WO2021022393A1 - 手持云台 - Google Patents
手持云台 Download PDFInfo
- Publication number
- WO2021022393A1 WO2021022393A1 PCT/CN2019/098989 CN2019098989W WO2021022393A1 WO 2021022393 A1 WO2021022393 A1 WO 2021022393A1 CN 2019098989 W CN2019098989 W CN 2019098989W WO 2021022393 A1 WO2021022393 A1 WO 2021022393A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- shaft
- tilt
- arm
- handheld
- groove
- Prior art date
Links
- 230000000670 limiting effect Effects 0.000 claims abstract description 74
- 238000003860 storage Methods 0.000 claims description 82
- 230000013011 mating Effects 0.000 claims description 33
- 210000000078 claw Anatomy 0.000 claims description 28
- 238000003384 imaging method Methods 0.000 claims description 12
- 238000013459 approach Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 230000001960 triggered effect Effects 0.000 claims description 2
- 230000006641 stabilisation Effects 0.000 abstract description 12
- 238000011105 stabilization Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/38—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by folding, e.g. pivoting or scissors tong mechanisms
Definitions
- This application relates to the technical field of pan-tilts, and specifically to a handheld pan-tilt.
- the gimbal can be rotated in use by adopting a three-axis structure to meet the stabilization function of the gimbal.
- the rotation of the three-axis will cause irregular storage shapes, which is not convenient for storage and easy to cause the gimbal damage.
- This application aims to solve at least one of the technical problems existing in the prior art or related technologies.
- one aspect of this application proposes a handheld PTZ.
- a handheld pan/tilt which includes a handle, a first axis assembly, a second axis assembly, a third axis assembly, a load, and a limit assembly.
- the handle has a top and a bottom.
- the first shaft assembly includes a first shaft connected to the top and a first shaft arm fixedly connected to the first shaft at one end;
- the second shaft assembly includes a second shaft, one end and a first shaft The second shaft arm fixedly connected with the two rotating shafts and the rotating connecting piece, the other end of the first shaft arm is rotatably connected with the other end of the second shaft arm through the rotating connecting piece, and following the relative rotation of the first shaft arm and the second shaft arm,
- the handheld pan/tilt is switched between the storage state and the use state;
- the third shaft assembly includes a third shaft and a third shaft arm, one end of the third shaft arm is rotatably connected with the second shaft, and the other end is fixedly connected with the third shaft;
- the object is rotatably connected with the third shaft;
- the limit component includes a limit part and a matching part, one of the limit part and the matching part is provided on the third axis assembly; when the handheld pan/tilt is switched to the use state, the first axis The arm
- the first shaft, the second shaft and the third shaft can rotate to control the posture change of the load; when the hand-held pan/tilt is switched to the storage state, the first shaft arm and the second shaft
- the second axis arm is folded along the rotating connector, so that the second axis arm is accommodated on the side of the first axis and the first axis arm away from the top, the third axis assembly is accommodated on the side of the handle, and the third axis arm restriction assembly Limit and no longer rotate.
- the handheld pan/tilt provided by the embodiment of the present application can satisfy its stabilization function in its use state by using the three-axis rotation formed by the first axis assembly, the second axis assembly and the third axis assembly.
- the handheld pan/tilt can be switched to the storage state.
- two of the three axis arms are close to each other and relatively compact.
- the remaining third axis arm which is stored on the side of the handle, can be restricted from rotating by setting a limit component connected with the third axis assembly, so that the entire handheld pan/tilt will not rotate at will, which improves The stability and reliability of the handheld PTZ in the storage state reduces the possibility of damage to the handheld PTZ.
- Figure 1 shows a front view of the handheld pan/tilt in a storage state according to an embodiment of the present application
- FIG. 2 shows a partial enlarged view of part A in FIG. 1 of an embodiment of the present application
- Fig. 3 shows a front partial cross-sectional view of the handheld pan/tilt in the storage state of an embodiment of the present application
- Fig. 4 shows a partial enlarged view of Fig. 3 in part B of an embodiment of the present application
- Fig. 5 shows a top partial cross-sectional view of the handheld pan/tilt in the storage state of an embodiment of the present application
- Fig. 6 shows a partial enlarged view of Fig. 5 in part C of an embodiment of the present application.
- an embodiment of the present application provides a handheld pan/tilt head, which may include a handle 10 and a stabilization pan/tilt head mechanism connected to the handle 10, and the stabilization pan/tilt head mechanism includes a first shaft assembly 20 , The second shaft assembly 30, the third shaft assembly 40, the load and the limit assembly 60.
- the stabilization pan/tilt mechanism can not only be detachably connected with the handle 10, but also can be detachably connected with other vehicles, such as unmanned aerial vehicles, vehicles, ground remote control vehicles, etc.
- the stabilization gimbal mechanism can be quickly connected with the aforementioned vehicle, so that the stabilization gimbal mechanism can be replaced between different vehicles. For example, the stabilization gimbal mechanism can be performed between the unmanned aerial vehicle and the handle 10. Replacement, or the stabilization gimbal mechanism can be replaced between the ground remote control carrier and the handle 10.
- the handle 10 has a top 12, a bottom 14 and a side wall 16 between the top 12 and the bottom 14.
- the handle 10 has a rod-shaped structure, which may be a non-telescopic rod with a fixed length, or a telescopic rod with a variable length; of course, the handle 10 may also have other shapes, which are not specifically limited in this application.
- the first shaft assembly 20 includes a first shaft 22 connected to the top 12 and a first shaft arm 24 fixedly connected to the first shaft 22 at one end.
- the first shaft 22 and the first shaft arm 24 are constructed as an integral type structure.
- the second shaft assembly 30 includes a second shaft 32 and a second shaft arm 34 fixedly connected to the second shaft 32 at one end.
- the second shaft 32 and the second shaft arm 34 are constructed as an integral structure.
- the second shaft assembly 30 also includes a rotating connector (not shown in the figure).
- the other end of the first shaft arm 24 is rotatably connected with the other end of the second shaft arm 34 through the rotating connector. The relative rotation of the two-axis arm 34 switches the handheld pan/tilt between the storage state and the use state.
- the third shaft assembly 40 includes a third shaft 42 and a third shaft arm 44.
- One end of the third shaft arm 44 is rotatably connected with the second shaft 32, and the other end is fixedly connected with the third shaft 42.
- the third shaft 42 It is constructed as an integral structure with the third shaft arm 44.
- the first shaft arm 24, the second shaft arm 34, and the third shaft arm 44 may be rod-shaped structures, and may be non-telescopic rods with a fixed length, or may be telescopic rods with a variable length.
- the first shaft arm 24, the second shaft arm 34, and the third shaft arm 44 may also have other shapes, which are not specifically limited in this application.
- the carrying object is rotatably connected with the third rotating shaft 42.
- the carrying object may carry an imaging lens, and the imaging lens is directly or indirectly rotatably connected to the third shaft 42.
- the carrying object may also include a carrying part (for example, a clamping structure 50) for fixing a photographing device, which may be a camera, a smart terminal with photographing function (such as a mobile phone, a tablet computer, etc.), or other devices with photographing function.
- the limiting component 60 includes a limiting portion (such as a limiting protrusion 62) and a matching portion (such as a matching groove 64).
- a limiting portion such as a limiting protrusion 62
- a matching portion such as a matching groove 64.
- One of the limiting portion and the matching portion is provided on the third shaft assembly 40, and the limiting portion is connected with The matching part is matched.
- the first shaft arm 24 and the second shaft arm 34 form a preset angle, and the first shaft 22, the second shaft 32, and the third shaft 42 can rotate to control the posture of the load Variety.
- the size of the preset included angle can be set as required.
- the preset included angle is greater than 90 degrees and less than 180 degrees, such as 120 degrees and 135 degrees.
- the first shaft 22 rotates, it drives its load (including the first shaft arm 24, the second shaft assembly 30, the third shaft assembly 40 and the load) to rotate; when the second shaft 32 rotates, it drives its load (including The third shaft assembly 40 and the carrying object rotate; when the third rotating shaft 42 rotates, the carrying object rotates.
- at least one of the following control strategies may be adopted: controlling the rotation of the first rotating shaft 22, controlling the rotation of the second rotating shaft 32, and controlling the rotation of the third rotating shaft 42.
- FIG. 1 The overall folding effect of the handheld PTZ is shown in Figure 1.
- the first shaft arm 24 and the second shaft arm 34 are folded along the rotating joint, so that the second shaft arm 34 is stored in the first shaft 22 and the first shaft arm 24 away from the top 12
- the third shaft assembly 40 is stored on one side of the handle 10, so that the handheld pan/tilt can be stored compactly.
- the other structures of the handheld pan/tilt head are automatically matched to form a folded configuration.
- the third axis arm 44 limits the position of the position-limiting component 60 and does not rotate, specifically, it does not rotate relative to the second axis arm 34, thereby limiting the degree of freedom of rotation of the handheld pan/tilt in the folded storage state, so that the entire handheld cloud The table will not rotate randomly.
- the third shaft arm 44 is fixedly connected to the third shaft 42, one of the limiting portion and the mating portion can be provided on the third shaft arm 44 or on the third shaft 42, and It can be arranged on the third shaft arm 44 and the third shaft 42 at the same time.
- the hand-held pan/tilt provided by the embodiment of the present application utilizes the three-axis rotation formed by the first axis assembly 20, the second axis assembly 30, and the third axis assembly 40 to satisfy the stabilization function in its use state.
- the handheld pan/tilt can be switched to the storage state, at this time two of the three shaft arms are close to each other However, it is relatively compact.
- the third shaft arm 44 can be restricted from rotating, so that the whole The handheld PTZ will not rotate randomly, which improves the stability and reliability of the handheld PTZ in the storage state and reduces the possibility of damage to the handheld PTZ.
- the limiting portion includes a limiting protrusion 62
- the mating portion includes a matching groove 64; one of the limiting protrusion 62 and the matching groove 64 is disposed in the first
- One of the rotating shaft 22 is arranged on the third axle arm 44, or one of the limiting protrusion 62 and the mating groove 64 is arranged on the side wall 16 of the handle 10, and the other is arranged on the third axle arm 44 on.
- the limiting portion and the matching portion may respectively include a limiting protrusion 62 and a matching groove 64, and the matching structure of the limiting protrusion 62 and the matching groove 64 is used to realize the limiting.
- one of the two can be arranged on the first rotating shaft 22 or the side wall 16 of the handle 10, and the other can be arranged on the third shaft arm 44.
- the third shaft arm 44 is far away from the first shaft 22 and the side wall 16 of the handle 10.
- the limiting protrusion 62 and the mating groove 64 are not in contact, and the third shaft arm 44 can be opposite to the second shaft.
- the shaft arm 34 rotates, so that the three-axis rotation is used to realize the stabilization function.
- the third shaft arm 44 is stored on one side of the handle 10, and will also be close to the first shaft 22 connected to the top 12 of the handle 10.
- the limiting protrusion 62 can extend into the mating recess In the slot 64, the third axis arm 44 is prevented from rotating relative to the second axis arm 34, which effectively limits the degree of freedom of rotation of the handheld pan/tilt in the folded storage state, so that the entire handheld pan/tilt will not rotate at will.
- the handheld pan/tilt is switched from the use state In the process of the storage state, the second rotating shaft 32 gradually approaches the first rotating shaft 22 so that the limiting protrusion 62 is inserted into the fitting groove 64.
- the limiting protrusion 62 and the mating groove 64 is provided on the first shaft 22 and the other is provided on the third shaft arm 44 as an example, the limiting protrusion is defined 62 and the mating process of the mating groove 64.
- the second shaft arm 34 gradually approaches the first shaft arm 24, and at the same time drives the third shaft arm 44 to approach the first shaft 22 and the handle 10, respectively, which are provided at the limit positions on the first shaft 22 and the third shaft arm 44
- the protrusion 62 and the mating groove 64 also approach each other accordingly, so that the limiting protrusion 62 is finally embedded in the mating groove 64, the third shaft arm 44 cannot rotate relative to the second shaft arm 34, and the handheld cloud can be folded and stored.
- the rotation limit of the third shaft arm 44 is realized at the same time as the table, and the operation is convenient.
- the limiting protrusion 62 is provided on the third shaft arm 44
- the mating groove 64 is provided on the first rotating shaft 22.
- a guiding inclined surface may be provided on at least one of the limiting protrusion 62 and the mating groove 64, so that the front third axle arm 44 does not have to be accurately aligned to the position shown in FIG. 3, and only needs to be rotated to In the vicinity of this position, the third shaft arm 44 can be fine-tuned by the guiding action of the guiding slope during storage, so that the limiting protrusion 62 gradually slides into the matching groove 64 in the circumferential direction, which can reduce the alignment time and make The storage operation is more convenient.
- one of the limiting protrusion 62 and the mating groove 64 is constructed as an integral structure with the first shaft 22, and the other is constructed as an integral structure with the third shaft arm 44.
- the limiting protrusion is defined
- the starting 62 and the mating groove 64 are respectively integrally formed with the connected structure, so there is no need to separately process the limiting protrusion 62 and the mating groove 64, which helps to improve production efficiency.
- the integrated structure can enhance the connection strength and improve the product reliability.
- the axis of the first rotating shaft 22 and the axis of the second rotating shaft 32 intersect.
- the top 12 of the handle 10 is rotatably connected with the first shaft 22, and the third shaft arm 44 is rotatably connected with the second shaft 32.
- the axis of the first shaft 22 and the axis of the second shaft 32 intersect, so that the third shaft arm 44 can approach the first shaft 22 and the side wall 16 of the handle 10 in the storage state, which is beneficial to the first
- the cooperation of the three-axis arm 44 and the third rotating shaft 42 with the first rotating shaft 22 and the side wall 16 of the handle 10 further improves the limiting effect of the limiting component 60 and the compactness of the handheld pan/tilt in the storage state.
- the limiting portion includes a first limiting claw connected to at least one of the handle 10 and the first rotating shaft 22, and at least a part of the third shaft arm 44 is configured as a mating portion; when the handheld pan/tilt is switched to storage In the state, the mating part is embedded in the first limiting claw and is matched with the first limiting claw.
- the limiting portion may include a first limiting claw connected to at least one of the handle 10 and the first rotating shaft 22, and the mating portion is constructed by at least a part of the third shaft arm 44.
- the third shaft arm 44 is far away from the first shaft 22 and the side wall 16 of the handle 10.
- the first limit claw and the mating part are not in contact, and the third shaft arm 44 can be relative to the second shaft arm. 34 rotation, so as to use three-axis rotation to achieve stability enhancement function.
- the third shaft arm 44 is stored on one side of the handle 10, and will also be close to the first shaft 22 connected to the top 12 of the handle 10.
- the mating part on the third shaft arm 44 It can be embedded in the first limit claw and matched with the first limit claw, thereby preventing the third shaft arm 44 from rotating relative to the second shaft arm 34, effectively limiting the rotational freedom of the handheld pan/tilt in the folded storage state , So that the entire handheld PTZ will not rotate randomly.
- the first limiting pawl, at least one of the handle 10 and the first rotating shaft 22 are constructed as an integral structure.
- the first limit claw is connected to at least one of the handle 10 and the first rotating shaft 22.
- the limiting portion includes a second limiting claw connected to the third shaft arm 44, and at least a portion of the handle 10 or at least a portion of the first rotating shaft 22 is configured as a mating portion; when the handheld pan/tilt is switched to the storage state At this time, the matching part is embedded in the second limiting claw and is matched with the second limiting claw.
- the limiting portion may include a second limiting claw connected to the third shaft arm 44, and the mating portion is constructed by at least a part of the handle 10 or at least a part of the first rotating shaft 22.
- the third shaft arm 44 is far away from the first shaft 22 and the side wall 16 of the handle 10.
- the second limit claw and the mating part are not in contact, and the third shaft arm 44 can be relative to the second shaft arm. 34 rotation, so as to use three-axis rotation to achieve stability enhancement function.
- the third shaft arm 44 can be rotated to the position where the second limit claw faces the handle 10.
- the third shaft arm 44 is stored on one side of the handle 10. It will also be close to the first rotating shaft 22 connected to the top 12 of the handle 10.
- the second limit claw on the third shaft arm 44 can clamp the mating part, that is, the mating part on the handle 10 or the first rotating shaft 22 is embedded in the The second limit claw fits into the second limit claw, so as to prevent the third axis arm 44 from rotating relative to the second axis arm 34, which effectively limits the rotational freedom of the handheld pan/tilt in the folded storage state, so that the entire The handheld gimbal will not rotate randomly.
- the second limiting pawl and the third shaft arm 44 are constructed as an integral structure.
- the integrated structure can enhance the connection strength and improve the product. Reliability.
- the third axis arm 44 has an inflection point 442.
- the shape of the third axis arm 44 is the same as the shape of the side wall 16 of the handle 10.
- the third shaft arm 44 is adapted to at least partially abut the side wall 16 of the handle 10.
- the shape of the side wall 16 of the handle 10 needs to be designed to conform to the user's holding habits, so the side wall 16 of the handle 10 has a recess 18.
- An inflection point 442 is provided on the third axis arm 44. Specifically, when the handheld pan/tilt is switched to the storage state, the inflection point 442 can be close to the side of the recess 18 away from the bottom 14, so that the shape of the third axis arm 44 is consistent with the handle 10
- the shape of the side wall 16 is adapted to make the third shaft arm 44 at least partially abut the side wall 16 of the handle 10, thereby reducing the gap between the third shaft arm 44 and the side wall 16 of the handle 10, so that the cloud is held in hand.
- the storage of the table is further compact.
- the third shaft arm 44 has an opening, and when the handheld pan/tilt is switched to the storage state, the opening faces the side wall 16 of the handle 10.
- an opening is provided on the third shaft arm 44.
- the third shaft arm 44 can be designed to be substantially V-shaped, that is, the third shaft arm 44 has an inflection point 442, so that an opening is formed at the inflection point 442.
- Another example is to open an opening on the rod-shaped third shaft arm 44.
- the opening can be directed toward the side wall 16 of the handle 10, and specifically close to the side of the recess 18 away from the bottom 14, so that the handle 10 is recessed
- the part of the part 18 away from the bottom 14 can be embedded in the opening, which helps to reduce the gap between the third shaft arm 44 and the side wall 16 of the handle 10, so that the storage of the handheld platform is further compact.
- a step 444 is formed at the connection between the third shaft arm 44 and the second shaft 32; when the handheld pan/tilt is switched to the storage state, the step 444 is away from the handle 10.
- the side walls 16 are provided.
- the third shaft arm 44 forms a step portion 444 where it is connected to the second shaft 32.
- the step portion 444 faces away from the side wall 16 of the handle 10, which can reduce The small gap between the third shaft arm 44 and the side wall 16 of the handle 10 makes the handheld pan/tilt storage more compact.
- the load when the handheld pan/tilt head is switched to the storage state, the load is located on the side of the third rotating shaft 42 away from the side wall 16 of the handle 10.
- the carrier can still be used when the handheld pan/tilt is in the storage state. For example, if the carrier includes an imaging lens, you can continue to use the imaging lens for shooting when the handheld pan/tilt is stored.
- the difference from using the imaging lens for shooting when the handheld pan/tilt is in use is that the handheld pan/tilt is in the stored state
- the posture of the imaging lens cannot be switched based on the first rotating shaft 22 and the second rotating shaft 32, but the third rotating shaft 42 can be controlled to switch the posture of the imaging lens.
- the carrying object since the carrying object is stored on the open side of the third shaft arm 44, it will not be restricted due to the small space, so the size and shape of the carrying object will not be restricted by space, and can be selected and replaced according to the user's shooting needs.
- a circular imaging lens can be used
- a square imaging lens can be used, of course, in other cases, imaging lenses of other sizes or shapes can also be used, and there is no restriction here. .
- the carrying object includes a carrying part for fixing the camera; when the handheld pan/tilt is switched to the storage state, the carrying part is located on the side of the third shaft 42 away from the side wall 16 of the handle 10.
- the carrying object may include a carrying part for fixing the camera.
- the carrying part is located on the side of the third shaft 42 away from the side wall 16 of the handle 10.
- the third shaft arm 44 and the handle 10 can be reduced.
- the camera can be used for shooting with the handheld pan/tilt in the storage state, and the camera can be used for video playback and other operations, and the camera can also be stored together .
- the difference between using the camera for shooting when the handheld pan/tilt is in the storage state is different from using the camera for shooting when the handheld pan/tilt is in use: using the camera for shooting when the handheld pan/tilt is in the storage state
- the posture of the camera cannot be switched based on the first shaft 22 and the second shaft 32, but the third shaft 42 can be controlled to switch the posture of the camera.
- the photographing device when storing the photographing device, unlike the existing carrying part between the third shaft 42 and the handle 10, the photographing device needs to be removed from the carrying part to complete the storage.
- the handheld provided in the embodiment of the present application
- the pan/tilt can store the camera and the handheld pan/tilt together, and does not need to be stored separately, which saves storage space and is more convenient for users to go out and use.
- the carrying portion is the clamping structure 50; when the handheld pan/tilt is switched to the storage state, the opening of the clamping structure 50 is set away from the third rotating shaft 42.
- the carrying portion is designed as a clamping structure 50, and when the handheld pan/tilt head is switched to the storage state, the opening of the clamping structure 50 is set away from the third shaft 42 to ensure that the handheld pan/tilt head is stored when shooting The device faces the outside, which is convenient for users to use the camera.
- the clamping structure 50 has a locked state and an unlocked state.
- the camera can be clamped and fixed, and the third shaft 42 can rotate; when the clamping structure 50 is in the locked state, the clamping It is assumed that the structure 50 is locked on the third shaft arm 44 to restrict the rotation of the third shaft 42.
- the clamping structure 50 is automatically switched to the locked state; optionally, when the handheld PTZ is switched to the storage state, the clamping structure 50 is still in the unlocked state, requiring the user to pass The manual operation mode switches the clamping structure 50 to the locked state.
- the clamping structure 50 when the clamping structure 50 is in the locked state, the clamping structure 50 can be switched from the locked state to the unlocked state based on automatic unlocking (key/button unlocking) or manual unlocking.
- the structure for locking the clamping structure 50 and the third shaft arm 44 can be a conventional structure, which is not described in this embodiment.
- the top 12 is provided with a first groove (not shown in the figure), the first shaft 22 is provided with a second groove 222, and the second groove 222 is provided with a locking member 224.
- the second shaft arm 34 is provided with a locking protrusion 342; the first groove and the second groove 222 are aligned to indicate that the handheld pan/tilt can be switched to the storage state; in the first groove and the second groove
- the second shaft arm 34 is triggered to rotate along the rotating connecting member toward the first shaft arm 24, so that the locking protrusion 342 extends into the second groove 222, and the locking protrusion 342 can trigger the inside of the second groove 222
- the locking member 224 moves toward the first groove, so that a part of the locking member 224 enters the first groove and cooperates with the first groove to prevent the first shaft assembly 20 and the second shaft assembly 30 from rotating relative to the handle 10, Keep the handheld pan/tilt in the storage state.
- the second shaft arm 34 is provided.
- the locking protrusion 342 on the one hand, can use the alignment of the first groove and the second groove 222 to indicate that the handheld PTZ can be switched to the storage state, which is convenient for the user to operate; on the other hand, the first groove and the second groove 222 When the grooves 222 are aligned, fold the first shaft arm 24 and the second shaft arm 34 along the rotation connecting piece, so that the locking protrusion 342 on the second shaft arm 34 extends into the second shaft 22 on the first shaft.
- the groove 222 triggers the locking member 224 in the second groove 222 to partially extend into the first groove on the top 12 of the handle 10.
- the first shaft assembly 20 can be realized based on the cooperation of the locking member 224 and the first groove
- the rotation limit of and the second shaft assembly 30 relative to the handle 10 maintains the handheld pan/tilt in the storage state.
- the locking member 224 is matched with the first groove
- the locking protrusion 342 is matched with the second groove 222, so as to improve the limit reliability in the storage state, and fully restrict the first shaft assembly 20 and the second groove.
- the second rotating shaft 32 rotates to a preset position to indicate that the handheld pan/tilt can be switched to the storage state.
- the user can be reminded to rotate the second rotating shaft 32 to the preset position before storing the handheld pan/tilt, and the third shaft assembly 40 also rotates to the corresponding position.
- It has a clear indication function, which can avoid the situation that the second shaft 32 and/or the third shaft assembly 40 cannot be folded in place when the second shaft 32 is not rotated to the preset position, so that the handheld PTZ can be smoothly switched from the use state to the storage status.
- the preset position is the limit position of the second rotating shaft 32.
- the preset position of the second shaft 32 can be its limit position, that is, the limit component 60 limits the position when the third shaft arm 44 no longer rotates relative to the second shaft arm 34. Ensure the consistency of the storage of each axis assembly, so that the handheld PTZ can be smoothly switched from the use state to the storage state.
- alignment marks are respectively provided on the second shaft 32 and the third shaft arm 44 to further clearly indicate the limit position of the second shaft 32 for the user to view.
- the operation process of switching the handheld pan/tilt from the use state to the storage state may include: controlling the first rotating shaft 22 to rotate relative to the handle 10, so that the first groove and the second groove 222 are aligned, and controlling the second rotating shaft 32 Rotate to the limit position.
- the side wall 16 of the handle 10 is provided with an unlocking part, which can cooperate with the locking part 224; operating the unlocking part, the locking part 224 can face away from the first groove under the force of the unlocking part.
- the direction moves to separate from the first groove, when the locking member 224 pushes the locking protrusion 342 out of the second groove 222, the handheld pan/tilt can be switched from the storage state to the use state.
- the unlocking portion can be used to push the locking member 224 out of the first groove, and the locking member 224 that enters the second groove 222 can again protrude the locking 342 pushes out the second groove 222, so as to conveniently switch the handheld pan/tilt from the storage state to the use state.
- the unlocking part can be operated by pressing, pulling, holding, or other operation methods.
- the unlocking part can be an electronic unlocking structure or a mechanical unlocking structure, and the type of the unlocking part can be selected according to specific needs.
- the first shaft assembly 20 further includes a first motor, the stator of the first motor is fixedly connected to the top 12, and the rotor of the first motor is fixedly connected to the first rotating shaft 22;
- the second shaft assembly 30 also includes a second motor.
- the stator of the second motor is fixedly connected to the second rotating shaft 32, and the rotor of the second motor is fixedly connected to the third shaft arm 44;
- the third shaft assembly 40 also includes a third motor, the stator of the third motor and the third rotating shaft 42 In a fixed connection, the rotor of the third motor is fixedly connected with the load.
- the first shaft assembly 20, the second shaft assembly 30, and the third shaft assembly 40 also include a first motor, a second motor, and a third motor, respectively, using the gap between the stator and the rotor of each motor.
- the relative rotation can realize the rotation connection of each rotating shaft, and can realize electric control conveniently through electric signals, which improves the accuracy of control.
- this embodiment does not make specific requirements for the motor types of the first motor, the second motor, and the third motor. They can be DC motors or AC motors; they can be single-phase motors, three-phase motors, or other motors. . There are no specific requirements for the positional relationship between the stator and the rotor in the motor.
- the stator can be sleeved outside the rotor, or the rotor can be sleeved outside the stator.
- the stator of the first motor can be fixedly connected to the top 12 of the handle 10, and the first rotating shaft 22 can be sleeved outside the rotor of the first motor, and can be directly used as the first motor.
- the rotor housing of the second motor can be fixedly connected to the second shaft 32, the third shaft arm 44 can be sleeved outside the rotor of the second electrode, and can be directly used as the rotor housing of the second motor;
- the stator of the third motor It can be fixedly connected to the third rotating shaft 42, and the carrying object can be fixedly connected to the rotor of the third motor, and further can be sleeved outside the rotor of the third motor, and further can be directly used as the rotor shell of the third motor.
- the rotation axis of the first rotation axis 22 is a yaw axis
- the rotation axis of the second rotation axis 32 is a pitch axis
- the rotation axis of the third rotation axis 42 is a roll axis.
- the rotation axes of the first rotation axis 22, the second rotation axis 32, and the third rotation axis 42 are respectively the yaw axis, the pitch axis, and the roll axis.
- the load can be All-round posture adjustment to achieve stability enhancement function.
- the yaw axis is approximately parallel to the vertical direction; optionally, the yaw axis is parallel to the vertical direction.
- the rotation axes of the first rotation shaft 22, the second rotation shaft 32, and the third rotation shaft 42 may also be in other ways.
- the rotation axis of the first rotation shaft 22 is a yaw axis
- the rotation axis of the second rotation shaft 32 is a roll axis
- the rotation axis of the third rotation shaft 42 is the pitch axis.
- the rotation axis of the first rotation axis 22, the rotation axis of the second rotation axis 32, and the rotation axis of the third rotation axis 42 are orthogonal to each other.
- at least two of the rotation axis of the first rotation shaft 22, the rotation axis of the second rotation shaft 32, and the rotation axis of the third rotation shaft 42 can be obliquely intersected with each other. It is necessary to select the intersecting method of the three rotation axes when using the handheld PTZ.
- the term “plurality” refers to two or more than two, unless specifically defined otherwise.
- the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense.
- “connected” can be a fixed connection, a detachable connection, or an integral connection;
- “connected” can be It is directly connected or indirectly connected through an intermediary.
- the specific meanings of the above terms in this application can be understood according to specific circumstances.
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Abstract
一种手持云台,包括手柄(10)、第一轴组件(20)、第二轴组件(30)、第三轴组件(40)、承载物(50)以及限位组件(60),限位组件(60)包括限位部和配合部,限位部和配合部的其中之一设于第三轴组件(40)上;当手持云台切换至收纳状态时,第三轴组件(40)收纳于手柄(10)的一侧,并受限位组件(60)限位而不再转动。本申请实施例提供的手持云台,利用第一轴组件(20)、第二轴组件(30)和第三轴组件(40)形成的三轴转动可以满足其使用状态下的增稳功能。通过设置限位组件(60),可限制第三轴组件(40)的第三轴臂(44)不再转动,从而使整个手持云台不会随意转动。
Description
本申请涉及云台技术领域,具体而言,涉及一种手持云台。
云台通过采用三轴结构可以在使用状态下转动,来满足云台的增稳功能,但是在收纳状态下,三轴的转动会导致收纳形状不规则,既不便于收纳,又容易造成云台损坏。在这样的背景下,需要设计结构用于限制收纳时三轴的转动。
发明内容
本申请旨在至少解决现有技术或相关技术中存在的技术问题之一。
为此,本申请的一个方面提出了一种手持云台。
有鉴于此,根据本申请的一个方面,提供了一种手持云台,包括:手柄、第一轴组件、第二轴组件、第三轴组件、承载物以及限位组件,手柄具有顶部、底部和位于顶部和底部之间的侧壁;第一轴组件包括与顶部相连接的第一转轴以及一端与第一转轴固定连接的第一轴臂;第二轴组件包括第二转轴、一端与第二转轴固定连接的第二轴臂以及转动连接件,第一轴臂的另一端通过转动连接件与第二轴臂的另一端转动连接,随第一轴臂与第二轴臂的相对转动,手持云台在收纳状态和使用状态之间切换;第三轴组件包括第三转轴和第三轴臂,第三轴臂的一端与第二转轴转动连接,另一端与第三转轴固定连接;承载物与第三转轴转动连接;限位组件包括限位部和配合部,限位部和配合部的其中之一设于第三轴组件上;当手持云台切换至使用状态时,第一轴臂与第二轴臂成预设夹角,第一转轴、第二转轴及第三转轴能够转动,以控制承载物的姿态变化;当手持云台切换至收纳状态时,第一轴臂与第二轴臂沿转动连接件处折叠,使得第二轴臂收纳 于第一转轴和第一轴臂远离顶部的一侧,第三轴组件收纳于手柄的一侧,第三轴臂受限位组件限位而不再转动。
本申请实施例提供的手持云台,利用第一轴组件、第二轴组件和第三轴组件形成的三轴转动可以满足其使用状态下的增稳功能。当第二轴臂折叠至第一转轴和第一轴臂远离手柄的顶部的一侧时,手持云台可切换至收纳状态,此时三个轴臂中的两个彼此靠近而相对紧凑,对于剩下的收纳于手柄一侧的第三轴臂,通过设置与第三轴组件相连的限位组件,可限制第三轴臂不再转动,从而使整个手持云台不会随意转动,提高了手持云台在收纳状态下的稳定性和可靠性,降低了手持云台损坏的可能。
本申请的附加方面和优点将在下面的描述部分中变得明显,或通过本申请的实践了解到。
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例的描述中将变得明显和容易理解,其中:
图1示出了本申请的一个实施例的收纳状态下的手持云台的主视图;
图2示出了本申请的一个实施例的图1在A部的局部放大图;
图3示出了本申请的一个实施例的收纳状态下的手持云台的主视局部剖视图;
图4示出了本申请的一个实施例的图3在B部的局部放大图;
图5示出了本申请的一个实施例的收纳状态下的手持云台的俯视局部剖视图;
图6示出了本申请的一个实施例的图5在C部的局部放大图。
其中,图1至图6中附图标记与部件名称之间的对应关系为:
10手柄,12顶部,14底部,16侧壁,18凹陷部,20第一轴组件,22第一转轴,222第二凹槽,224锁定件,24第一轴臂,30第二轴组件,32第二转轴,34第二轴臂,342锁定凸起,40第三轴组件,42第三转轴,44第三轴臂,442拐点,444台阶部,50夹设结构,60限位组件,62限位凸起,64配合凹槽。
为了能够更清楚地理解本申请的上述目的、特征和优点,下面结合附图和具体实施方式对本申请进行进一步的详细描述。需要说明的是,在不冲突的情况下,本申请的实施例及实施例中的特征可以相互组合。
在下面的描述中阐述了很多具体细节以便于充分理解本申请,但是,本申请还可以采用其他不同于在此描述的其他方式来实施,因此,本申请的保护范围并不受下面公开的具体实施例的限制。
下面参照图1至图6描述根据本申请一些实施例所述的手持云台。
如图1至图4所示,本申请实施例提供了一种手持云台,可包括手柄10,以及与手柄10连接的增稳云台机构,该增稳云台机构包括第一轴组件20、第二轴组件30、第三轴组件40、承载物以及限位组件60。该增稳云台机构不仅能够与手柄10可拆卸连接,还可以与其它载具可拆卸连接,例如,无人飞行器、车辆、地面遥控载具等。该增稳云台机构可以与上述载具快速连接,使得该增稳云台机构能够在不同的载具间进行更换,例如,该增稳云台机构可以在无人飞行器与手柄10之间进行更换,或者该增稳云台机构可以在地面遥控载具与手柄10之间进行更换。
其中,手柄10具有顶部12、底部14以及位于顶部12和底部14之间的侧壁16。可选地,手柄10为杆状结构,可为长度固定不变的非伸缩杆,也可为长度可变的可伸缩杆;当然,手柄10也可为其他形状,本申请不作具体限定。
第一轴组件20包括与顶部12相连接的第一转轴22以及一端与第一转轴22固定连接的第一轴臂24,可选地,第一转轴22与第一轴臂24构造为一体式结构。第二轴组件30包括第二转轴32以及一端与第二转轴32固定连接的第二轴臂34,可选地,第二转轴32与第二轴臂34构造为一体式结构。第二轴组件30还包括转动连接件(图中未示出),第一轴臂24的另一端通过转动连接件与第二轴臂34的另一端转动连接,随第一轴臂24与第二轴臂34的相对转动,手持云台在收纳状态和使用状态之间切换。第三轴组件40包括第三转轴42和第三轴臂44,第三轴臂44的一端与第二转轴32转动连接,另一端与第三转轴42固定连接,可选地,第三转轴42 与第三轴臂44构造为一体式结构。可选地,第一轴臂24、第二轴臂34和第三轴臂44可为杆状结构,可为长度固定不变的非伸缩杆,也可为长度可变的可伸缩杆。当然,第一轴臂24、第二轴臂34和第三轴臂44也可为其他形状,本申请不作具体限定。
承载物与第三转轴42转动连接。可选地,承载物可以承载成像镜头,该成像镜头直接或间接与第三转轴42转动连接。承载物还可以包括用于固定拍摄装置的承载部(例如夹设结构50),该拍摄装置可为相机、具有拍摄功能的智能终端(如手机、平板电脑等)或其他具有拍摄功能的装置。
限位组件60包括限位部(例如限位凸起62)和配合部(例如配合凹槽64),限位部和配合部的其中之一设于第三轴组件40上,限位部与配合部相适配。
当手持云台切换至使用状态时,第一轴臂24与第二轴臂34成预设夹角,第一转轴22、第二转轴32及第三转轴42能够转动,以控制承载物的姿态变化。预设夹角的大小可根据需要设定,可选地,预设夹角大于90度,并小于180度,如为120度、135度。具体地,第一转轴22转动时,带动其负载(包括第一轴臂24、第二轴组件30、第三轴组件40和承载物)转动;第二转轴32转动时,带动其负载(包括第三轴组件40和承载物)转动;第三转轴42转动时,带动承载物转动。为实现承载物的姿态变化,可采用以下控制策略中的至少一种:控制第一转轴22转动、控制第二转轴32转动、控制第三转轴42转动。
手持云台的整体折叠效果如图1所示。当手持云台切换至收纳状态时,第一轴臂24与第二轴臂34沿转动连接件处折叠,使得第二轴臂34收纳于第一转轴22和第一轴臂24远离顶部12的一侧,第三轴组件40收纳于手柄10的一侧,使得手持云台收纳紧凑。需要说明的是,本申请实施例中,在第一轴臂24与第二轴臂34沿转动连接件处折叠后,手持云台的其他结构之间自动配合而形成折叠形态。第三轴臂44则受限位组件60限位而不再转动,具体为不相对于第二轴臂34转动,从而限定了手持云台在折叠收纳状态下的转动自由度,使整个手持云台不会随意转动。可选地,由于第三轴臂44与第三转轴42固定连接,因此限位部和配合部的其中之一可设 于第三轴臂44上,也可设于第三转轴42上,还可同时设置在第三轴臂44和第三转轴42上。
本申请实施例提供的手持云台,利用第一轴组件20、第二轴组件30和第三轴组件40形成的三轴转动可以满足其使用状态下的增稳功能。当第二轴臂34折叠至第一转轴22和第一轴臂24远离手柄10的顶部12的一侧时,手持云台可切换至收纳状态,此时三个轴臂中的两个彼此靠近而相对紧凑,对于剩下的收纳于手柄10一侧的第三轴臂44,通过设置与第三轴组件40相连的限位组件60,可限制第三轴臂44不再转动,从而使整个手持云台不会随意转动,提高了手持云台在收纳状态下的稳定性和可靠性,降低了手持云台损坏的可能。
如图2至图6所示,在一些实施例中,限位部包括限位凸起62,配合部包括配合凹槽64;限位凸起62和配合凹槽64的其中之一设置在第一转轴22上,另一设置在第三轴臂44上,或,限位凸起62和配合凹槽64的其中之一设置在手柄10的侧壁16上,另一设置在第三轴臂44上。
在该实施例中,具体限定了限位部和配合部分别可包括限位凸起62和配合凹槽64,利用限位凸起62和配合凹槽64的配合结构实现限位。具体而言,可将二者其中之一设置在第一转轴22或手柄10的侧壁16上,另一设置在第三轴臂44上。当手持云台处于使用状态时,第三轴臂44远离第一转轴22和手柄10的侧壁16,限位凸起62和配合凹槽64不接触,第三轴臂44可以相对于第二轴臂34转动,从而利用三轴转动实现增稳功能。当手持云台切换至收纳状态时,第三轴臂44收纳于手柄10的一侧,也会靠近连接在手柄10的顶部12的第一转轴22,此时限位凸起62可伸入配合凹槽64内,从而防止第三轴臂44相对于第二轴臂34转动,有效限定了手持云台在折叠收纳状态下的转动自由度,使整个手持云台不会随意转动。
在一些实施例中,基于限位凸起62和配合凹槽64的其中之一设置在第一转轴22上,另一设置在第三轴臂44上的情况,在手持云台从使用状态切换至收纳状态的过程中,第二转轴32逐渐向第一转轴22靠近,使限位凸起62嵌入配合凹槽64中。
在该实施例中,进一步以限位凸起62和配合凹槽64的其中之一设置在 第一转轴22上,另一设置在第三轴臂44上的情况为例,限定了限位凸起62和配合凹槽64的配合过程。收纳手持云台时可先将第三轴臂44转动至图3中所示的位置,如图3和图5所示,随着第一轴臂24与第二轴臂34沿转动连接件处折叠,第二轴臂34逐渐向第一轴臂24靠近,同时带动第三轴臂44向第一转轴22和手柄10靠近,分别设置在第一转轴22和第三轴臂44上的限位凸起62和配合凹槽64也随之彼此接近,使得限位凸起62最终嵌入配合凹槽64内,第三轴臂44便不能相对于第二轴臂34转动,可在折叠收纳手持云台的同时实现对第三轴臂44的转动限位,操作便捷。可选地,如图4和图6所示,限位凸起62设置在第三轴臂44上,配合凹槽64设置在第一转轴22上。
进一步地,可在限位凸起62和配合凹槽64的其中至少之一上设置导向斜面,使得收纳前第三轴臂44不必精确对位至图3中所示的位置,只需转动至该位置附近,就可在收纳时借助导向斜面的导向作用对第三轴臂44进行微调,令限位凸起62在周向上逐步滑入配合凹槽64内,能够减少对准的时间,使收纳操作更为便捷。
在一些实施例中,限位凸起62和配合凹槽64的其中之一与第一转轴22构造为一体式结构,另一与第三轴臂44构造为一体式结构。
在该实施例中,进一步以限位凸起62和配合凹槽64的其中之一设置在第一转轴22上,另一设置在第三轴臂44上的情况为例,限定了限位凸起62和配合凹槽64各自与所连结构一体成型,则不必单独加工限位凸起62和配合凹槽64,有助于提高生产效率,同时一体式的结构可增强连接强度,提高产品的可靠性。
如图1和图3所示,在一些实施例中,当手持云台切换至收纳状态时,第一转轴22的轴线与第二转轴32的轴线相交。
在该实施例中,手柄10的顶部12与第一转轴22转动连接,第三轴臂44与第二转轴32转动连接。通过限定在收纳状态下,第一转轴22的轴线与第二转轴32的轴线相交,可令第三轴臂44在收纳状态下向第一转轴22及手柄10的侧壁16靠近,有利于第三轴臂44、第三转轴42与第一转轴22及手柄10的侧壁16的配合,进一步提升了限位组件60的限位效果以及手持云台在收纳 状态下的紧凑度。
在一些实施例中,限位部包括与手柄10和第一转轴22中的至少一个连接的第一限位爪,第三轴臂44的至少一部分构造为配合部;当手持云台切换至收纳状态时,配合部嵌入第一限位爪内并与第一限位爪相适配。
在该实施例中,限位部可包括第一限位爪,连接在手柄10和第一转轴22中的至少一个上,配合部则由第三轴臂44的至少一部分构造而成。当手持云台处于使用状态时,第三轴臂44远离第一转轴22和手柄10的侧壁16,第一限位爪和配合部不接触,第三轴臂44可以相对于第二轴臂34转动,从而利用三轴转动实现增稳功能。当手持云台切换至收纳状态时,第三轴臂44收纳于手柄10的一侧,也会靠近连接在手柄10的顶部12的第一转轴22,此时第三轴臂44上的配合部可嵌入第一限位爪内并与第一限位爪相适配,从而防止第三轴臂44相对于第二轴臂34转动,有效限定了手持云台在折叠收纳状态下的转动自由度,使整个手持云台不会随意转动。
在一些实施例中,第一限位爪与手柄10和第一转轴22中的至少一个构造为一体式结构。
在该实施例中,第一限位爪与手柄10和第一转轴22中的至少一个相连接,通过将相连接的结构一体成型,可不必单独加工第一限位爪,有助于提供生产效率,同时一体式结构可增强连接强度,提高产品的可靠性。
在一些实施例中,限位部包括与第三轴臂44连接的第二限位爪,手柄10的至少一部分或第一转轴22的至少一部分构造为配合部;当手持云台切换至收纳状态时,配合部嵌入第二限位爪内并与第二限位爪相适配。
在该实施例中,限位部可包括第二限位爪,连接在第三轴臂44上,配合部则由手柄10的至少一部分或第一转轴22的至少一部分构造而成。当手持云台处于使用状态时,第三轴臂44远离第一转轴22和手柄10的侧壁16,第二限位爪和配合部不接触,第三轴臂44可以相对于第二轴臂34转动,从而利用三轴转动实现增稳功能。收纳手持云台时可先将第三轴臂44转动至令第二限位爪朝向手柄10的位置,当手持云台切换至收纳状态时,第三轴臂44收纳于手柄10的一侧,也会靠近连接在手柄10的顶部12的第一转轴22,此时第三轴臂44上的第二限位爪可夹持配合部,即令手柄10或第一转轴22上的 配合部嵌入第二限位爪内并与第二限位爪相适配,从而防止第三轴臂44相对于第二轴臂34转动,有效限定了手持云台在折叠收纳状态下的转动自由度,使整个手持云台不会随意转动。
在一些实施例中,第二限位爪与第三轴臂44构造为一体式结构。
在该实施例中,通过将第二限位爪与第三轴臂44一体成型,可不必单独加工第二限位爪,有助于提供生产效率,同时一体式结构可增强连接强度,提高产品的可靠性。
如图1和图3所示,在一些实施例中,第三轴臂44具有拐点442,当手持云台切换至收纳状态时,第三轴臂44的形状与手柄10的侧壁16的形状相适配以使第三轴臂44至少部分抵接手柄10的侧壁16。
在该实施例中,通常,手柄10的侧壁16的形状需要设计成符合用户手持习惯的形状,故手柄10的侧壁16具有凹陷部18。在第三轴臂44上设置拐点442,具体地,当手持云台切换至收纳状态时,可令拐点442靠近凹陷部18远离底部14的一侧,使得第三轴臂44的形状与手柄10的侧壁16的形状相适配以使第三轴臂44至少部分抵接手柄10的侧壁16,从而减小第三轴臂44与手柄10的侧壁16之间的间隙,使得手持云台的收纳进一步紧凑化。
在一些实施例中,第三轴臂44具有开口,当手持云台切换至收纳状态时,开口朝向手柄10的侧壁16。
在该实施例中,在第三轴臂44上设置开口,例如可将第三轴臂44设计为大致呈V形,即第三轴臂44具有一个拐点442,从而在拐点442处构造出开口,又如在杆状的第三轴臂44上开设开口。同时协调限位组件60和开口的位置,当手持云台切换至收纳状态时,可令开口朝向手柄10的侧壁16,并具体靠近凹陷部18远离底部14的一侧,使得手柄10在凹陷部18远离底部14的部分可嵌入开口中,有助于减小第三轴臂44与手柄10的侧壁16之间的间隙,使得手持云台的收纳进一步紧凑化。
如图1和图3所示,在一些实施例中,第三轴臂44与第二转轴32的连接处形成一台阶部444;当手持云台切换至收纳状态时,台阶部444背离手柄10的侧壁16设置。
在该实施例中,第三轴臂44在与第二转轴32相连接之处形成一台阶部 444,当手持云台切换至收纳状态时,台阶部444背离手柄10的侧壁16,可减小第三轴臂44与手柄10的侧壁16之间的间隙,使得手持云台收纳进一步紧凑化。
在一些实施例中,当手持云台切换至收纳状态时,承载物位于第三转轴42远离手柄10的侧壁16的一侧。
在该实施例中,通过令收纳状态下的承载物位于第三转轴42远离手柄10的侧壁16的一侧,则承载物不会位于第三转轴42和手柄10的侧壁16之间,故而一方面可减小第三轴臂44与手柄10的侧壁16之间的间隙,另一方面,在手持云台处于收纳状态时仍然可以使用承载物。例如,若承载物包括成像镜头,在手持云台收纳时,可继续使用该成像镜头进行拍摄,与手持云台处于使用状态下使用该成像镜头进行拍摄的区别在于:在手持云台处于收纳状态下使用该成像镜头进行拍摄时,不能基于第一转轴22、第二转轴32对该成像镜头进行姿态切换,但可以控制第三转轴42对该成像镜头进行姿态切换。同时,由于承载物收纳后处于第三轴臂44开放的一侧,不会因空间狭小受到限制,因此承载物的大小和形状不会受到空间限制,可以根据用户拍摄需要进行选择和更换。例如,在一种情况下,可以选用圆形成像镜头,在另一种情况下,可以选用方形成像镜头,当然在其他情况下还可以选用其它大小或形状的成像镜头,在此不做限制。
在一些实施例中,承载物包括承载部,承载部用于固定拍摄装置;当手持云台切换至收纳状态时,承载部位于第三转轴42远离手柄10的侧壁16的一侧。
在该实施例中,承载物可包括用于固定拍摄装置的承载部,承载部位于第三转轴42远离手柄10的侧壁16的一侧,一方面可减小第三轴臂44与手柄10的侧壁16之间的间隙,另一方面,可在手持云台处于收纳状态下继续使用该拍摄装置进行拍摄,且可对该拍摄装置进行视频回放等操作,还可将拍摄装置一并收纳。相应地,在手持云台处于收纳状态下使用该拍摄装置进行拍摄,与手持云台处于使用状态下使用该拍摄装置进行拍摄的区别在于:在手持云台处于收纳状态下使用该拍摄装置进行拍摄时,不能基于第一转轴22、第二转轴32对该拍摄装置进行姿态切换,但可以控制第三转轴42对该拍摄装置进行 姿态切换。在对拍摄装置进行收纳时,不同于现有的承载部位于第三转轴42和手柄10之间时,需将拍摄装置从承载部上取下才能完成收纳的情况,本申请实施例提供的手持云台,可以将拍摄装置与手持云台一并进行收纳,不需再分开收纳,节省了收纳空间,更便于用户外出使用。
在一些实施例中,承载部为夹设结构50;当手持云台切换至收纳状态时,夹设结构50的开口背离第三转轴42设置。
在该实施例中,将承载部设计为夹设结构50,并且在手持云台切换至收纳状态时,令夹设结构50的开口背离第三转轴42设置,能够确保手持云台收纳时,拍摄装置朝向外侧,方便用户使用拍摄装置。
进一步地,夹设结构50具有锁定状态和解锁状态,当夹设结构50处于解锁状态时,能够夹持固定拍摄装置,且第三转轴42可转动;当夹设结构50处于锁定状态时,夹设结构50锁定在第三轴臂44上,限制第三转轴42转动。可选地,当手持云台切换至收纳状态时,夹设结构50自动切换至锁定状态;可选地,当手持云台切换至收纳状态时,夹设结构50仍然处于解锁状态,需要用户通过手动操作方式将夹设结构50切换至锁定状态。此外,当夹设结构50处于锁定状态时,可基于自动解锁(按键/按钮解锁)或手动解锁方式将夹设结构50由锁定状态切换至解锁状态。其中,夹设结构50与第三轴臂44实现锁定的结构可选择常规结构,本实施例对此不作介绍。
如图4所示,在一些实施例中,顶部12设有第一凹槽(图中未示出),第一转轴22设有第二凹槽222,第二凹槽222内设有锁定件224,第二轴臂34上设有锁定凸起342;第一凹槽与第二凹槽222对准,用于指示能够将手持云台切换至收纳状态;在第一凹槽与第二凹槽222对准时,触发第二轴臂34沿转动连接件处朝向第一轴臂24转动,使得锁定凸起342伸入第二凹槽222内,锁定凸起342能够触发第二凹槽222内的锁定件224朝向第一凹槽移动,使得锁定件224的一部分进入第一凹槽内而与第一凹槽相配合,以防止第一轴组件20和第二轴组件30相对手柄10转动,将手持云台维持在收纳状态。
在该实施例中,通过在顶部12和第一转轴22上分别设置第一凹槽和第二凹槽222,并在第二凹槽222内设置锁定件224,在第二轴臂34上设置锁定凸 起342,一方面可借助第一凹槽和第二凹槽222的对位来指示能够将手持云台切换至收纳状态,便于用户操作;另一方面,在第一凹槽与第二凹槽222对准的情况下,将第一轴臂24与第二轴臂34沿转动连接件处折叠,使得第二轴臂34上的锁定凸起342伸入第一转轴22上的第二凹槽222,进而触发第二凹槽222内的锁定件224部分伸入手柄10的顶部12上的第一凹槽内,可基于锁定件224与第一凹槽的配合实现第一轴组件20和第二轴组件30相对于手柄10的转动限位,将手持云台维持在收纳状态。可选地,锁定件224与第一凹槽相适配,锁定凸起342与第二凹槽222相适配,以提高收纳状态下的限位可靠性,充分限制第一轴组件20和第二轴组件30相对于手柄10的转动。
在一些实施例中,第二转轴32转动至预设位置,用于指示能够将手持云台切换至收纳状态。
在该实施例中,通过设定第二转轴32的预设位置,可提醒用户在收纳手持云台前将第二转轴32转动至预设位置,第三轴组件40也随之转动至相应位置,具有明确的指示作用,可避免第二转轴32未转动至预设位置时第二转轴32和/或第三轴组件40无法折叠到位的情况发生,使得手持云台可由使用状态顺利切换至收纳状态。
在一些实施例中,预设位置为第二转轴32的限位位置。
在该实施例中,具体限定了第二转轴32的预设位置可为其限位位置,也就是限位组件60限定第三轴臂44不再相对于第二轴臂34转动时的位置,确保了各个轴组件收纳上的一致性,使得手持云台可由使用状态顺利切换至收纳状态。可选地,在第二转轴32和第三轴臂44上分别设置对准标记,可进一步明确指示出第二转轴32的限位位置,以便用户查看。
此时,手持云台由使用状态切换至收纳状态的操作过程可包括:控制第一转轴22相对手柄10转动,以使得第一凹槽与第二凹槽222相对准,并控制第二转轴32转动至限位位置,这两个步骤可同步执行,也可先后执行;此后,操作第一轴臂24和第二轴臂34沿着转动连接件处折叠,使得锁定凸起342伸入第二凹槽222;在锁定凸起342伸入第二凹槽222的过程中,锁定凸起342会向下挤压第二凹槽222内的锁定件224,使得锁定件224朝向第一凹槽移动,当锁定件224的一部分进入第一凹槽内而与第一凹槽相配合时,就实现了第一 轴组件20和第二轴组件30相对于手柄10的转动限位,与此同时,限位组件60的限位部和配合部相配合,实现了第三轴组件40相对于第二轴臂34的转动限位,手持云台由使用状态切换至收纳状态,并能够维持在收纳状态。
在一些实施例中,手柄10的侧壁16设有解锁部,解锁部能够与锁定件224配合;操作解锁部,锁定件224能够在解锁部的顶持力作用下朝向远离第一凹槽的方向移动至与第一凹槽分离,在锁定件224将锁定凸起342顶出第二凹槽222时,手持云台能够由收纳状态切换至使用状态。
在该实施例中,通过在手柄10的侧壁16上设置解锁部,可利用解锁部将锁定件224顶出第一凹槽,进入第二凹槽222的锁定件224又可将锁定凸起342顶出第二凹槽222,从而便捷地将手持云台由收纳状态切换至使用状态。可选地,可以通过按压方式、拉拔方式、顶持方式或其他操作方式操作解锁部。解锁部可以为电子解锁结构,也可为机械解锁结构,可具体根据需要选择解锁部的类型。
在一些实施例中,第一轴组件20还包括第一电机,第一电机的定子与顶部12固定连接,第一电机的转子与第一转轴22固定连接;第二轴组件30还包括第二电机,第二电机的定子与第二转轴32固定连接,第二电机的转子与第三轴臂44固定连接;第三轴组件40还包括第三电机,第三电机的定子与第三转轴42固定连接,第三电机的转子与承载物固定连接。
在该实施例中,进一步限定了第一轴组件20、第二轴组件30和第三轴组件40还分别包括第一电机、第二电机和第三电机,利用各个电机的定子和转子之间的相对转动,可实现各个转轴的转动连接,并且可通过电信号方便地实现电动控制,提高了控制的精确度。其中,本实施例对第一电机、第二电机和第三电机的电机类型不作具体要求,可以为直流电机,也可以为交流电机;可以为单相电机,也可以为三相电机或其他电机。对于电机中定子和转子的位置关系也不作具体要求,可以是定子套设在转子外部,也可以是转子套设在定子外部。以转子套设在定子外部的情况为例,则第一电机的定子可与手柄10的顶部12固定连接,第一转轴22可套设在第一电机的转子外,进一步可直接作为第一电机的转子外壳;第二电机的定子可与第二转轴32固定连接,第三轴臂44可套设在第二电极的转子外,进 一步可直接作为第二电机的转子外壳;第三电机的定子可与第三转轴42固定连接,承载物可与第三电机的转子固定连接,进一步可套设在第三电机的转子外,更进一步可直接作为第三电机的转子外壳。
在一些实施例中,第一转轴22的旋转轴为偏航轴,第二转轴32的旋转轴为俯仰轴,第三转轴42的旋转轴为横滚轴。
在该实施例中,第一转轴22、第二转轴32、第三转轴42的旋转轴分别为偏航轴、俯仰轴、横滚轴,在手持云台处于使用状态时,可实现承载物的全方位姿态调整,进而实现增稳功能。其中,当手持云台处于使用状态时,偏航轴与竖直方向大致平行;可选地,偏航轴与竖直方向相平行。当然,第一转轴22、第二转轴32、第三转轴42的旋转轴也可为其他方式,例如,第一转轴22的旋转轴为偏航轴,第二转轴32的旋转轴为横滚轴、第三转轴42的旋转轴为俯仰轴。
在一些实施例中,当手持云台处于使用状态时,第一转轴22的旋转轴、第二转轴32的旋转轴以及第三转轴42的旋转轴两两正交。在另一些实施例中,当手持云台处于使用状态时,第一转轴22的旋转轴、第二转轴32的旋转轴以及第三转轴42的旋转轴中至少两个轴相互斜交,可根据需要选择手持云台使用时的三个旋转轴的相交方式。
在本申请中,术语“多个”则指两个或两个以上,除非另有明确的限定。术语“安装”、“相连”、“连接”、“固定”等术语均应做广义理解,例如,“连接”可以是固定连接,也可以是可拆卸连接,或一体地连接;“相连”可以是直接相连,也可以通过中间媒介间接相连。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。
在本说明书的描述中,术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本申请的至少一个实施例或示例中。在本说明书中,对上述术语的示意性表述不一定指的是相同的实施例或实例。而且,描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上所述仅为本申请的优选实施例而已,并不用于限制本申请,对于本领域的技术人员来说,本申请可以有各种更改和变化。凡在本申请的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本申请的保护范围之内。
Claims (22)
- 一种手持云台,其特征在于,所述手持云台包括:手柄,具有顶部、底部和位于所述顶部和所述底部之间的侧壁;第一轴组件,包括与所述顶部相连接的第一转轴以及一端与所述第一转轴固定连接的第一轴臂;第二轴组件,包括第二转轴、一端与所述第二转轴固定连接的第二轴臂以及转动连接件,所述第一轴臂的另一端通过所述转动连接件与所述第二轴臂的另一端转动连接,随所述第一轴臂与所述第二轴臂的相对转动,所述手持云台在收纳状态和使用状态之间切换;第三轴组件,包括第三转轴和第三轴臂,所述第三轴臂的一端与所述第二转轴转动连接,另一端与第三转轴固定连接;承载物,与所述第三转轴转动连接;以及限位组件,所述限位组件包括限位部和配合部,所述限位部和所述配合部的其中之一设于所述第三轴组件上;当手持云台切换至所述使用状态时,所述第一轴臂与所述第二轴臂成预设夹角,所述第一转轴、所述第二转轴及所述第三转轴能够转动,以控制所述承载物的姿态变化;当手持云台切换至所述收纳状态时,所述第一轴臂与所述第二轴臂沿所述转动连接件处折叠,使得所述第二轴臂收纳于所述第一转轴和所述第一轴臂远离所述顶部的一侧,所述第三轴组件收纳于所述手柄的一侧,所述第三轴臂受所述限位组件限位而不再转动。
- 根据权利要求1所述的手持云台,其特征在于,所述限位部包括限位凸起,所述配合部包括配合凹槽;所述限位凸起和所述配合凹槽的其中之一设置在所述第一转轴上,另一设置在所述第三轴臂上,或,所述限位凸起和所述配合凹槽的其中之一设置在所述手柄的侧壁上,另一设置在所述第三轴臂上。
- 根据权利要求2所述的手持云台,其特征在于,基于所述限位凸起和所述配合凹槽的其中之一设置在所述第一转轴上,另一设置在所述第三轴臂上的情况,在所述手持云台从所述使用状态切换至所述收纳状态的过程中,所述第二转轴逐渐向所述第一转轴靠近,使所述限位凸起嵌入所述配合凹槽中。
- 根据权利要求3所述的手持云台,其特征在于,所述限位凸起和所述配合凹槽的其中之一与所述第一转轴构造为一体式结构,另一与所述第三轴臂构造为一体式结构。
- 根据权利要求3所述的手持云台,其特征在于,当手持云台切换至所述收纳状态时,所述第一转轴的轴线与所述第二转轴的轴线相交。
- 根据权利要求1所述的手持云台,其特征在于,所述限位部包括与所述手柄和所述第一转轴中的至少一个连接的第一限位爪,所述第三轴臂的至少一部分构造为所述配合部;当所述手持云台切换至所述收纳状态时,所述配合部嵌入所述第一限位爪内并与所述第一限位爪相适配。
- 根据权利要求6所述的手持云台,其特征在于,所述第一限位爪与所述手柄和所述第一转轴中的至少一个构造为一体式结构。
- 根据权利要求1所述的手持云台,其特征在于,所述限位部包括与所述第三轴臂连接的第二限位爪,所述手柄的至少一部分或所述第一转轴的至少一部分构造为所述配合部;当所述手持云台切换至所述收纳状态时,所述配合部嵌入所述第二限位爪内并与所述第二限位爪相适配。
- 根据权利要求8所述的手持云台,其特征在于,所述第二限位爪与所述第三轴臂构造为一体式结构。
- 根据权利要求1至9中任一项所述的手持云台,其特征在于,所述第三轴臂具有拐点,当手持云台切换至所述收纳状态时,所述第三轴臂的形状与所述手柄的侧壁的形状相适配以使所述第三轴臂至少部分抵接所述手柄的侧壁。
- 根据权利要求1至9中任一项所述的手持云台,其特征在于,所述第三轴臂具有开口,当手持云台切换至所述收纳状态时,所述开口朝向所述手柄的侧壁。
- 根据权利要求1至9中任一项所述的手持云台,其特征在于,所述第三轴臂与所述第二转轴的连接处形成一台阶部;当手持云台切换至所述收纳状态时,所述台阶部背离所述手柄的侧壁设置。
- 根据权利要求1至9中任一项所述的手持云台,其特征在于,当手持云台切换至所述收纳状态时,所述承载物位于所述第三转轴远离所述手柄的侧壁的一侧。
- 根据权利要求13所述的手持云台,其特征在于,所述承载物包括承载部,所述承载部用于固定拍摄装置;当手持云台切换至所述收纳状态时,所述承载部位于所述第三转轴远离所述手柄的侧壁的一侧。
- 根据权利要求14所述的手持云台,其特征在于,所述承载部为夹设结构;当手持云台切换至所述收纳状态时,所述夹设结构的开口背离所述第三转轴设置。
- 根据权利要求1至9中任一项所述的手持云台,其特征在于,所述顶部设有第一凹槽,所述第一转轴设有第二凹槽,所述第二凹槽内设有锁定件,所述第二轴臂上设有锁定凸起;所述第一凹槽与所述第二凹槽对准,用于指示能够将所述手持云台切换至所述收纳状态;在所述第一凹槽与所述第二凹槽对准时,触发所述第二轴臂沿所述转动连接件处朝向所述第一轴臂转动,使得所述锁定凸起伸入所述第二凹槽内,所述锁定凸起能够触发所述第二凹槽内的锁定件朝向所述第一凹槽移动,使得所述锁定件的一部分进入所述第一凹槽内而与所述第一凹槽相配合,以防止所述第一轴组件和所述第二轴组件相对所述手柄转动,将所述手持云台维持在所述收纳状态。
- 根据权利要求16所述的手持云台,其特征在于,所述第二转轴转动至预设位置,用于指示能够将所述手持云台切换至所述收纳状态。
- 根据权利要求17所述的手持云台,其特征在于,所述预设位置为所述第二转轴的限位位置。
- 根据权利要求16所述的手持云台,其特征在于,所述手柄的侧壁设有解锁部,所述解锁部能够与所述锁定件配合;操作所述解锁部,所述锁定件能够在所述解锁部的顶持力作用下朝向远离所述第一凹槽的方向移动至与所述第一凹槽分离,在所述锁定件将所述锁定凸起顶出所述第二凹槽时,所述手持云台能够由所述收纳状态切换至所述使用状态。
- 根据权利要求1至9中任一项所述的手持云台,其特征在于,所述第一轴组件还包括第一电机,所述第一电机的定子与所述顶部固定连接,所述第一电机的转子与所述第一转轴固定连接;所述第二轴组件还包括第二电机,所述第二电机的定子与所述第二转轴固定连接,所述第二电机的转子与所述第三轴臂固定连接;所述第三轴组件还包括第三电机,所述第三电机的定子与所述第三转轴固定连接,所述第三电机的转子与所述承载物固定连接。
- 根据权利要求1至9中任一项所述的手持云台,其特征在于,所述第一转轴的旋转轴为偏航轴,所述第二转轴的旋转轴为俯仰轴,所述第三转轴的旋转轴为横滚轴。
- 根据权利要求1至9中任一项所述的手持云台,其特征在于,当手持云台处于使用状态时,所述第一转轴的旋转轴、所述第二转轴的旋转轴以及所述第三转轴的旋转轴两两正交,或者,当手持云台处于使用状态时,所述第一转轴的旋转轴、所述第二转轴的旋转轴以及所述第三转轴的旋转轴中至少两个轴相互斜交。
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