrated embodiment, 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, and 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. It can be understood that, in other embodiments, the first shaft assembly 126 may be another shaft assembly, the second shaft assembly 124 may be another shaft assembly, and the third shaft assembly 122 may be another shaft assembly. For example, the second shaft assembly 124 may be a handheld The roll axis component of the device 100, and the first axis component 126 is the pitch axis component of the handheld device 100 and the like.

In addition, in this embodiment, 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. Specifically, 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. For example, the connecting shaft 138 is fixedly connected to the first rotating shaft 106 by interference fit. Rotating shaft 106. 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.

In the illustrated embodiment, 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. When the clamping structure 104 is not installed with a load, the distance between the first clamping arm 108 and the second clamping arm 110 is small. When the clamping structure 104 is installed with a load, 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. After the load is unloaded, 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. In other embodiments, 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, and 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. In another embodiment, 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.

5, 9 and 10, in some embodiments, 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, and the second convex ring 142 is provided with a slot 118. In this way, the cooperation of the first convex ring 140 and the second convex ring 142 makes the clamping structure 104 and the load more stable during the rotation.

Specifically, referring to FIG. 5, 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. When 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. By providing two convex rings, 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. At the same time, arranging the card slot 118 on the second convex ring 142 also makes full use of the structural components of the handheld device 100 to avoid the problems of complex structure and large space occupation caused by newly added structural components. Both the first convex ring 140 and the second convex ring 142 are circular convex rings. In other embodiments, the second convex ring 142 may be provided with a clamping member 116.

In some embodiments, referring to FIGS. 9 and 11, 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.

Specifically, in the illustrated embodiment, 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. It can be understood that, in other embodiments, the first shaft arm 102 may be used as a stator or a part of a stator of the first motor 136, and the first rotating shaft 106 may be used as a rotor or a part of a rotor of the first motor 136.

In some embodiments, 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. In this way, 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.

Specifically, the 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. There are two or more guides 114 of the first clamping arm 108 and the second clamping arm 110. Two guides 114 are shown in the figure. In the embodiment of the present application, two guides are both provided. 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). Please refer to FIG. 21, the card 116 is provided on the lower surface of the guide 114.

It can be understood that in other embodiments, 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, or the guide 114 of the first clamping arm 108 is provided with a card slot 118, and the second clamp The guide 114 of the holding arm 110 is provided with a slot 118.

In some embodiments, referring to FIGS. 14 to 19, 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.

Specifically, 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.

In the illustrated embodiment, in the first clamping arm 108, 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. It can be understood that in other embodiments, the upper guide portion 148 may be provided with a rail, and the lower guide portion 150 may be provided with a guide groove. Correspondingly, the first shell guide portion 152 is provided with a guide groove, and the second shell guide portion 154 is provided with a guide groove. There are rails, or both the upper guide portion 148 and the lower guide portion 150 are provided with rails. Correspondingly, both the first shell guide portion 152 and the second shell guide portion 154 are provided with guide grooves. Similarly, 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.

Preferably, the first shell 144 and the second shell 146 are detachably connected. In this way, the first shell 144 and the second shell 146 of the clamping structure 104 are detachable. When the clamping structure 104 fails or needs performance maintenance, only the housing 107 needs to be disassembled, inspected and maintained, which is convenient for later maintenance and use. The detachable connection of the first shell 144 and the second shell 146 includes, but is not limited to, snaps, screws, and the like.

In some embodiments, referring to FIGS. 14, 23, 25 and 26, the guide 114 is provided with a first connecting portion 156, the housing 107 is provided with a second connecting portion 158, and 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. In this way, 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.

Specifically, when the first clamping arm 108 and the second clamping arm 110 of the clamping structure 104 are retracted from the extended state to the contracted state, it is realized by the elastic member 160 of the clamping structure 104. 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. When 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. When the load clamped by the clamping structure 104 is removed, 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.

In the embodiment shown in FIGS. 14 and 27, 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 These are the first guide 1141, the second guide 1142, the third guide 1143, and the fourth guide 1144. 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. In this way, two elastic members 160 are arranged from the middle positions of the four guide members 114, so that the driving of the clamping arm by the elastic members 160 is more stable. 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.

In some embodiments, referring to FIG. 14, 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.

Specifically, in this embodiment, 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. In other embodiments, 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.

In some embodiments, please refer to FIG. 11, 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. In this way, it is possible to prevent the clamping structure 104 from scratching the load when clamping the load, which affects the aesthetic effect of the load and the customer experience. Specifically, the first soft pad 166 is disposed on the inner side of the clamping member 112 of the first clamping arm 108, and 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.

In some embodiments, referring to FIGS. 14 and 21, 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, and 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. In this way, 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.

Specifically, 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. During the sliding process of the first clamping arm 108 and the second clamping arm 110, 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.

In some embodiments, 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.

Specifically, for example, to implement certain electrical functions of the clamping structure 104 or the handheld device 100, 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. In one example, the circuit board assembly can be made into PCBA (Printed Circuit Board Assembly).

Referring to FIG. 14, for the first clamping arm 108, 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.

In some embodiments, 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.

Specifically, for two guide members 117 that cooperate with each other, 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.

21 and 27, in the illustrated embodiment, 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, and 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.

In some embodiments, a posture sensor (not shown) is provided in the housing 107, and the posture sensor is located between the two guides 114. In this way, 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. Specifically, 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.

In some embodiments, referring to FIGS. 16 and 18, 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.

Specifically, 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.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples", or "some examples" etc. means to combine the embodiments The specific features, structures, materials, or characteristics described by the examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above-mentioned terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in an appropriate manner.

Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and modifications can be made to these embodiments without departing from the principle and purpose of the present application. The scope of the application is defined by the claims and their equivalents.

Claims

A handheld device, characterized in that it comprises:

A first shaft arm, the first shaft arm is connected with a first rotating shaft; and

The clamping structure is detachably connected with the first shaft arm, and the clamping structure includes:

A housing, a first clamping arm and a second clamping arm, the housing is connected to the first rotating shaft and rotatably mounted on the first shaft arm, the first clamping arm and the second The clamping arms are respectively telescopically connected to the opposite sides of the housing, the first clamping arm and the second clamping arm both include a clamping piece and a guide piece, and the guiding piece is connected to the One of the clamping member and the housing, the guide member and the first shaft arm is provided with a clamping member, and the other is provided with a clamping slot,

When there is no load on the first clamping arm and the second clamping arm, the clamping member is stuck in the clamping slot to prevent relative rotation of the clamping structure and the first shaft arm , In the case that the first clamping arm and the second clamping arm have the load effect, the clamping member is separated from the clamping slot so that the clamping structure and the first shaft arm can Relative rotation.
The handheld device according to claim 1, wherein the outer surface of the housing is provided with a first convex ring, the outer surface of the first shaft arm is provided with a second convex ring, and the first convex ring It is arranged on the outer side of the second convex ring, and the second convex ring is provided with the clamping groove or the clamping member.
The handheld device according to claim 2, wherein the bottom of the housing is provided with a connecting shaft, the first convex ring surrounds the connecting shaft, and the connecting shaft is fixedly connected to the first rotating shaft.
The handheld device according to claim 1, wherein each of the first clamping arm and the second clamping arm comprises at least two guide members, and one of the first clamping arms is The guide member is provided with the card member or the card slot, and one of the guide members of the second clamping arm is provided with the card member or the card slot.
The handheld device according to claim 1, wherein the housing includes a first shell and a second shell that are connected, and the first clamping arm and the second clamping arm each include two A guide, one of the two guides is provided with an upper guide at the top, and the other is provided with a lower guide at the bottom, the inner surface of the first housing is provided with two first housing guides, the The inner surface of the second shell is provided with two second shell guide parts, the two first shell guide parts are respectively connected with the two upper guide parts of the first clamping arm and the second clamping arm, The two second shell guide portions are respectively connected with the two lower guide portions of the first clamping arm and the second clamping arm.
The handheld device of claim 5, wherein the first shell and the second shell are detachably connected.
The handheld device according to claim 1, wherein the guide member is provided with a first connecting portion, the housing is provided with a second connecting portion, the clamping structure includes an elastic member, and the elastic member is connected The first connecting portion and the second connecting portion are used to drive the first clamping arm and the second clamping arm to retract back to the housing.
The handheld device according to claim 7, wherein the clamping structure comprises a first restricting member and a second restricting member, the first restricting member is connected to the first connecting portion and the elastic member One end is restricted to the first connecting portion, and the second restricting member is connected to the second connecting portion and restricts the other end of the elastic member to the second connecting portion.
The handheld device according to claim 1, wherein a first soft pad is provided on the side of the first clamping arm facing the second clamping arm, and facing all the first clamping arm. A second soft pad is provided on one side of the second clamping arm.
The handheld device according to claim 1, wherein the side surface of the guide member is provided with a side guide groove and a side guide bar along the thickness direction of the housing, and the side guide bar of the first clamping arm is at least partially The side guide bar of the second clamping arm is at least partially accommodated in the side guide groove of the first clamping arm.
The handheld device according to claim 10, wherein a convex strip is provided on the side of the guide member, the convex strip and the side guide strip are arranged along the retracting direction of the clamping arm, and the convex strip The height is greater than the height of the side guide bar, the side of the guide member is provided with an accommodation space formed by the height difference between the convex bar and the side guide bar, and the guide member of the first clamping arm is at least It is partially located in the accommodating space of the second clamping arm, and the guide of the second clamping arm is at least partially located in the accommodating space of the first clamping arm.
The handheld device according to claim 10, wherein the guide member includes an outer side surface and an inner side surface, and the inner side surface of the guide member of one of the first clamping arm and the second clamping arm is provided with The side guide groove and the side guide bar, and the outer surface of the other guide member of the first clamping arm and the second clamping arm is provided with the side guide groove and the side guide bar.
The handheld device according to claim 1, wherein each of the first clamping arm and the second clamping arm comprises a plurality of the guide members, and the plurality of guide members are perpendicular to the clamping arm. Arranged in the direction of expansion and contraction.
The handheld device according to claim 13, wherein an attitude sensor is provided in the housing, and the attitude sensor is located between the plurality of guides.
The handheld device according to claim 13, wherein the housing is provided with a housing through hole, and the housing through hole communicates a space between a plurality of the guides.
The handheld device according to claim 1, wherein the handheld device comprises:

Handle with top and bottom;

The third shaft assembly includes a third motor and a third shaft arm connected to the top;

The second shaft assembly includes a second motor and a second shaft arm fixedly connected to the second motor;

The first shaft assembly includes a first motor and the first shaft arm, one end of the first shaft arm is fixedly connected to the second motor, and the other end is fixedly connected to the first motor;

One end of the third shaft arm is fixedly connected with the third motor, and the other end is rotatably connected with the second shaft arm. With the relative rotation of the third shaft arm and the second shaft arm, the The handheld device switches back and forth between the storage state and the use state.