WO2021031144A1 - 夹持装置、手持云台及可移动装置 - Google Patents

夹持装置、手持云台及可移动装置 Download PDF

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Publication number
WO2021031144A1
WO2021031144A1 PCT/CN2019/101719 CN2019101719W WO2021031144A1 WO 2021031144 A1 WO2021031144 A1 WO 2021031144A1 CN 2019101719 W CN2019101719 W CN 2019101719W WO 2021031144 A1 WO2021031144 A1 WO 2021031144A1
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WO
WIPO (PCT)
Prior art keywords
clamping
base
hall
clip
ring
Prior art date
Application number
PCT/CN2019/101719
Other languages
English (en)
French (fr)
Inventor
赵天菲
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980030105.2A priority Critical patent/CN112135996A/zh
Priority to PCT/CN2019/101719 priority patent/WO2021031144A1/zh
Publication of WO2021031144A1 publication Critical patent/WO2021031144A1/zh

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

Definitions

  • This application relates to the technical field of photographic equipment accessories, in particular, to a clamping device, a handheld pan/tilt and a movable device.
  • the handheld gimbal is also called a handheld stabilizer, which is used to stabilize the shooting equipment. Therefore, the handheld gimbal generally has a device for fixing the shooting equipment.
  • most of the devices for fixing the shooting equipment on the handheld PTZ are opposite side clamping devices, that is, two opposed clamping mechanisms are connected and fixed by tension springs to clamp and fix the shooting equipment.
  • PCBA printed Circuit Board+Assembly
  • the traditional clamping device only has a simple clamping function and cannot Accurate positioning of the mobile phone posture causes the mobile phone to tilt or other conditions that do not meet the user's use requirements, which affects the shooting angle, viewing angle, or other user requirements, and reduces the user's use experience.
  • a clamping device includes: a connecting seat; a cross-shaped clamping assembly that cooperates with the connecting seat to enclose an installation space, and is suitable for moving relative to the connecting seat to switch between a storage state and a working state, and In the working state, a clamping space is constructed; a rotating motor is installed in the installation space and connected with the clamping assembly for driving the clamping assembly to rotate to adjust the clamping The position of the holding space; a detection device for detecting the position information of the clamping assembly.
  • a hand-held pan/tilt head including: a handle; a first shaft assembly including a first rotating motor; a second shaft assembly including a second rotating motor; a third shaft assembly including a third rotating motor and a connecting seat; and a clamping device
  • the clamping device includes: a cross-shaped clamping assembly that cooperates with the connecting seat to enclose an installation space, and is adapted to move relative to the connecting seat to switch between the storage state and the working state, and when in the In the working state, a clamping space is constructed; a detection device is used to detect the position information of the clamping assembly; wherein, the third rotating motor is installed in the installation space and is connected to the clamping assembly Connected to drive the clamping assembly to rotate to adjust the position of the clamping space.
  • a movable device includes a main body and a pan/tilt connected to the main body.
  • the pan/tilt includes: a first shaft assembly including a first rotating electric machine; a second shaft assembly including a second rotating electric machine; and a third shaft assembly , Including a third rotating motor and a connecting seat; and a clamping device, the clamping device includes: a cross-shaped clamping assembly, cooperates with the connecting seat to enclose an installation space, suitable for moving relative to the connecting seat Switch between the storage state and the working state, and construct a clamping space in the working state; a detection device for detecting the position information of the clamping assembly; wherein the third rotating motor is installed In the installation space and connected with the clamping assembly, it is used to drive the clamping assembly to rotate to adjust the position of the clamping space.
  • the present application has the following beneficial technical effects: by adding a detection device to detect the position information of the clamping assembly, and then obtain the absolute deflection angle of the clamping space relative to the reference surface, so that the clamping device has a judgment clamp
  • the user can accurately adjust the position of the clamping assembly through the rotating motor, and adjust the clamping space to the desired target position to meet the angle of use, thereby improving the user experience .
  • the volume of the holding device is further reduced, and the structure of the holding device is further optimized.
  • FIG. 1 is a schematic diagram of a three-dimensional structure of a clamping device according to some embodiments of the present application
  • Fig. 2 is an exploded structural diagram of the clamping device shown in Fig. 1;
  • Fig. 3 is an enlarged schematic diagram of the structure of part A in Fig. 2;
  • Fig. 4 is a schematic front view of the structure of the clamping device shown in Fig. 1;
  • Fig. 5 is a right structural diagram of the clamping device shown in Fig. 1;
  • FIG. 6 is a schematic sectional view of the structure of the clamping device shown in FIG. 1;
  • Fig. 7 is a schematic diagram of the clamping device shown in Fig. 1 clamping a mobile phone
  • Figure 8 is a schematic front view of the structure shown in Figure 7;
  • Fig. 9 is a three-dimensional schematic diagram of the structure shown in Fig. 1 from another perspective;
  • Figure 10 is a schematic right side view of the structure shown in Figure 1;
  • Figure 11 is a schematic bottom view of the structure shown in Figure 1;
  • Figure 12 is an exploded schematic diagram of the structure shown in Figure 1;
  • FIG. 13 is a perspective view of the three-dimensional structure of the handheld pan/tilt head according to some embodiments of the present application.
  • FIG. 14 is a schematic diagram of the three-dimensional structure of the handheld pan/tilt head shown in FIG. 13 from another perspective.
  • 1 clamping device 11 connecting seat, 111 end cover, 112 axis arm, 12 clamping assembly, 121 fixing clip, 1211 first base, 1212 first clamping arm, 1213 first substrate, 1214 annular boss, 1215 connection Cover, 1216 connecting ring, 1217 connecting post, 1218 positioning groove, 1219 through hole, 122 movable clamp, 1221 second base, 1222 second clamp arm, 1223 second base plate, 1224 ring-shaped cover edge, 1225 thickened part, 1226 Limit slot, 1227 avoidance hole, 123 torsion spring, 1231 torsion arm, 124 friction ring, 1241 inner ring, 1242 outer ring, 125 fixing cover, 1251 connecting hole, 1252 lug, 126 friction pad, 127 installation space, 128 accommodation Space, 13 rotating motors, 131 shafts, 132 motor coils, 133 motor magnets, 134 motor yokes, 135 bearings, 136 pre-tightening nuts, 1361 countersinks, 141 Hall detection devices, 1411 first Hall magnet
  • the mobile phone holder often uses a spring tension mechanism to hold the mobile phone, and the motor is placed at the back end of the mobile phone holder.
  • the overall width of the mobile phone holder before and after the installation of the mobile phone does not change significantly.
  • its width is generally not less than 30mm, so the relative appearance volume is relatively wide; and the internal space of the mobile phone holder is small, so it is impossible to design more inside.
  • the structure space is used to install PCBA and other structures.
  • clamping device 1 the handheld pan/tilt 3 and the movable device according to some embodiments of the present application will be described below with reference to FIGS. 1 to 14.
  • the clamping device 1 provided by the embodiment of the first aspect of the present application includes: a connecting seat 11, a cross-shaped clamping assembly 12, a rotating motor 13, and a detection device.
  • the cross-shaped clamping assembly 12 cooperates with the connecting seat 11 to define an installation space 127, which is suitable for moving relative to the connecting seat 11 to switch between the storage state and the working state, and is constructed in the working state Holding space.
  • the rotating motor 13 is installed in the installation space 127 and is connected to the clamping assembly 12 for driving the clamping assembly 12 to rotate to adjust the position of the clamping space.
  • the detection device is used to detect the position information of the clamping assembly 12.
  • the clamping device 1 provided by the embodiment of the first aspect of the present application detects the position information of the clamping assembly 12 by adding a detection device to obtain the absolute deflection angle of the clamping space relative to the reference plane, so that the clamping device 1 has The function of judging the posture of the holding object (such as the mobile phone 2), the user can accurately adjust the position of the holding assembly 12 through the rotating motor 13 and adjust the holding space to the required target position to meet the use angle requirements, thereby improving Improve the user experience.
  • a detection device to obtain the absolute deflection angle of the clamping space relative to the reference plane
  • the clamping device 1 includes a connecting seat 11, a clamping assembly 12, a rotating motor 13, and a detection device.
  • the connecting base 11 can be used to connect a pan-tilt or other structures, as shown in FIG. 13 or FIG. 14.
  • the clamping assembly 12 is in a cross shape (or X-shaped), and is put together in the storage state, as shown in Figure 1 and Figure 4, which is beneficial to reduce the volume and reduce the occupied space; in the working state, it is convenient to clamp
  • the size of the holding object is reasonably adjusted to the size of the opening angle, and then the size of the clamping space is adjusted, which is conducive to increasing the types of holding objects and expanding the scope of use of the product; and compared to using two springs to open up and down to clamp the mobile phone 2 and other clamps
  • the X-shaped holding assembly 12 rotates to make the holding arm extend in the vertical direction, as shown in Figure 1, Figure 4 and Figure 5, which can reduce the holding state of the holding device 1
  • the lower width makes it easy to store.
  • the rotating electric machine 13 is installed in the space enclosed by the connecting seat 11 and the clamping assembly 12, as shown in FIG. 6, which can prevent interference from the external environment and improve the reliability of use; and the rotating electric machine 13 can drive the clamping assembly 12 automatically Rotation does not require manual adjustment by the user, which improves the degree of automation of the product, and the rotation angle of the clamping assembly 12 can be controlled by controlling parameters such as the working time and rotation speed of the rotating motor 13, which is beneficial to achieve precise control.
  • the detection device can detect the position information of the clamping assembly 12, and then can obtain the absolute deflection angle of the clamping space relative to the reference plane, thereby obtaining the current posture of the clamping object, providing a reference basis for the user, and facilitating the user to adjust the clamping reasonably according to needs.
  • the position of the holding component 12 makes the holding object such as the mobile phone 2 in an ideal shooting angle or viewing angle or other posture required by the use requirements. In this way, the functions of the clamping device 1 are enriched, the user's use needs are met, and the use experience is significantly improved.
  • the detection device is also used to obtain the absolute deflection angle of the clamping space relative to the reference plane according to the position information.
  • the detection device not only has the function of detecting position information, but also can process the position information to obtain the absolute deflection angle of the clamping space relative to the reference surface, thus enriching the functions of the detection device and improving the integration of the detection device. It is helpful to simplify the program of the controller.
  • control board or other devices may also be used to obtain the absolute deflection angle of the clamping space relative to the reference plane according to the position information detected by the detection device.
  • the clamping device 1 further includes: a control board 15, as shown in FIGS. 2, 3, and 6.
  • the control board 15 is electrically connected to the rotating motor 13 and the detection device, and is used for controlling the action of the rotating motor 13 according to the absolute deflection angle, so that the rotating motor 13 drives the clamping assembly 12 to rotate.
  • the clamping device 1 also includes a control board 15.
  • the control board 15 can receive the detection result fed back by the detection device, and control the action of the rotating motor 13 according to the detection result, so that the clamping assembly 12 automatically rotates to the desired target position, which further improves The degree of automation of the product is further improved, and the grade of the product is further improved; and compared with the manual control of the action of the rotating motor 13, the control accuracy can be significantly improved.
  • the control board 15 controls the clamping assembly 12 to rotate 20° in the reverse direction to make the clamping space Return to the position determined by the reference plane, and return the holding object such as the mobile phone 2 to the desired designated position.
  • the detection device includes: an inertial measurement device (not shown in the figure) and a Hall detection device 141 (as shown in FIG. 6).
  • the inertial detection device is used to detect the posture information of at least a part of the clamping assembly 12; the Hall detection device 141 is used to detect the rotation angle displacement of at least a part of the connecting seat 11 of the clamping assembly 12; wherein the position information includes posture information and rotation angle Displacement, the detection device of the control board 15 confirms the absolute deflection angle of the clamping space relative to the reference plane based on the posture information and the rotation angle displacement.
  • the detection device includes an inertial measurement device (ie, IMU) and a Hall detection device 141.
  • the inertial measurement device can detect the posture information of at least a part of the clamping assembly 12, including but not limited to horizontal position information, height position information, etc., while the Hall detection device 141 can detect the rotational angular displacement of at least a part of the clamping assembly 12 ( Including the size of the rotation direction and the rotation angle), the detection device can obtain the absolute deflection angle of the clamping space relative to the reference plane through calculation according to the above-mentioned posture information and rotation angle displacement.
  • the rotating motor 13 drives the clamping assembly 12 to rotate, it can also be determined whether the clamping assembly 12 is rotated in position according to the detection result of the Hall detection device 141.
  • the rotating motor 13 can be rotated by 20° to reach the position, and the Hall detection device 141 can be used to determine whether the clamping assembly 12 is rotated by 20°.
  • the reference plane is a horizontal plane
  • the control board 15 controls the rotating motor 13 to move in reverse according to the absolute deflection angle to drive the clamping assembly 12 to reversely rotate the absolute deflection angle so that the clamping space is in a horizontal position.
  • the control board 15 controls the reverse movement of the rotating motor 13 according to the absolute deflection angle of the clamping space, so that the clamping assembly 12 is rotated by the same angle in reverse, so that the clamping space can be adjusted to a horizontal position, thereby ensuring that the mobile phone 2 and other clamping objects It can be in a horizontal position to meet the needs of users.
  • a vertical plane or other planes can also be selected as the reference plane, and the control board 15 can also control the rotation angle of the rotating motor 13 according to personal needs, so that the clamping space is at other desired designated positions.
  • the control board 15 controls the clamping assembly 12 to rotate 20° in the reverse direction to return the clamping space To a horizontal position, keep the holding objects such as mobile phone 2 level.
  • the clamping assembly 12 includes a fixed clamp 121 and a movable clamp 122, the movable clamp 122 is rotatably connected with the fixed clamp 121, and the movable clamp 122 and the fixed clamp 121 are switched to the working state when the movable clamp 122 and the fixed clamp 121 are rotated in opposite directions from the storage state by the same angle.
  • the fixing clip 121 is connected to the rotating motor 13.
  • the fixed clip 121 and the movable clip 122 are a linkage mechanism, and the Hall detection device 141 is used to detect the rotational angular displacement of the fixed clip 121 or the movable clip 122.
  • the clamping assembly 12 includes a fixed clamp 121 and a movable clamp 122.
  • the movable clamp 122 is rotatably connected with the fixed clamp 121 and rotates in the opposite direction to realize the opening or storage of the X-shaped clamping assembly 12.
  • the fixed clip 121 and the movable clip 122 are fixed relative to the mobile phone 2, and the rotating motor 13 drives the fixed clip 121 to rotate. Synchronously adjust the position of the clamping space, and synchronously drive the mobile phone 2 to rotate to the desired designated position.
  • the fixed clip 121 and the movable clip 122 are a linkage mechanism, that is, when the fixed clip 121 moves, the movable clip 122 is driven to move synchronously.
  • the deflection angles of the fixed clip 121 and the movable clip 122 relative to the center of the mobile phone 2 are symmetrical, so according to the rotational angular displacement of the fixed clip 121, the rotational angular displacement of the movable clip 122 can be obtained by calculation, or according to The rotational angular displacement of the movable clamp 122 can be calculated to obtain the rotational angular displacement of the fixed clamp 121.
  • Hall detection device 141 only one Hall detection device 141 can be provided with the linkage mechanism to detect the rotational angular displacement of one of the fixed clip 121 and the movable clip 122 to meet the requirement. Therefore, this solution is beneficial to reduce the number of Hall detection devices 141.
  • the angle between the fixed clip 121 and the horizontal plane is 60°
  • the angle between the movable clip 122 and the horizontal plane is 40°
  • the angle bisector between the two (perpendicular to the bottom edge of the mobile phone 2) and the vertical plane The included angle is 10°. Since the included angle between the bottom edge of the mobile phone 2 and the horizontal plane is the absolute deflection angle of the mobile phone 2 relative to the horizontal plane, the bisector of the two angles (perpendicular to the bottom edge of the mobile phone 2) and the vertical plane
  • the angle between the two is equal to the absolute deflection angle of the mobile phone 2 relative to the horizontal plane, and it can be concluded that the absolute deflection angle of the mobile phone 2 relative to the horizontal plane is 10°.
  • the fixed clip 121 and the movable clip 122 are non-linkage mechanisms, and the number of Hall detection devices 141 is two. As shown in FIG. 6, the two Hall detection devices 141 are used for detecting The rotational angular displacement of the fixed clip 121 and the movable clip 122.
  • the fixed clip 121 and the movable clip 122 are not a linkage mechanism, that is, the fixed clip 121 and the movable clip 122 each move under the action of driving force. At this time, two Hall detection devices 141 are set to detect the fixed clip 121 and the movable clip 122 respectively.
  • the rotation angle displacement can ensure the accuracy of the detection results and simplify the calculation procedure.
  • the clamping assembly 12 is provided with an accommodation space 128.
  • the control board 15 is located in the accommodation space 128 and is fixed on the fixing clip 121; the inertial measurement device is arranged on the control board 15 to detect the control board 15 and the posture information of the fixing clip 121, a part of the Hall detection device 141 is set on the control board 15, as shown in FIG.
  • the accommodating space 128 is provided in the clamping assembly 12, and the control board 15 is arranged in the accommodating space 128, so that the internal space of the clamping assembly 12 can be effectively used, and there is no need to provide additional structure and assembly space for installing the control board, which is beneficial to reduce
  • the small size of the clamping device 1 simplifies the structure of the clamping device 1 and reduces the cost of the clamping device 1.
  • Fixing the control board 15 on the fixing clip 121, the control board 15 and the fixing clip 121 keep moving synchronously, so the posture information of the fixing clip 121 can be obtained synchronously by detecting the posture information of the control board 15, so the inertial measurement device can be set
  • the posture information of the fixing clip 121 is detected on the control board 15.
  • a part of the Hall detection device 141 can also be set on the control board 15, so that the inertial measurement device and the gap between the Hall detection device 141 and the control board 15 can be shortened. The distance helps simplify the line connection.
  • the Hall detection device 141 includes a Hall magnet and a Hall element. As shown in FIG. 6, the Hall magnet and the Hall element of the Hall detecting device 141 for detecting the rotational angular displacement of the fixing clip 121 are respectively arranged on a surface of the rotating motor 13 and the control board 15; The Hall magnet and the Hall element of the Hall detecting device 141 for the rotational angular displacement of the clamp 122 are respectively arranged on the other surface of the movable clamp 122 and the control board 15.
  • the Hall detection device 141 includes a Hall magnet and a Hall element.
  • the Hall magnet and the Hall element are separately arranged on two parts. When the two parts rotate relative to each other, the magnetic field intensity detected by the Hall element will change. This can detect the rotational angular displacement. Since the fixed clip 121 moves synchronously with the control board 15 and rotates relative to the rotating motor 13, the Hall magnet and the Hall element of the Hall detecting device 141 that detects the rotational angular displacement of the fixed clip 121 can be installed in the rotating motor 13 respectively.
  • the Hall magnet of the Hall detection device 141 that detects the rotational angular displacement of the movable clamp 122 can be combined with
  • the Hall elements are respectively arranged on the movable clamp 122 and the control board 15.
  • the Hall elements of the two Hall detection devices 141 are located on the two board surfaces of the control board 15, as shown in FIG. 6, which can prevent mutual interference and ensure the reliability of each.
  • the Hall magnets and Hall elements of the Hall detection device 141 used to detect the fixed clip 121 are marked as the first Hall magnet 1411 and the first Hall element 1412, which are used to detect the movable clip 122
  • the Hall magnet and Hall element of the Hall detection device 141 are denoted as the second Hall magnet 1413 and the second Hall element 1414.
  • the number of Hall elements of one Hall detection device 141 is two. As shown in FIG. 3, there is a phase difference between the two Hall elements, so that the Hall detection device 141 can detect the rotation angle displacement.
  • the number of Hall elements can also be three, four or more.
  • phase difference between the two Hall elements of one Hall detection device 141 is 90°, as shown in FIG. 6.
  • phase difference between the two Hall elements is 90°, and the output waveforms of the two can be exactly a quarter of a sine wave, which is beneficial to simplify the calculation procedure.
  • the limit difference between the two Hall elements is not limited to 90°, but can also be 60°, 120°, and so on.
  • the end of the rotating shaft 131 of the rotating electric machine 13 away from the connecting seat 11 is provided with a pre-tightening nut 136.
  • the pre-tightening nut 136 is provided with a countersink 1361 (as shown in FIG. 3), which is arranged in The Hall magnet (ie, the first Hall magnet 1411) on the rotating electric machine 13 is fixed in the counter groove 1361, as shown in FIG. 6.
  • a pre-tightening nut 136 is provided on the end of the rotating shaft 131 of the rotating electric machine 13 away from the connecting seat 11, and a counter-sink 1361 is provided on the pre-tightening nut 136, and the Hall magnet is fixed in the counter-sink 1361.
  • the Hall magnet can be prevented from interfering with other structures, and the distance between the Hall magnet and the control board 15 can be reduced, and the detection accuracy and sensitivity can be improved.
  • Hall magnet and the pre-tightening nut 136 are adhesively fixed.
  • the Hall magnet and the pre-tightening nut 136 are glued and fixed, which can effectively prevent the Hall magnet from falling out of the sink groove 1361, improve the stability of the Hall magnet position, and further improve the reliability of the product.
  • the movable clamp 122 is provided with a limit slot 1226, as shown in FIG. 2, the Hall magnet provided on the movable clamp 122 is fixed in the limit slot 1226, as shown in FIG.
  • a countersink 1361 is provided on the movable clamp 122, and the Hall magnet on the movable clamp 122 is fixed in the limit groove 1226, which can play a good limiting and protective effect on the Hall magnet and prevent the Hall magnet from interacting with Interference with other structures.
  • the opening of the limiting slot 1226 faces away from the control board 15, as shown in FIG. 2.
  • the opening of the limit slot 1226 faces away from the control board 15, so there is no need to provide a structure for fixing the Hall magnet in the space between the fixed clip 121 and the movable clip 122, which is convenient for rationally arranging the position of the control board 15 and can also prevent this
  • the Er magnet falls into the space between the fixed clip 121 and the movable clip 122 during use, which improves the reliability of use and the layout is more reasonable.
  • clamping assembly 12 The structure of the clamping assembly 12 is described in detail below.
  • the clamping assembly 12 includes a fixed clamp 121 and a movable clamp 122.
  • the fixing clamp 121 cooperates with the connecting seat 11 to define an installation space 127;
  • the movable clamp 122 is rotatably connected with the fixing clamp 121, and is used to cooperate with the fixing clamp 121 to construct a clamping space.
  • the clamping assembly 12 includes a fixed clamp 121 and a movable clamp 122.
  • the fixed clamp 121 cooperates with the connecting base 11 to define an installation space 127 for installing the rotating electric machine 13 and is convenient for connecting the fixed clamp 121 and the rotating electric machine 13;
  • the fixed clip 121 is rotatably connected, and cooperates with the fixed clip 121 to form a clamping space to realize the clamping function of the device.
  • the fixing clip 121 includes a first base 1211 and two first clamping arms 1212 connected to the first base 1211, as shown in FIG. 2.
  • the movable clamp 122 includes a second base 1221 and two second clamp arms 1222 connected to the second base 1221, as shown in FIG. 2.
  • the first base 1211 cooperates with the connecting base 11 to define an installation space 127, as shown in FIG. 6, and is connected to the rotating electric machine 13.
  • the second base 1221 is rotatably connected with the first base 1211.
  • the two first clamping arms 1212 and the two second clamping arms 1222 are distributed across (as shown in FIGS. 7 to 12) to form a clamping space.
  • the fixed clamp 121 includes a first base 1211 and two first clamp arms 1212
  • the movable clamp 122 includes a second base 1221 and two second clamp arms 1222, a connecting seat 11, a first base 1211, a second base 1221 are arranged in sequence along the axial direction of the rotating electric machine 13, as shown in FIG.
  • the first base 1211 and the connection base 11 enclose an installation space 127
  • the rotating electric machine 13 is located in the installation space 127 and is connected to the first base 1211 and the connection base 11
  • the second base 1221 is located on the first base 1211
  • the other side is rotatably connected with the first base 1211 to realize the rotatably connection between the fixed clip 121 and the movable clip 122.
  • the two first clamping arms 1212 and the two second clamping arms 1222 are distributed across to form an X-shaped clamping assembly 12 for clamping the mobile phone 2 and other clamping objects, as shown in FIGS. 7 to 11.
  • the clamping assembly 12 further includes a torsion spring 123, as shown in FIGS. 2, 3, and 6.
  • the torsion spring 123 is sleeved between the first base 1211 and the second base 1221, and one torsion arm 1231 of the torsion spring 123 is limited on the first base 1211, and the other torsion arm 1231 of the torsion spring 123 is limited on the first base 1211.
  • the second base 1221 is used to drive the fixed clip 121 and the movable clip 122 to reset.
  • a torsion spring 123 is fitted between the first base 1211 and the second base 1221, and one torsion arm 1231 of the torsion spring 123 is limited on the first base 1211, and the other torsion arm 1231 of the torsion spring 123 is limited on the On the second base 1221, when relative rotation occurs between the first base 1211 and the second base 1221, the torsion spring 123 elastically deforms and stores the elastic potential energy, which can provide clamping when the clamping assembly 12 is in working condition. Tightening force to maintain the stability of holding objects such as mobile phone 2. When the holding object such as the mobile phone 2 is taken out, the torsion spring 123 can release the elastic potential energy to be reset and deform, thereby driving the fixed clip 121 and the movable clip 122 to automatically reset.
  • the clamping assembly 12 further includes a friction ring 124, which is sleeved between the first base 1211 and the second base 1221, as shown in FIG. 6, And the friction ring 124 is made of self-lubricating material.
  • a friction ring 124 is fitted between the first base 1211 and the second base 1221. Since the friction ring 124 is made of self-lubricating material, it has good lubricating performance, so the relative rotation process of the fixed clip 121 and the movable clip 122 can be reduced The frictional force in the medium improves the smoothness of the relative rotation of the fixed clip 121 and the movable clip 122, improves the user's comfort, and helps to reduce the friction and wear of the clamping assembly 12 and prolong the service life of the clamping assembly 12.
  • the first base 1211 includes a first substrate 1213 and an annular boss 1214 connected to the first substrate 1213.
  • the annular boss 1214 is located inside the outer periphery of the first substrate 1213
  • the friction ring 124 is sleeved on the outer side of the annular boss 1214 and is in contact with the first substrate 1213.
  • the torsion spring 123 is sleeved on the annular boss 1214 and is located between the annular boss 1214 and the friction ring 124;
  • the second base 1221 includes a second substrate 1223 and an annular cover edge 1224 connected to the outer periphery of the second substrate 1223.
  • the annular cover edge 1224 is sleeved on the outside of the friction ring 124 and contacts the friction ring 124, as shown in FIG. 6 .
  • the first base 1211 includes a first base 1213 and an annular boss 1214.
  • the second base 1221 includes a second base 1223 and an annular cover 1224.
  • the first base 1213 and the second base 1223 are arranged opposite to each other in the axial direction, as shown in FIG. 6
  • the annular boss 1214, the torsion spring 123, the friction ring 124, and the annular cover are arranged radially from the inside to the outside along the 1224, and are restricted by the annular boss 1214 and the annular cover edge 1224, the torsion spring 123 and the friction ring 124
  • the position is relatively stable, and it is not easy to shift.
  • the friction ring 124 includes an inner ring 1241 and an outer ring 1242 connected to the outer side wall of the inner ring 1241 (as shown in FIG. 3).
  • the axial height of the inner ring 1241 is greater than the axial height of the outer ring 1242, so that the friction ring
  • the cross section of 124 is L-shaped. As shown in FIG. 6, the end surface of the inner ring 1241 is in contact with the second substrate 1223.
  • the friction ring 124 includes an inner ring 1241 and an outer ring 1242.
  • the axial height of the inner ring 1241 is greater than the axial height of the outer ring 1242, so that the cross section of the friction ring 124 is L-shaped, that is, a stepped ring structure is formed, which increases the friction ring
  • the contact area between 124 and the clamping assembly 12, and the axial ends of the friction ring 124 are respectively abutted against the first base plate 1213 and the second base plate 1223, which provides a certain axial support for the clamping assembly 12, which is beneficial to Further weaken the friction and wear between the fixed clip 121 and the movable clip 122, and further improve the user's comfort and the service life of the product.
  • a gap is provided between the annular boss 1214 and the second substrate 1223 to avoid contact between the annular boss 1214 and the second substrate 1223, reduce the contact area between the fixed clip 121 and the movable clip 122, and further reduce the distance between the two The friction force further reduces friction and wear.
  • the second substrate 1223 is partially thickened to form a thickened portion 1225, and the thickened portion 1225 is provided with a limiting groove 1226 for installing a Hall magnet.
  • the second base plate 1223 is locally thickened to form a thickened portion 1225, and a limit slot 1226 is provided in the thickened portion 1225 to provide assembly space for the Hall magnet that detects the rotational angular displacement of the movable clamp 122, and the movement is ensured through the partial thickening.
  • the part of the clamp 122 where the Hall magnet is installed has relatively high strength to ensure the reliability of the product.
  • the first base 1211 further includes a connecting cover 1215 and a connecting ring 1216 connected to the bottom wall of the connecting cover 1215.
  • the open end of the connecting cover 1215 and the first substrate 1213 are away from the ring boss 1214.
  • the plates are connected, and the bottom wall of the connecting cover 1215 is provided with a through hole 1219 communicating with the connecting ring 1216;
  • the connecting seat 11 is provided with an end cover 111, which is sleeved on the outside of the connecting ring 1216, as shown in Figure 6,
  • the installation space 127 includes the space between the end cover 111 and the connecting ring 1216, the internal space of the connecting ring 1216 and a part of the space enclosed by the connecting cover 1215.
  • the first base 1211 also includes a connecting cover 1215 and a connecting ring 1216.
  • the connecting cover 1215 and the connecting ring 1216 are separated from the second base 1221 on both sides of the first substrate 1213.
  • the opening end of the connecting cover 1215 faces the first substrate 1213 and is connected
  • the bottom wall of the cover 1215 is provided with a through hole 1219, and the through hole 1219 is connected with the connecting ring 1216.
  • the end cover 111 of the connecting seat 11 is sleeved on the outside of the connecting ring 1216, and the radial size is equivalent to the radial size of the connecting cover 1215, so that the middle of the clamping device 1 roughly forms a cylindrical structure.
  • the space between the end cover 111 and the connecting ring 1216, the space inside the connecting ring 1216, and the part of the space of the connecting cover 1215 close to the connecting ring 1216 constitute the installation space 127 of the rotating electric machine 13, which makes full use of the clamping assembly 12
  • the internal space is conducive to reducing the size of the clamping device 1.
  • the end cover 111 of the connecting seat 11 is also connected with a connecting arm, and the connecting arm can be used to connect a pan-tilt or other structures, as shown in FIGS. 13 and 14.
  • the internal space of the annular boss 1214 and a part of the space enclosed by the connecting cover 1215 form an accommodating space 128 for accommodating the control board 15, as shown in FIG. 6;
  • the connecting cover 1215 is provided with a connecting column 1217 (as shown in FIG. 3), the control board 15 is fixedly connected to the connecting column 1217 by a fastener 16.
  • the inner space of the annular boss 1214 and the part of the space of the connecting cover 1215 close to the first base plate 1213 are used to install the control board 15.
  • the control board 15 is located in the fixed clamp 121, and the two board faces respectively face the movable clamp 122 and the rotating motor 13. It not only makes full use of the internal space of the clamping assembly 12, but also facilitates the line connection between the control board 15 and the rotating motor 13, and is beneficial to connect the first Hall element 1412 and the second Hall element 1412 of the two Hall detection devices 141.
  • the Hall elements 1414 are respectively installed on the two board surfaces of the control board 15, as shown in FIG. 6, with the second Hall magnet 1413 installed on the movable clamp 122 and the first Hall magnet installed on the rotating motor 13 1411 reliable cooperation.
  • the fastener 16 passes through the fixing hole 151 (as shown in FIG. 3) on the control board 15 and is fixedly connected to the connecting column 1217, so that the control board 15 is fixedly connected with the fixing clip 121, and the reliable fixing of the control board 15 is ensured.
  • the number of the connecting posts 1217 is two, and the two connecting posts 1217 are arranged symmetrically, as shown in FIG. 3, which is beneficial to balance the forces on the control board 15 and prevents the control board 15 from lifting up, thereby improving stability and reliability.
  • the number of connecting posts 1217 can also be one, three or more.
  • the clamping assembly 12 further includes a fixed cover 125, as shown in FIGS. 1, 2 and 6.
  • the fixed cover 125 is arranged on the second base 1221, as shown in FIG. 6, and is fixedly connected with the first base 1211, and the second base 1221 is sandwiched between the fixed cover 125 and the first base 1211 .
  • the clamping assembly 12 further includes a fixed cover 125, which is arranged on the second base 1221, and the second base 1221 is sandwiched between the fixed cover 125 and the first base 1211, then the fixed cover 125 and The first base 1211 is fixedly connected, which realizes the relative fixation of the fixed cover 125, the second base 1221, and the third base, and can prevent the internal structure of the clamping assembly 12 (such as Hall magnets, screws, etc.) from being exposed. Scratching with the mobile phone 2 and other holding objects ensures the integrity and aesthetics of the appearance of the holding device 1.
  • one of the first base 1211 and the fixed cover 125 is provided with a connecting post 1217 (as shown in FIG. 3), and the other is provided with a connecting hole 1251 (as shown in FIG. 2), and the fastener 16 passes through
  • the connecting hole 1251 is fixedly connected to the connecting post 1217 so that the fixed cover 125 is fixedly connected to the first base 1211.
  • Fasteners 16 such as screws are used to connect the fixed cover 125 with the first base 1211, which has high connection strength and reliable fixing.
  • the connecting column 1217 can be arranged on the first base 1211, and the connecting hole 1251 can be arranged on the fixed cover 125, as shown in FIG. 2; the positions of the connecting column 1217 and the connecting hole 1251 can also be exchanged, and the connecting column 1217 Set on the fixed cover 125, and set the connecting hole 1251 on the first base 1211.
  • connecting post 1217 passes through the second base 1221, and the second base 1221 is provided with an escape hole 1227 for avoiding the connecting post 1217 (as shown in FIG. 2).
  • An escape hole 1227 is provided on the second base 1221, and the connecting post 1217 passes through the second base 1221, which can effectively prevent the second base 1221 from falling out, thereby improving the stability and reliability of the movable clamp 122.
  • the avoiding hole 1227 has a circular arc shape, as shown in FIG. 2.
  • the arc-shaped escape hole 1227 is used to ensure that the connecting column 1217 can rotate along the escape hole 1227 during the rotation of the connecting column 1217 relative to the second base 1221.
  • the relative rotation range between the fixed clip 121 and the movable clip 122 can also be limited, and excessive rotation can be prevented.
  • the avoiding hole 1227 can also adopt other shapes, such as a square shape, an oval shape, etc., as long as it can avoid the connecting column 1217 and ensure the normal use of the clamping assembly 12.
  • the number of connecting posts 1217 is two, and the two connecting posts 1217 are symmetrically distributed, as shown in FIG. 3; the number of avoiding holes 1227 is two, and the two avoiding holes 1227 are symmetrically distributed, as shown in picture 2.
  • the use of two symmetrically distributed connecting posts 1217 is beneficial to balance the force between the fixed cover 125 and the first base 1211 and improves assembly stability.
  • Two symmetrically distributed avoiding holes 1227 are correspondingly provided to avoid the two connecting posts 1217.
  • two connecting posts 1217 connecting the fixing cover 125 and the first base 1211 are provided on the first base 1211, and the two connecting posts 1217 of the control board 15 are fixed. It is also arranged on the first base 1211 and is arranged opposite to the other two connecting pillars 1217.
  • the four connecting pillars 1217 are evenly distributed along the circumference of the first substrate 1213. The layout is reasonable, which can prevent mutual interference and facilitate assembly.
  • At least one lug 1252 is provided on the fixed cover 125, and a positioning groove 1218 (as shown in FIG. 2) is provided at the connecting portion of the first clamp arm 1212 and the first base 1211. 1252 rotates into or rotates out of the positioning slot 1218.
  • At least one lug 1252 is provided on the fixed cover 125, and a positioning groove 1218 is correspondingly provided at the connection part of the first clamp arm 1212 and the first base 1211.
  • the fixed cover 125 is placed on the second base 1221 during assembly, and Rotate the fixed cover 125 to make the lug 1252 rotate into the positioning groove 1218, and the cooperation of the lug 1252 and the positioning groove 1218 can play a good positioning function, so that the fixed cover 125, the movable clamp 122 and the fixed clamp 121 remain relatively stable. It prevents misalignment and shaking during the installation of the fastener 16, thereby improving assembly efficiency.
  • the number of lugs 1252 is two, and the two lugs 1252 are rotationally symmetrical along the circumferential direction of the fixed cover 125.
  • the clamping device 1 further includes a friction pad 126, which is fixed on the surface of the fixing cover 125 away from the second base 1221, as shown in FIG. 6.
  • a friction pad 126 is provided on the surface of the fixed cover 125 away from the second base 1221, which can improve the gap between the mobile phone 2 and other clamping objects and the clamping device 1.
  • the friction force prevents the clamping object from slipping off, and improves the clamping stability of the clamping device 1 to the mobile phone 2 and other clamping objects.
  • the friction pad 126 is a silica gel pad, a rubber pad, a cotton pad or the like.
  • the rotating electric machine 13 includes a stator, a rotor, and a rotating shaft 131.
  • the rotor is sleeved on the outside of the rotating shaft 131 and is fixedly connected to the clamping assembly 12.
  • the stator is sleeved on the outer side of the rotor and is fixedly connected to the connecting seat 11.
  • the rotating electric machine 13 includes a stator, a rotor, and a rotating shaft 131.
  • the rotor is sleeved on the outside of the rotating shaft 131 and is fixedly connected to the clamping assembly 12 for driving the clamping assembly 12 to rotate relative to the connecting seat 11.
  • the stator is sleeved on the outside of the rotor and connected to The base 11 is fixedly connected to realize the connection function of the rotating electric machine 13 and the connecting base 11.
  • the clamping assembly 12 is provided with a connecting ring 1216, and the rotor is sleeved on the outside of the connecting ring 1216 and fixedly connected with the connecting ring 1216, as shown in FIG. 6.
  • One end of the rotating shaft 131 is fixedly connected to the connecting seat 11, and the other end penetrates the connecting ring 1216, and is rotatably connected to the connecting ring 1216 through a bearing 135, as shown in FIG. 6.
  • the clamping assembly 12 is provided with a connecting ring 1216, that is, the part where the fixing clip 121 is inserted into the end cover 111.
  • the rotor is sleeved on the outside of the connecting ring 1216 and is fixedly connected with the connecting ring 1216 to ensure that the rotor can drive the clamping assembly 12 to rotate
  • One end of the rotating shaft 131 is fixedly connected to the connecting seat 11 (specifically the end cover 111), the other end is inserted into the fixing clip 121 through the connecting ring 1216, and is rotatably connected to the connecting ring 1216 through the bearing 135, ensuring that the rotor drives the fixing clip 121 When rotating, the fixing clip 121 and the rotating shaft 131 can rotate relatively.
  • the number of bearings 135 is two, and the two bearings 135 are arranged at intervals along the length direction of the rotating shaft 131, as shown in FIG. 6.
  • rotating shaft 131 and the connecting seat 11 are an integral structure.
  • the rotating shaft 131 and the connecting seat 11 are integrally formed, which can improve the reliability of the connection between the rotating shaft 131 and the connecting seat 11 (specifically, the end cover 111), and is beneficial to improve assembly efficiency and reduce production costs.
  • the rotor includes a motor coil 132
  • the stator includes a motor magnet 133 sleeved on the outside of the motor coil 132 and a motor yoke 134 sleeved on the outside of the magnet; the stator and the connecting base 11 are adhesively fixed.
  • the rotor includes a motor coil 132
  • the stator includes a motor magnet 133 and a motor yoke 134.
  • the motor coil 132, the motor magnet 133, and the motor yoke 134 are arranged from the inside to the outside in sequence.
  • a rotating magnetic field is generated, which is connected to the motor of the stator.
  • the magnets 133 interact with each other to generate a rotating force and rotate relative to the stator, thereby driving the clamping assembly 12 to rotate.
  • the stator and the connecting base 11 are bonded and fixed, the fixing is reliable and the process is simple.
  • the following takes the clamping device 1 for clamping the mobile phone 2 as an example to introduce a specific example and its working principle.
  • a mobile phone 2 clip including: a silicone pad; a mobile phone 2 clip upper cover (ie, a fixed cover 125); a mobile phone 2 clip Hall magnet (ie a second Hall magnet 1413); a mobile phone 2 clip movable clip 122; a torsion spring 123; Friction ring 124; mobile phone 2 clamp fixing clip 121; control board 15; IMU (ie inertial measurement module); mobile phone 2 clip Hall element (ie second Hall element 1414); R motor Hall element (ie first Hall Element 1412); R motor Hall magnet (ie first Hall magnet 1411); pre-tightening nut 136; bearing 135; coil (ie motor coil 132); R motor magnet 133; R motor yoke 134; shaft arm 112 ( That is, the connecting seat 11); as shown in Figure 2.
  • IMU ie inertial measurement module
  • mobile phone 2 clip Hall element ie second Hall element 1414
  • R motor Hall element ie first Hall Element 1412
  • R motor Hall magnet ie
  • R motor Hall magnet, pre-tightening nut 136, R motor magnet 133, R motor yoke 134, and shaft arm 112 are glued together as the fixed end of the R shaft;
  • the control board 15 and the bearing 135 are fixed on the mobile phone 2 clamp fixing clip 121 as the rotating end of the R-axis and at the same time as the fixed end of the mobile phone 2 clamp.
  • the friction ring 124 is installed as a friction member between the mobile phone 2 clip movable clip 122 and the mobile phone 2 clip fixing clip 121.
  • One end of the torsion spring 123 is installed on the mobile phone 2 clip fixing clip 121, and the other end is installed on the mobile phone 2 clip 122. The clamping force of the clamp when clamping the mobile phone 2.
  • the mobile phone 2 clamp Hall magnet is fixedly installed on the mobile phone 2 clamp movable clamp 122, and the mobile phone 2 clamp movable clamp 122 is placed on the mobile phone 2 clamp fixing clamp 121, and can rotate relative to the mobile phone 2 clamp fixing clamp 121.
  • the upper cover of the mobile phone 2 is fixedly installed on the fixing clip 121 of the mobile phone 2 clamp, wherein the silicone pad is installed on the upper cover of the mobile phone 2 to provide friction for the mobile phone 2 to move when the mobile phone 2 is clamped.
  • the torsion spring 123 is used to provide a clamping force for clamping the mobile phone 2.
  • the mobile phone 2 pan/tilt needs to determine the angle state of the most terminal mobile phone 2.
  • the mobile phone 2 clamps movable clamp 122 is fixedly installed with the mobile phone 2 clamp Hall magnet
  • the mobile phone 2 clamps fixing clamp 121 is fixedly installed with the control board 15 and the control board
  • An IMU is placed on top of 15, which can detect the posture of the mobile phone 2 clamp 121 and the control board 15.
  • the upper surface of the control board 15 is equipped with two 90° mobile phone 2 clamp Hall elements, and the mobile phone 2 clamps the movable clamp During the rotation of 122, the rotation angle of the mobile phone 2 clamped by the movable clamp 122 can be determined by detecting the magnetic field strength of the mobile phone 2 clamped by the Hall magnet.
  • the absolute positions of the mobile phone 2 clamping movable clip 122 and the mobile phone 2 fixing fixing clip 121 can be obtained by the mobile phone 2 clamping the Hall magnet and the IMU on the control board 15 respectively.
  • the deflection angles of the mobile phone 2 clamp 122 and the mobile phone 2 fixed clip 121 relative to the center of the mobile phone 2 are symmetrical.
  • the absolute deflection angle of the mobile phone 2 is controlled by the R motor hall magnet and the R motor hall element to control the rotation of the R motor to adjust the deflection angle of the mobile phone 2 so that the mobile phone 2 is located at a desired designated position.
  • the mobile phone 2 clip 122 and the mobile phone 2 clip fixing clip 121 are used as the linkage mechanism.
  • the mobile phone 2 clip 122 rotates to a certain angle
  • the mobile phone 2 clip fixing clip 121 rotates through the same Therefore, without the mobile phone 2 clamping the Hall magnet, the absolute deflection angle of the clamping mobile phone 2 at this time can be calculated by only the IMU on the control board 15.
  • the clamping device 1 with a rotating motor provided by the present application can make the most effective use of the internal space of the clamping device 1, and at the same time, the overall width of the appearance can be minimized without clamping the mobile phone 2 and other clamping objects. , And the horizontal position of mobile phone 2 can also be judged at the same time.
  • the handheld pan/tilt head 3 provided by the embodiment of the second aspect of the present application includes a handle, a first shaft assembly 31, a second shaft assembly 32, a third shaft assembly, and a clamping device.
  • the clamping device, the third rotating electric machine of the third shaft assembly and the connecting seat form the clamping device 1 as in the first aspect of the present application. Therefore, the embodiments of the second aspect of the present application also have the beneficial effects of the embodiments of the first aspect of the present application.
  • the first shaft assembly 31 includes a first rotating electric machine.
  • the second shaft assembly 32 includes a second rotating electric machine.
  • the third shaft assembly includes a third rotating electric machine (that is, the rotating electric machine 13 in the embodiment of the first aspect) and a connecting seat 11.
  • the clamping device 1 includes a cross-shaped clamping assembly 12 and a clamping device 1.
  • the cross-shaped clamping assembly 12 cooperates with the connecting seat 11 to enclose an installation space 127, which is suitable for moving relative to the connecting seat 11 to switch between the storage state and the working state, and the clamping space is constructed in the working state .
  • the third rotating motor is installed in the installation space 127 and connected to the clamping assembly 12 for driving the clamping assembly 12 to rotate to adjust the position of the clamping space.
  • the detection device is used to detect the position information of the clamping assembly 12, and obtain the absolute deflection angle of the clamping space relative to the reference plane according to the position information.
  • the clamping device 1 detects the position information of the clamping assembly 12 by adding a detection device to obtain the absolute deflection angle of the clamping space relative to the reference plane, so that the clamping
  • the holding device 1 has the function of judging the posture of the holding object (such as the mobile phone 2), and the user can accurately adjust the position of the holding assembly 12 through the rotating motor according to this, and adjust the holding space to the desired target position to meet the use angle requirements , Thereby improving the user experience.
  • the handle is connected to the first shaft assembly 31 for the user to hold.
  • the first shaft assembly 31 includes a first rotating motor, which can drive the second shaft assembly 32 and the third shaft assembly to rotate horizontally.
  • the second shaft assembly 32 is connected to the first shaft assembly 31 and includes a second rotating motor capable of driving the third shaft assembly to pitch and rotate.
  • the third shaft assembly is connected to the second shaft assembly 32 and includes a third rotating motor that can drive the clamping assembly 12 to rotate in the vertical direction (rotation in the roll direction), so that the three rotating motors of the handheld pan/tilt can be used for the mobile phone 2.
  • the position of the holding object is adjusted in three dimensions, and the holding object such as the mobile phone 2 is adjusted to the desired position.
  • the clamping device 1 includes a clamping assembly 12 and a detection device. Wherein, the connecting base 11 can be used to connect a pan-tilt or other structures, as shown in FIG. 13 or FIG. 14.
  • the clamping assembly 12 is in a cross shape (or X-shaped), and is put together in the storage state, as shown in Figure 1 and Figure 4, which is beneficial to reduce the volume and reduce the occupied space; in the working state, it is convenient to clamp
  • the size of the holding object is reasonably adjusted to the size of the opening angle, and then the size of the clamping space is adjusted, which is conducive to increasing the types of holding objects and expanding the scope of use of the product; and compared to using two springs to open up and down to clamp the mobile phone 2 and other clamps
  • the X-shaped holding assembly 12 rotates to make the holding arm extend in the vertical direction, as shown in Figure 1, Figure 4 and Figure 5, which can reduce the holding state of the holding device 1
  • the lower width makes it easy to store.
  • the movable device (not shown in the figure) provided by the embodiment of the third aspect of the present application includes a main body and a pan-tilt connected to the main body.
  • the pan/tilt head includes a first shaft assembly 31, a second shaft assembly 32, and a third shaft assembly.
  • the third shaft assembly includes the clamping device 1 shown in the embodiment of the first aspect of the present application. Since the movable device of the third aspect of the present application includes the clamping device 1, it also includes the beneficial effects of the clamping device 1 of the first aspect.
  • the movable device is a drone or a mobile car.

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Abstract

一种夹持装置(1)、手持云台及可移动装置，其中，夹持装置(1)包括：连接座(11)；交叉形的夹持组件(12)，与连接座(11)相配合围设出安装空间(127)，适于相对连接座(11)运动以在收纳状态与工作状态之间切换，并在处于工作状态的情况下构造出夹持空间；旋转电机(13)，安装在安装空间(127)内，并与夹持组件(12)相连，用于驱动夹持组件(12)转动，以调整夹持空间的位置；检测装置，用于检测夹持组件(12)的位置信息。

Description

夹持装置、手持云台及可移动装置 技术领域
本申请涉及摄影设备配件技术领域，具体而言，涉及一种夹持装置、手持云台及可移动装置。
背景技术
手持云台又称为手持稳定器，用于为拍摄设备增稳，因此手持云台一般都具有固定拍摄设备的装置。但目前大多数手持云台上的固定拍摄设备的装置均为对侧夹持装置，即采用两个相对的夹持机构通过拉伸弹簧连接固定以夹持固定拍摄设备。而这种对侧夹持装置由于内部结构空间有限，无法在保证体积足够小巧的同时还能够放置PCBA(Printed Circuit Board+Assembly)，因此传统的夹持装置只具有简单的夹持功能，而无法准确定位手机姿态，导致手机存在倾斜或者其他不符合用户使用要求的情况，影响拍摄角度、观看角度或者用户的其他使用要求，降低了用户的使用体验。
申请内容
有鉴于此，有必要提供一种能解决上述技术问题至少之一的夹持装置、手持云台及可移动装置。
一种夹持装置，包括：连接座；交叉形的夹持组件，与所述连接座相配合围设出安装空间，适于相对所述连接座运动以在收纳状态与工作状态之间切换，并在处于所述工作状态的情况下构造出夹持空间；旋转电机，安装在所述安装空间内，并与所述夹持组件相连，用于驱动所述夹持组件转动，以调整所述夹持空间的位置；检测装置，用于检测所述夹持组件的位置信息。
一种手持云台，包括：手柄；第一轴组件，包括第一旋转电机；第二轴组件，包括第二旋转电机；第三轴组件，包括第三旋转电机和连接座；以及夹持 装置，所述夹持装置包括：交叉形的夹持组件，与所述连接座相配合围设出安装空间，适于相对所述连接座运动以在收纳状态与工作状态之间切换，并在处于所述工作状态的情况下构造出夹持空间；检测装置，用于检测所述夹持组件的位置信息；其中，所述第三旋转电机安装在所述安装空间内，并与所述夹持组件相连，用于驱动所述夹持组件转动，以调整所述夹持空间的位置。
一种可移动装置，包括主体以及与所述主体相连的云台，所述云台包括：第一轴组件，包括第一旋转电机；第二轴组件，包括第二旋转电机；第三轴组件，包括第三旋转电机和连接座；以及夹持装置，所述夹持装置包括：交叉形的夹持组件，与所述连接座相配合围设出安装空间，适于相对所述连接座运动以在收纳状态与工作状态之间切换，并在处于所述工作状态的情况下构造出夹持空间；检测装置，用于检测所述夹持组件的位置信息；其中，所述第三旋转电机安装在所述安装空间内，并与所述夹持组件相连，用于驱动所述夹持组件转动，以调整所述夹持空间的位置。
与现有技术相比，本申请具有以下有益的技术效果：通过增设检测装置来检测夹持组件的位置信息，进而得到夹持空间相对于基准面的绝对偏转角度，使得夹持装置具有判断夹持物(如手机)姿态的功能，则用户可以据此通过旋转电机准确调整夹持组件的位置，将夹持空间调整至所需的目标位置，以满足使用角度需求，从而提高了用户的使用体验。在满足检测夹持物姿态的同时还进一步缩小了夹持装置的体积，对夹持装置的结构进行了进一步优化。
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。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是本申请一些实施例所述的夹持装置的立体结构示意图；
图2是图1所示夹持装置的分解结构示意图；
图3是图2中A部的放大结构示意图；
图4是图1所示夹持装置的主视结构示意图；
图5是图1所示夹持装置的右视结构示意图；
图6是图1所示夹持装置的剖视结构示意图；
图7是图1所示夹持装置夹持手机的示意图；
图8是图7所示结构的主视示意图；
图9是图1所示结构另一个视角的立体结构示意图；
图10是图1所示结构的右视示意图；
图11是图1所示结构的仰视示意图；
图12是图1所示结构的分解结构示意图；
图13是本申请一些实施例所述的手持云台的一个视角的立体结构示意图；
图14是图13所示手持云台另一个视角的立体结构示意图。
其中，图1至图14中的附图标记与部件名称之间的对应关系为：
1夹持装置，11连接座，111端盖，112轴臂，12夹持组件，121固定夹，1211第一基座，1212第一夹臂，1213第一基板，1214环形凸台，1215连接盖，1216连接环，1217连接柱，1218定位槽，1219通孔，122活动夹，1221第二基座，1222第二夹臂，1223第二基板，1224环形盖沿，1225加厚部，1226限位槽，1227避让孔，123扭簧，1231扭臂，124摩擦环，1241内环，1242外环，125固定盖，1251连接孔，1252凸耳，126摩擦垫，127安装空间，128容纳空间，13旋转电机，131转轴，132电机线圈，133电机磁铁，134电机磁轭，135轴承，136预紧螺母，1361沉槽，141霍尔检测装置，1411第一霍尔磁铁，1412第一霍尔元件，1413第二霍尔磁铁，1414第二霍尔元件，15控制板，151固定孔，16紧固件，2手机，3手持云台，31第一轴组件，32第二轴组件。
具体实施方式
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。
随着社会的发展，手机夹在人们生活中的使用越来越广泛。常规手机夹一般使用场景为手持云台或三角架等需要固定手机的场合，基本结构为两个手机夹通过弹簧连接固定在底座上，使手机夹可以收缩以起到夹紧手机的作用。而作为手机云台上的手机夹，常需要将手机夹与R轴(横滚轴)的转动电机结合到一起使用。常规带转动电机的手机夹产品一般是将手机夹和电机作为两部分各自实现功能，手机夹常采用弹簧拉伸机构，实现对手机的夹持，而电机放置在手机夹后端。这样手机夹在安装手机前后的整体宽度没有明显变化，为了保证手机夹持的稳定性，其宽度一般不小于30mm，因而相对外观体积较宽；且手机夹内部空间小，无法在内部设计更多的结构空间用于安装PCBA等结构。
为了克服上述缺陷至少之一，提出本申请。
下面参照图1至图14描述根据本申请一些实施例的夹持装置1、手持云台3以及可移动装置。
首先介绍本申请第一方面的实施例。
如图1和图2所示，本申请第一方面的实施例提供的夹持装置1，包括：连接座11、交叉形的夹持组件12、旋转电机13和检测装置。
具体地，交叉形的夹持组件12与连接座11相配合围设出安装空间127，适于相对连接座11运动以在收纳状态与工作状态之间切换，并在处于工作状态的情况下构造出夹持空间。旋转电机13安装在安装空间127内，并与夹持组件12相连，用于驱动夹持组件12转动，以调整夹持空间的位置。检测装置用于检测夹持组件12的位置信息。
本申请第一方面的实施例提供的夹持装置1，通过增设检测装置来检测夹持组件12的位置信息，进而可以得到夹持空间相对于基准面的绝对偏转角度，使得夹持装置1具有判断夹持物(如手机2)姿态的功能，则用户可以据此通过旋转电机13准确调整夹持组件12的位置，将夹持空间调整至所需的目标位置，以满足使用角度需求，从而提高了用户的使用体验。
具体而言，夹持装置1包括连接座11、夹持组件12、旋转电机13和检测 装置。其中，连接座11可以用于连接云台或者其他结构，如图13或图14所示。夹持组件12呈交叉形(或者叫X形)，在收纳状态下并拢在一起，如图1和图4所示，有利于减小体积，减小占用的空间；在工作状态下便于根据夹持物的尺寸合理调整张开角度的大小，进而调整夹持空间的大小，有利于增加夹持物的种类，扩大产品的使用范围；且相较于利用两个弹簧上下张开夹持手机2等夹持物的夹持装置1而言，X形的夹持组件12通过旋转使夹臂沿竖直方向延伸，如图1、图4和图5所示，这样可以减小夹持装置1在收纳状态下的宽度，便于收纳。
旋转电机13安装在连接座11与夹持组件12围设出的空间内，如图6所示，可以防止受到外界环境的干扰，提高使用可靠性；且旋转电机13能够驱动夹持组件12自动转动，无需用户手动调节，提高了产品的自动化程度，且通过控制旋转电机13的工作时间、转速等参数即可控制夹持组件12的旋转角度，有利于实现精确控制。
检测装置能够检测夹持组件12的位置信息，进而可以得到夹持空间相对于基准面的绝对偏转角度，由此可以得到夹持物的当前姿态，为用户提供参考依据，便于用户根据需要合理调整夹持组件12的位置，使手机2等夹持物处在理想的拍摄角度或观看角度或者其他使用需求所需要的姿态。如此，夹持装置1的功能得到丰富，用户的使用需求得到满足，使用体验也显著提升。
其中，检测装置还用于根据位置信息获取夹持空间相对于基准面的绝对偏转角度。这样，检测装置既具有检测位置信息的功能，还可以对位置信息进行处理以获取夹持空间相对于基准面的绝对偏转角度，因而丰富了检测装置的功能，提高了检测装置的集成性，有利于简化控制器的程序。
当然，也可以由控制板或者其他装置来根据检测装置检测到的位置信息来获取夹持空间相对于基准面的绝对偏转角度。
进一步地，夹持装置1还包括：控制板15，如图2、图3和图6所示。控制板15与旋转电机13及检测装置电连接，用于根据绝对偏转角度控制旋转电机13动作，使旋转电机13驱动夹持组件12转动。
夹持装置1还包括控制板15，控制板15能够接收检测装置反馈的检测结果，并根据检测结果来控制旋转电机13动作，使夹持组件12自动旋转至所需 的目标位置，这进一步提高了产品的自动化程度，进一步提高了产品的档次；且相较于手动控制旋转电机13动作，可显著提高控制精度。
比如：检测装置检测到夹持空间相对于基准面沿第一方向(记为正向旋转)偏转了20°，则控制板15控制夹持组件12反向旋转20°，即可使夹持空间回归至由基准面确定的位置，使手机2等夹持物回归至期望的指定位置。
具体地，检测装置包括：惯性测量装置(图中未示出)和霍尔检测装置141(如图6所示)。惯性检测装置用于检测夹持组件12的至少一部分的姿态信息；霍尔检测装置141用于检测夹持组件12的至少一部分连接座11的旋转角位移；其中，位置信息包括姿态信息和旋转角位移，控制板15检测装置根据姿态信息以及旋转角位移确认夹持空间相对于基准面的绝对偏转角度。
检测装置包括惯性测量装置(即IMU)和霍尔检测装置141。惯性测量装置能够检测夹持组件12的至少一部分的姿态信息，包括但不局限于水平位置信息、高度位置信息等，而霍尔检测装置141能够检测夹持组件12的至少一部分的旋转角位移(包括旋转方向和旋转角度的大小)，检测装置根据上述姿态信息和旋转角位移，通过计算即可得到夹持空间相对于基准面的绝对偏转角度。
同时，在旋转电机13驱动夹持组件12旋转的过程中，还可以根据霍尔检测装置141的检测结果来判断夹持组件12是否旋转到位。比如：旋转电机13旋转20°即可旋转到位，可以通过霍尔检测装置141来判断夹持组件12是否旋转20°。
其中，基准面为水平面，控制板15根据绝对偏转角度控制旋转电机13反向动作，以驱动夹持组件12反向旋转绝对偏转角度，使夹持空间处于水平位置。
选择水平面作为基准面，符合大部分用户的习惯，易于被用户接受。控制板15根据夹持空间的绝对偏转角度控制旋转电机13反向动作，使夹持组件12反向旋转同样的角度，即可使夹持空间调整至水平位置，由此保证手机2等夹持物可以处于水平位置，满足用户的使用需求。当然，也可以选择竖直面或者其他面作为基准面，控制板15也可以根据个人需要控制旋转电机13的旋转角度，使夹持空间处于其他期望的指定位置。
比如：检测装置检测到夹持空间相对于水平面沿第一方向(记为正向旋转)偏转了20°，则控制板15控制夹持组件12反向旋转20°，即可使夹持空间回归至水平位置，使手机2等夹持物保持水平。
具体地，夹持组件12包括固定夹121和活动夹122，活动夹122与固定夹121转动连接，且活动夹122与固定夹121由收纳状态沿相反方向旋转相同角度的情况下切换至工作状态，固定夹121与旋转电机13相连。
在本申请的一个实施例中，固定夹121与活动夹122为联动机构，霍尔检测装置141用于检测固定夹121或活动夹122的旋转角位移。
夹持组件12包括固定夹121和活动夹122，活动夹122与固定夹121转动连接，且沿相反方向旋转，实现X形的夹持组件12的打开或收纳。由于工作状态下，即夹持装置1夹持有手机2等夹持物的情况下，固定夹121和活动夹122相对于手机2均是固定的，则旋转电机13驱动固定夹121旋转，即可同步调整夹持空间的位置，同步带动手机2旋转至期望的指定位置。
固定夹121与活动夹122为联动机构，即：固定夹121运动时，带动活动夹122同步运动。由于工作状态下，固定夹121和活动夹122相对于手机2的中心偏转的角度是对称的，因而根据固定夹121的旋转角位移，通过计算即可得到活动夹122的旋转角位移，或者根据活动夹122的旋转角位移，通过计算即可得到固定夹121的旋转角位移。因而采用联动机构可以只设置一个霍尔检测装置141，来检测固定夹121与活动夹122中的一个的旋转角位移即可满足需求，因此该方案有利于减少霍尔检测装置141的数量。
比如：固定夹121与水平面之间的角度为60°，活动夹122与水平面之间的角度为40°，则二者的角平分线(垂直于手机2底边)与竖直面之间的夹角为10°，由于手机2底边与水平面之间的夹角即为手机2相对于水平面的绝对偏转角度，因而二者的角平分线(垂直于手机2底边)与竖直面之间的夹角等于手机2相对于水平面的绝对偏转角度，由此可以得出手机2相对于水平面的绝对偏转角度为10°。
在本申请的另一个实施例中，固定夹121与活动夹122为非联动机构，霍尔检测装置141的数量为两个，如图6所示，两个霍尔检测装置141分别用于检测固定夹121与活动夹122的旋转角位移。
固定夹121与活动夹122不是联动机构，即：固定夹121和活动夹122各自在驱动力的作用下运动，此时设置两个霍尔检测装置141来分别检测固定夹121和活动夹122的旋转角位移，可以保证检测结果的准确性，并简化计算程序。
进一步地，夹持组件12内设有容纳空间128，如图6所示，控制板15位于容纳空间128内，并固定在固定夹121上；惯性测量装置设置在控制板15上以检测控制板15与固定夹121的姿态信息，霍尔检测装置141的一部分设置在控制板15上，如图6所示。
在夹持组件12内设置容纳空间128，将控制板15设在容纳空间128内，可以使夹持组件12的内部空间得到有效利用，无需额外设置安装控板的结构及装配空间，有利于减小夹持装置1的尺寸，简化夹持装置1的结构，降低夹持装置1的成本。将控制板15固定在固定夹121上，则控制板15与固定夹121保持同步运动，因而通过检测控制板15的姿态信息即可同步得到固定夹121的姿态信息，故而可以将惯性测量装置设在控制板15上来检测固定夹121的姿态信息，同时也可以将霍尔检测装置141的一部分设在控制板15上，这样可以缩短惯性测量装置以及霍尔检测装置141与控制板15之间的距离，有利于简化线路连接。
具体地，霍尔检测装置141包括霍尔磁铁和霍尔元件。如图6所示，用于检测固定夹121的旋转角位移的霍尔检测装置141的霍尔磁铁和霍尔元件分别设置在旋转电机13与控制板15的一个板面上；用于检测活动夹122的旋转角位移的霍尔检测装置141的霍尔磁铁和霍尔元件分别设置在活动夹122与控制板15的另一个板面上。
霍尔检测装置141包括霍尔磁铁和霍尔元件，霍尔磁铁和霍尔元件分开设置在两个部件上，当两个部件发生相对转动时，霍尔元件检测到的磁场强度会发生变化，由此可以检测旋转角位移。由于固定夹121与控制板15同步运动，与旋转电机13发生相对转动，因而可以把检测固定夹121的旋转角位移的霍尔检测装置141的霍尔磁铁和霍尔元件分别设在旋转电机13与控制板15上；由于活动夹122与固定夹121发生相对转动而固定夹121与控制板15同步运动，因而可以把检测活动夹122的旋转角位移的霍尔检测装置141的霍尔磁铁 和霍尔元件分别设在活动夹122与控制板15上。同时，两个霍尔检测装置141的霍尔元件位于控制板15的两个板面上，如图6所示，可以防止相互干扰，保证各自的使用可靠性。
其中，如图6所示，用于检测固定夹121的霍尔检测装置141的霍尔磁铁和霍尔元件记为第一霍尔磁铁1411和第一霍尔元件1412，用于检测活动夹122的霍尔检测装置141的霍尔磁铁和霍尔元件记为第二霍尔磁铁1413和第二霍尔元件1414。
可选地，一个霍尔检测装置141的霍尔元件的数量为两个，如图3所示，两个霍尔元件之间具有相位差，使霍尔检测装置141能够检测旋转角位移。
利用两个具有相位差的霍尔元件与一个环形的霍尔磁铁的配合，可以对应正弦波形的具体位置，既能得出旋转角度，又能判定旋转方向，由此得到旋转角位移，保证检测的准确性。
当然，霍尔元件的数量也可以为三个、四个或者更多个。
可选地，一个霍尔检测装置141的两个霍尔元件之间的相位差为90°，如图6所示。
两个霍尔元件之间的相位差为90°，二者输出的波形可以恰好相差四分之一个正弦波，有利于简化计算程序。
当然，两个霍尔元件之间的限位差不局限于90°，也可以为60°、120°等。
进一步地，旋转电机13的转轴131远离连接座11的一端设有预紧螺母136，如图3和图6所示，预紧螺母136设有沉槽1361(如图3所示)，设置在旋转电机13上的霍尔磁铁(即第一霍尔磁铁1411)固定在沉槽1361内，如图6所示。
在旋转电机13的转轴131远离连接座11的一端设置预紧螺母136，并在预紧螺母136上设置沉槽1361，将霍尔磁铁固定在沉槽1361内，既可以对该霍尔磁铁起到良好的保护作用，防止该霍尔磁铁与其他结构发生干涉，又有利于缩小该霍尔磁铁与控制板15之间的距离，提高检测精度及检测灵敏性。
进一步地，霍尔磁铁与预紧螺母136粘接固定。
霍尔磁铁与预紧螺母136粘接固定，可以有效防止霍尔磁铁脱出沉槽1361，提高了霍尔磁铁位置的稳定性，进而提高了产品的使用可靠性。
进一步地，活动夹122上设有限位槽1226，如图2所示，设置在活动夹122上的霍尔磁铁固定在限位槽1226内，如图6所示。
在活动夹122上设置沉槽1361，将活动夹122上的霍尔磁铁固定在限位槽1226内，可以对该霍尔磁铁起到良好的限位作用和保护作用，防止该霍尔磁铁与其他结构发生干涉。
其中，限位槽1226的开口朝向背离控制板15，如图2所示。
限位槽1226的开口朝向背离控制板15，则无需在固定夹121与活动夹122之间的空间内设置固定该霍尔磁铁的结构，便于合理布置控制板15的位置，也可以防止该霍尔磁铁在使用过程中落入固定夹121与活动夹122之间的空间，提高了使用可靠性，布局较为合理。
下面详细介绍夹持组件12的结构。
夹持组件12包括：固定夹121和活动夹122。固定夹121与连接座11相配合围设出安装空间127；活动夹122与固定夹121转动连接，用于与固定夹121相配合以构造出夹持空间。
夹持组件12包括固定夹121和活动夹122，固定夹121与连接座11相配合围设出安装空间127，用于安装旋转电机13，且便于固定夹121与旋转电机13连接；活动夹122与固定夹121转动连接，与固定夹121相配合构造出夹持空间，实现装置的夹持功能。
具体地，固定夹121包括第一基座1211和与第一基座1211相连的两个第一夹臂1212，如图2所示。活动夹122包括第二基座1221和与第二基座1221相连的两个第二夹臂1222，如图2所示。第一基座1211与连接座11相配合围设出安装空间127，如图6所示，且与旋转电机13相连。第二基座1221与第一基座1211转动连接。两个第一夹臂1212与两个第二夹臂1222交叉分布(如图7至图12所示)构造出夹持空间。
固定夹121包括第一基座1211和两个第一夹臂1212，活动夹122包括第二基座1221和两个第二夹臂1222，连接座11、第一基座1211、第二基座1221沿旋转电机13的轴向依次排布，如图2所示。其中，第一基座1211与连接座11围设出安装空间127，旋转电机13位于安装空间127内并与第一基座1211以及连接座11相连；第二基座1221位于第一基座1211的另一侧，与第一基 座1211转动连接，实现固定夹121与活动夹122的转动连接。两个第一夹臂1212与两个第二夹臂1222交叉分布，形成X形的夹持组件12，用于夹持手机2等夹持物，如图7至图11所示。
进一步地，夹持组件12还包括：扭簧123，如图2、图3和图6所示。扭簧123套装在第一基座1211与第二基座1221之间，且扭簧123的一个扭臂1231限位在第一基座1211上，扭簧123的另一个扭臂1231限位在第二基座1221上，用于带动固定夹121及活动夹122复位。
在第一基座1211与第二基座1221之间套装扭簧123，且扭簧123的一个扭臂1231限位在第一基座1211上，扭簧123的另一个扭臂1231限位在第二基座1221上，则第一基座1211与第二基座1221之间发生相对转动时，扭簧123发生弹性变形储存弹性势能，能够在夹持组件12处于工作状态的情况下提供夹紧力，保持夹持手机2等夹持物的稳定性。当手机2等夹持物取出时，扭簧123可以释放弹性势能发生复位变形，进而带动固定夹121以及活动夹122自动复位。
进一步地，如图2、图3和图6所示，夹持组件12还包括摩擦环124，摩擦环124套装在第一基座1211与第二基座1221之间，如图6所示，且摩擦环124采用自润滑材料制成。
在第一基座1211与第二基座1221之间套装摩擦环124，由于摩擦环124采用自润滑材料制成，具有良好的润滑性能，因而可以减小固定夹121与活动夹122相对转动过程中的摩擦力，提高固定夹121与活动夹122相对转动的顺畅度，提高用户的使用舒适度，并有利于减弱夹持组件12的摩擦磨损，延长夹持组件12的使用寿命。
进一步地，第一基座1211包括第一基板1213和与第一基板1213相连的环形凸台1214，如图3和图6所示，环形凸台1214位于第一基板1213的外周缘的内侧，摩擦环124套设在环形凸台1214的外侧并与第一基板1213接触，如图6所示，扭簧123套装在环形凸台1214上，并位于环形凸台1214与摩擦环124之间；第二基座1221包括第二基板1223和与第二基板1223的外周缘相连的环形盖沿1224，环形盖沿1224套设在摩擦环124的外侧并与摩擦环124接触，如图6所示。
第一基座1211包括第一基板1213和环形凸台1214，第二基座1221包括第二基板1223和环形盖沿1224，第一基板1213和第二基板1223沿轴向相对设置，如图6所示，环形凸台1214、扭簧123、摩擦环124及环形盖沿1224沿径向由内向外依次排布，受到环形凸台1214和环形盖沿1224的限制，扭簧123和摩擦环124的位置较为稳定，不易发生移位。
进一步地，摩擦环124包括内环1241和与内环1241的外侧壁相连的外环1242(如图3所示)，内环1241的轴向高度大于外环1242的轴向高度，使摩擦环124的截面呈L形，如图6所示，内环1241的端面与第二基板1223接触。
摩擦环124包括内环1241和外环1242，内环1241的轴向高度大于外环1242的轴向高度，使摩擦环124的截面呈L形，即形成台阶状的环形结构，增加了摩擦环124与夹持组件12的接触面积，并使得摩擦环124的轴向两端分别与第一基板1213及第二基板1223相抵靠，对夹持组件12起到一定的轴向支撑作用，有利于进一步弱化固定夹121与活动夹122的摩擦磨损，进一步提高用户的使用舒适度和产品的使用寿命。
其中，环形凸台1214与第二基板1223之间具有间隙，如图6所示。
在环形凸台1214与第二基板1223之间设置间隙，避免了环形凸台1214与第二基板1223接触，减小了固定夹121与活动夹122的接触面积，进一步减小了二者之间的摩擦力，进一步减弱了摩擦磨损。
进一步地，如图6所示，第二基板1223局部加厚形成加厚部1225，加厚部1225设有用于安装霍尔磁铁的限位槽1226。
第二基板1223局部加厚形成加厚部1225，在加厚部1225设置限位槽1226，为检测活动夹122的旋转角位移的霍尔磁铁提供装配空间，并通过局部加厚的形式保证活动夹122安装有霍尔磁铁的部位具有相对较高的强度，以保证产品的使用可靠性。
进一步地，第一基座1211还包括连接盖1215和与连接盖1215的底壁相连的连接环1216，如图6所示，连接盖1215的开口端与第一基板1213背离环形凸台1214的板面相连，连接盖1215的底壁上设有与连接环1216连通的通孔1219；连接座11设有端盖111，端盖111套设在连接环1216的外侧，如 图6所示，安装空间127包括端盖111与连接环1216之间的空间、连接环1216的内部空间以及连接盖1215围设出的部分空间。
第一基座1211还包括连接盖1215和连接环1216，连接盖1215及连接环1216与第二基座1221分居第一基板1213的两侧，连接盖1215的开口端朝向第一基板1213，连接盖1215的底壁设有通孔1219，通孔1219处与连接环1216相连。连接座11的端盖111套设在连接环1216外侧，径向尺寸与连接盖1215的径向尺寸相当，使得夹持装置1的中部大致形成圆柱状结构。其中，端盖111与连接环1216之间的空间、连接环1216内部的空间、以及连接盖1215靠近连接环1216的部分空间构成旋转电机13的安装空间127，这样充分利用了夹持组件12的内部空间，有利于减小夹持装置1的尺寸。
其中，连接座11的端盖111还连接有连接臂，连接臂可以用于连接云台或者其他结构，如图13和图14所示。
进一步地，环形凸台1214的内部空间以及连接盖1215围设出的部分空间形成用于容纳控制板15的容纳空间128，如图6所示；连接盖1215内设有连接柱1217(如图3所示)，控制板15通过紧固件16与连接柱1217固定连接。
环形凸台1214的内部空间以及连接盖1215靠近第一基板1213的部分空间用于安装控制板15，这样，控制板15位于固定夹121内，且两个板面分别朝向活动夹122以及旋转电机13，既充分利用了夹持组件12的内部空间，又便于控制板15与旋转电机13之间的线路连接，且有利于将两个霍尔检测装置141的第一霍尔元件1412和第二霍尔元件1414分别安装在控制板15的两个板面上，如图6所示，与安装在活动夹122上的第二霍尔磁铁1413以及安装在旋转电机13上的第一霍尔磁铁1411可靠配合。其中，紧固件16穿过控制板15上的固定孔151(如图3所示)与连接柱1217固定连接，使控制板15与固定夹121固定连接，保证了控制板15的可靠固定。
可选地，连接柱1217的数量为两个，两个连接柱1217对称设置，如图3所示，有利于控制板15受力均衡，防止控制板15翘起，提高稳定性与可靠性。当然，连接柱1217的数量也可以是一个、三个或更多个。
进一步地，夹持组件12还包括固定盖125，如图1、图2和图6所示。固定盖125盖设在第二基座1221上，如图6所示，并与第一基座1211固定连接， 且将第二基座1221夹设在固定盖125与第一基座1211之间。
夹持组件12还包括固定盖125，固定盖125盖设在第二基座1221上，且将第二基座1221夹设在固定盖125与第一基座1211之间，则固定盖125与第一基座1211固定连接，即实现了固定盖125、第二基座1221、第三基座的相对固定，且可以防止夹持组件12的内部结构(如霍尔磁铁、螺钉等)外露，与手机2等夹持物发生刮擦，保证了夹持装置1外观的完整性和美观性。
其中，第一基座1211与固定盖125中的一个上设有连接柱1217(如图3所示)，另一个上设有连接孔1251(如图2所示)，紧固件16穿过连接孔1251与连接柱1217固定连接，使固定盖125与第一基座1211固定连接。
利用螺钉等紧固件16连接固定盖125与第一基座1211，连接强度高，固定可靠。其中，可以将连接柱1217设在第一基座1211上，将连接孔1251设在固定盖125上，如图2所示；也可以调换连接柱1217与连接孔1251的位置，将连接柱1217设在固定盖125上，将连接孔1251设在第一基座1211上。
进一步地，连接柱1217穿过第二基座1221，第二基座1221上设有用于避让连接柱1217的避让孔1227(如图2所示)。
在第二基座1221上设置避让孔1227，连接柱1217穿过第二基座1221，可以有效防止第二基座1221脱出，从而提高了活动夹122的稳定性与可靠性。
可选地，在一个实施例中，避让孔1227呈圆弧形，如图2所示。
由于固定夹121与活动夹122之间会发生相对转动，因而采用圆弧形的避让孔1227，既可以保证连接柱1217相对第二基座1221转动的过程中可以沿着避让孔1227转动。同时，通过合理设置避让孔1227的长度，还可以限制固定夹121与活动夹122之间的相对转动幅度，防止过度旋转。
当然，避让孔1227也可以采用其他形状，如方形、椭圆形等，只要能够避让连接柱1217并保证夹持组件12正常使用即可。
可选地，在一个实施例中，连接柱1217的数量为两个，两个连接柱1217对称分布，如图3所示；避让孔1227的数量为两个，两个避让孔1227对称分布，如图2所示。
采用两个对称分布的连接柱1217，有利于固定盖125与第一基座1211之间受力均衡，提高装配稳定性，相应设置两个对称分布的避让孔1227以避让 两个连接柱1217。
在本申请的一个实施例中，如图3所示，连接固定盖125与第一基座1211的两个连接柱1217设在第一基座1211上，固定控制板15的两个连接柱1217也设在第一基座1211上，且与另外两个连接柱1217相背设置，四个连接柱1217沿第一基板1213的周向均匀分布，布局合理，可以防止相互干涉，也便于装配。
进一步地，如图2所示，固定盖125上设有至少一个凸耳1252，第一夹臂1212与第一基座1211的连接部位设有定位槽1218(如图2所示)，凸耳1252旋转进入或旋转脱出定位槽1218。
在固定盖125上设置至少一个凸耳1252，相应在第一夹臂1212与第一基座1211的连接部位设置定位槽1218，装配时将固定盖125盖设在第二基座1221上，并旋转固定盖125，使凸耳1252旋转进入定位槽1218，则凸耳1252与定位槽1218的配合，能够起到良好的定位作用，使固定盖125、活动夹122以及固定夹121保持相对稳定，防止其在紧固件16安装过程中发生错位、晃动等情况，从而提高了装配效率。
在本申请的一个实施例中，凸耳1252的数量为两个，两个凸耳1252沿固定盖125的周向旋转对称。
进一步地，夹持装置1还包括摩擦垫126，摩擦垫126固定在固定盖125背离第二基座1221的表面上，如图6所示。
由于夹持空间位于固定盖125背离第二基座1221的一侧，因而在固定盖125背离第二基座1221的表面设置摩擦垫126，可以提高手机2等夹持物与夹持装置1之间的摩擦力，防止夹持物滑落，提高夹持装置1对手机2等夹持物的夹持稳定性。
可选地，摩擦垫126为硅胶垫、橡胶垫、棉麻垫等。
下面详细介绍旋转电机13的结构。
旋转电机13包括定子、转子和转轴131。转子套设在转轴131的外侧，并与夹持组件12固定连接。定子套设在转子的外侧，并与连接座11固定连接。
旋转电机13包括定子、转子和转轴131，转子套设在转轴131外侧并与夹持组件12固定连接，用于带动夹持组件12相对连接座11转动，定子套设 在转子外侧，并与连接座11固定连接，实现旋转电机13与连接座11的连接功能。
具体地，夹持组件12设有连接环1216，转子套设在连接环1216的外侧并与连接环1216固定连接，如图6所示。转轴131的一端与连接座11固定连接，另一端贯穿连接环1216，且通过轴承135与连接环1216转动连接，如图6所示。
夹持组件12设有连接环1216，即固定夹121插入端盖111内的部分，转子套设在连接环1216的外侧，并与连接环1216固定连接，保证了转子可以带动夹持组件12转动；转轴131的一端与连接座11(具体为端盖111)固定连接，另一端穿过连接环1216插入固定夹121内，并通过轴承135与连接环1216转动连接，保证了转子带动固定夹121旋转时，固定夹121与转轴131可以发生相对转动。
在本申请的一个实施例中，轴承135的数量为两个，两个轴承135沿转轴131的长度方向间隔设置，如图6所示。
采用两个沿转轴131长度方向间隔分布的轴承135，有利于提高转子与夹持组件12的连接可靠性。
进一步地，转轴131与连接座11为一体式结构。
转轴131与连接座11一体成型，可以提高转轴131与连接座11(具体为端盖111)的连接可靠性，并有利于提高装配效率，降低生产成本。
具体地，转子包括电机线圈132，定子包括套装在电机线圈132外侧的电机磁铁133和套装在磁铁外侧的电机磁轭134；定子与连接座11粘接固定。
转子包括电机线圈132，定子包括电机磁铁133和电机磁轭134，电机线圈132、电机磁铁133、电机磁轭134依次由内向外排布，当电机线圈132通电时产生旋转磁场，与定子的电机磁铁133相互作用，产生旋转作用力，相对定子旋转，进而带动夹持组件12转动。其中，定子与连接座11粘接固定，固定可靠，且工艺简单。
下面以夹持手机2的夹持装置1为例，介绍一个具体示例及其工作原理。
一种手机2夹，包括：硅胶垫；手机2夹上盖(即固定盖125)；手机2夹霍尔磁铁(即第二霍尔磁铁1413)；手机2夹活动夹122；扭簧123；摩擦 环124；手机2夹固定夹121；控制板15；IMU(即惯性测量模块)；手机2夹霍尔元件(即第二霍尔元件1414)；R电机霍尔元件(即第一霍尔元件1412)；R电机霍尔磁铁(即第一霍尔磁铁1411)；预紧螺母136；轴承135；线圈(即电机线圈132)；R电机磁铁133；R电机磁轭134；轴臂112(即连接座11)；如图2所示。
其中：R电机霍尔磁铁、预紧螺母136、R电机磁铁133、R电机磁轭134、轴臂112粘胶固定在一起作为R轴的固定端；
控制板15、轴承135固定在手机2夹固定夹121上面，作为R轴的转动端，同时也作为手机2夹的固定端。
摩擦环124作为摩擦件安装在手机2夹活动夹122、手机2夹固定夹121之间，扭簧123一端安装在手机2夹固定夹121上，一端安装在手机2夹活动夹122上，提供夹子在夹持手机2时的夹紧力。
手机2夹霍尔磁铁固定安装在手机2夹活动夹122上，手机2夹活动夹122放置在手机2夹固定夹121上，与手机2夹固定夹121可以相对转动。
手机2夹上盖固定安装在手机2夹固定夹121上，其中硅胶垫安装在手机2夹上盖上，提供手机2夹持时手机2移动的摩擦力。
在非工作状态下，整体如图1所示。在工作状态下，整体如图7所示。
其工作原理如下：
先将夹持组件12旋转90°，使第一夹臂1212和第二夹臂1222横向延伸，然后张开手加夹活动夹122和手机2夹固定夹121，由于手加夹活动夹122和手机2夹固定夹121之间有扭簧123，扭簧123用来提供夹持手机2的夹紧力。
手机2云台需要判断最终端手机2的角度状态，本申请在手机2夹活动夹122上固定安装手机2夹霍尔磁铁，同时手机2夹固定夹121上固定安装有控制板15，控制板15上面放置有IMU，可以检测手机2夹固定夹121和控制板15的姿态状态，而控制板15的上表面安装有两个呈90°的手机2夹霍尔元件，在手机2夹活动夹122转动活动的过程中，可以通过检测手机2夹霍尔磁铁的磁场强度来判断手机2夹活动夹122的旋转角度。
换言之，手机2夹活动夹122和手机2夹固定夹121的绝对位置分别可以通过手机2夹霍尔磁铁、控制板15上的IMU得到。同时，当手机2夹夹持手 机2时，手机2夹活动夹122和手机2夹固定夹121相对于手机2中心的偏转角度是对称的，因而通过计算可以得到手机2夹在夹持手机2时，手机2的绝对偏转角度，从而通过R电机霍尔磁铁和R电机霍尔元件控制R电机旋转，以调整手机2的偏转角度，使得手机2位于期望的指定位置。
上述具体示例也可以做如下变形：将手机2夹活动夹122和手机2夹固定夹121作为联动机构，当手机2夹活动夹122转动一定角度的时候，手机2夹固定夹121转过相同的角度，从而在没有手机2夹霍尔磁铁的情况下，仅仅通过控制板15上的IMU也可以计算得到此时夹持手机2的绝对偏转角度。
由此，本申请提供的带转动电机的夹持装置1，可以使夹持装置1内部空间得到最有效利用的同时，外观的整体宽度在不夹持手机2等夹持物的情况下能保证最小，同时还可以判断手机2的水平位置。
下面介绍本申请第二方面的实施例。
如图13和图14所示，本申请第二方面的实施例提供的手持云台3，包括：手柄、第一轴组件31、第二轴组件32、第三轴组件以及夹持装置。该夹持装置与第三轴组件的第三旋转电机和连接座形成了如本申请第一方面的夹持装置1。因此，本申请第二方面的实施例也具有本申请第一方面实施例的有益效果。
具体地，第一轴组件31包括第一旋转电机。第二轴组件32包括第二旋转电机。第三轴组件包括第三旋转电机(即第一方面实施例中的旋转电机13)和连接座11。夹持装置1包括交叉形的夹持组件12和夹持装置1。交叉形的夹持组件12与连接座11相配合围设出安装空间127，适于相对连接座11运动以在收纳状态与工作状态之间切换，并在处于工作状态的情况下构造出夹持空间。第三旋转电机安装在安装空间127内，并与夹持组件12相连，用于驱动夹持组件12转动，以调整夹持空间的位置。检测装置用于检测夹持组件12的位置信息，并根据位置信息获取夹持空间相对于基准面的绝对偏转角度。
本申请第二方面的实施例提供的手持云台3，其夹持装置1通过增设检测装置来检测夹持组件12的位置信息，进而得到夹持空间相对于基准面的绝对偏转角度，使得夹持装置1具有判断夹持物(如手机2)姿态的功能，则用户可以据此通过旋转电机准确调整夹持组件12的位置，将夹持空间调整至所需 的目标位置，以满足使用角度需求，从而提高了用户的使用体验。
具体而言，手柄与第一轴组件31相连，供用户手持。第一轴组件31包括第一旋转电机，能够驱动第二轴组件32以及第三轴组件水平旋转。第二轴组件32与第一轴组件31相连，包括第二旋转电机，能够驱动第三轴组件俯仰旋转。第三轴组件与第二轴组件32相连，包括第三旋转电机，能够驱动夹持组件12在竖直方向内旋转(横滚方向旋转)，如此手持云台的三个旋转电机可以对手机2等夹持物的位置进行三维调整，将手机2等夹持物调整至所需位置。夹持装置1包括夹持组件12和检测装置。其中，连接座11可以用于连接云台或者其他结构，如图13或图14所示。
夹持组件12呈交叉形(或者叫X形)，在收纳状态下并拢在一起，如图1和图4所示，有利于减小体积，减小占用的空间；在工作状态下便于根据夹持物的尺寸合理调整张开角度的大小，进而调整夹持空间的大小，有利于增加夹持物的种类，扩大产品的使用范围；且相较于利用两个弹簧上下张开夹持手机2等夹持物的夹持装置1而言，X形的夹持组件12通过旋转使夹臂沿竖直方向延伸，如图1、图4和图5所示，这样可以减小夹持装置1在收纳状态下的宽度，便于收纳。
下面介绍本申请第三方面的实施例。
本申请第三方面的实施例提供的可移动装置(图中未示出)，包括主体以及与主体相连的云台。云台包括：第一轴组件31、第二轴组件32、第三轴组件，第三轴组件包括本申请第一方面的实施例中所示的夹持装置1。本申请第三方面的可移动装置由于包含了夹持装置1，因此也包含了第一方面的夹持装置1的有益效果。
可选地，可移动装置为无人机或移动小车。
在本申请中，术语“第一”、“第二”、“第三”仅用于描述的目的，而不能理解为指示或暗示相对重要性；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。
本申请的描述中，需要理解的是，术语“上”、“下”、“左”、“右”、“前”、“后”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或单元必须具有特定的方向、以特定的方位构造和操作，因此，不能理解为对本申请的限制。
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 (74)

  1. 一种夹持装置，其中，包括：
    连接座；
    交叉形的夹持组件，与所述连接座相配合围设出安装空间，适于相对所述连接座运动以在收纳状态与工作状态之间切换，并在处于所述工作状态的情况下构造出夹持空间；
    旋转电机，安装在所述安装空间内，并与所述夹持组件相连，用于驱动所述夹持组件转动，以调整所述夹持空间的位置；
    检测装置，用于检测所述夹持组件的位置信息。
  2. 根据权利要求1所述的夹持装置，其中，
    所述检测装置还用于根据所述位置信息获取所述夹持空间相对于基准面的绝对偏转角度。
  3. 根据权利要求2所述的夹持装置，其中，还包括：
    控制板，与所述旋转电机及所述检测装置电连接，用于根据所述绝对偏转角度控制所述旋转电机动作，使所述旋转电机驱动所述夹持组件转动。
  4. 根据权利要求3所述的夹持装置，其中，所述检测装置包括：
    惯性测量装置，用于检测所述夹持组件的至少一部分的姿态信息；
    霍尔检测装置，用于检测所述夹持组件的至少一部分的旋转角位移；
    其中，所述位置信息包括所述姿态信息和所述旋转角位移，所述检测装置根据所述姿态信息以及所述旋转角位移确认所述夹持空间相对于基准面的绝对偏转角度。
  5. 根据权利要求4所述的夹持装置，其中，
    所述基准面为水平面，所述控制板根据所述绝对偏转角度控制所述旋转电机反向动作，以驱动所述夹持组件反向旋转所述绝对偏转角度，使所述夹持空间处于水平位置。
  6. 根据权利要求4所述的夹持装置，其中，
    所述夹持组件包括固定夹和活动夹，所述活动夹与所述固定夹转动连接， 且所述活动夹与所述固定夹由所述收纳状态沿相反方向旋转相同角度的情况下切换至所述工作状态，所述固定夹与所述旋转电机相连；
    其中，所述固定夹与所述活动夹为联动机构，所述霍尔检测装置用于检测所述固定夹或所述活动夹的旋转角位移；或者
    所述固定夹与所述活动夹为非联动机构，所述霍尔检测装置的数量为两个，两个所述霍尔检测装置分别用于检测所述固定夹与所述活动夹的旋转角位移。
  7. 根据权利要求6所述的夹持装置，其中，
    所述夹持组件内设有容纳空间，所述控制板位于所述容纳空间内，并固定在所述固定夹上；
    所述惯性测量装置设置在所述控制板上以检测所述控制板与所述固定夹的姿态信息，所述霍尔检测装置的一部分设置在所述控制板上。
  8. 根据权利要求7所述的夹持装置，其中，
    所述霍尔检测装置包括霍尔磁铁和霍尔元件；
    用于检测所述固定夹的旋转角位移的所述霍尔检测装置的霍尔磁铁和霍尔元件分别设置在所述旋转电机与所述控制板的一个板面上；
    用于检测所述活动夹的旋转角位移的所述霍尔检测装置的霍尔磁铁和霍尔元件分别设置在所述活动夹与所述控制板的另一个板面上。
  9. 根据权利要求8所述的夹持装置，其中，
    一个所述霍尔检测装置的所述霍尔元件的数量为两个，两个所述霍尔元件之间具有相位差，使所述霍尔检测装置能够检测所述旋转角位移。
  10. 根据权利要求9所述的夹持装置，其中，
    一个所述霍尔检测装置的两个所述霍尔元件之间的相位差为90°。
  11. 根据权利要求8所述的夹持装置，其中，
    所述旋转电机的转轴远离所述连接座的一端设有预紧螺母，所述预紧螺母设有沉槽，设置在所述旋转电机上的所述霍尔磁铁固定在所述沉槽内。
  12. 根据权利要求11所述的夹持装置，其中，
    所述霍尔磁铁与所述预紧螺母粘接固定。
  13. 根据权利要求8所述的夹持装置，其中，
    所述活动夹上设有限位槽，设置在所述活动夹上的所述霍尔磁铁固定在所述限位槽内。
  14. 根据权利要求13所述的夹持装置，其中，
    所述限位槽的开口朝向背离所述控制板。
  15. 根据权利要求1至14中任一项所述的夹持装置，其中，所述夹持组件包括：
    固定夹，与所述连接座相配合围设出所述安装空间；
    活动夹，与所述固定夹转动连接，用于与所述固定夹相配合以构造出所述夹持空间。
  16. 根据权利要求15所述的夹持装置，其中，
    所述固定夹包括第一基座和与所述第一基座相连的两个第一夹臂；
    所述活动夹包括第二基座和与所述第二基座相连的两个第二夹臂；
    所述第一基座与所述连接座相配合围设出所述安装空间，且与所述旋转电机相连；
    所述第二基座与所述第一基座转动连接；
    两个所述第一夹臂与两个所述第二夹臂交叉分布构造出所述夹持空间。
  17. 根据权利要求16所述的夹持装置，其中，所述夹持组件还包括：
    扭簧，套装在所述第一基座与所述第二基座之间，且所述扭簧的一个扭臂限位在所述第一基座上，所述扭簧的另一个扭臂限位在所述第二基座上，用于带动所述固定夹及所述活动夹复位。
  18. 根据权利要求17所述的夹持装置，其中，所述夹持组件还包括：
    摩擦环，套装在所述第一基座与所述第二基座之间，且所述摩擦环采用自润滑材料制成。
  19. 根据权利要求18所述的夹持装置，其中，
    所述第一基座包括第一基板和与所述第一基板相连的环形凸台，所述环形凸台位于所述第一基板的外周缘的内侧，所述摩擦环套设在所述环形凸台的外侧并与所述第一基板接触，所述扭簧套装在所述环形凸台上，并位于所述环形凸台与所述摩擦环之间；
    所述第二基座包括第二基板和与所述第二基板的外周缘相连的环形盖沿， 所述环形盖沿套设在所述摩擦环的外侧并与所述摩擦环接触。
  20. 根据权利要求19所述的夹持装置，其中，
    所述摩擦环包括内环和与所述内环的外侧壁相连的外环，所述内环的轴向高度大于所述外环的轴向高度，使所述摩擦环的截面呈L形，所述内环的端面与所述第二基板接触。
  21. 根据权利要求19所述的夹持装置，其中，
    所述环形凸台与所述第二基板之间具有间隙。
  22. 根据权利要求19所述的夹持装置，其中，
    所述第二基板局部加厚形成加厚部，所述加厚部设有用于安装霍尔磁铁的限位槽。
  23. 根据权利要求19所述的夹持装置，其中，
    所述第一基座还包括连接盖和与所述连接盖的底壁相连的连接环，所述连接盖的开口端与所述第一基板背离所述环形凸台的板面相连，所述连接盖的底壁上设有与所述连接环连通的通孔；
    所述连接座设有端盖，所述端盖套设在所述连接环的外侧，所述安装空间包括所述端盖与所述连接环之间的空间、所述连接环的内部空间以及所述连接盖围设出的部分空间。
  24. 根据权利要求23所述的夹持装置，其中，
    所述环形凸台的内部空间以及所述连接盖围设出的部分空间形成用于容纳控制板的容纳空间；
    所述连接盖内设有连接柱，所述控制板通过紧固件与所述连接柱固定连接。
  25. 根据权利要求16所述的夹持装置，其中，所述夹持组件还包括：
    固定盖，盖设在所述第二基座上，并与所述第一基座固定连接，且将所述第二基座夹设在所述固定盖与所述第一基座之间。
  26. 根据权利要求25所述的夹持装置，其中，
    所述第一基座与所述固定盖中的一个上设有连接柱，另一个上设有连接孔，紧固件穿过所述连接孔与所述连接柱固定连接，使所述固定盖与所述第一基座固定连接。
  27. 根据权利要求26所述的夹持装置，其中，
    所述连接柱穿过所述第二基座，所述第二基座上设有用于避让所述连接柱的避让孔。
  28. 根据权利要求27所述的夹持装置，其中，
    所述避让孔呈圆弧形。
  29. 根据权利要求28所述的夹持装置，其中，
    所述连接柱的数量为两个，两个所述连接柱对称分布；
    所述避让孔的数量为两个，两个所述避让孔对称分布。
  30. 根据权利要求25所述的夹持装置，其中，
    所述固定盖上设有至少一个凸耳，所述第一夹臂与所述第一基座的连接部位设有定位槽，所述凸耳旋转进入或旋转脱出所述定位槽。
  31. 根据权利要求25所述的夹持装置，其中，还包括：
    摩擦垫，固定在所述固定盖背离所述第二基座的表面上。
  32. 根据权利要求1至31中任一项所述的夹持装置，其中，
    所述旋转电机包括定子、转子和转轴；
    所述转子套设在所述转轴的外侧，并与所述夹持组件固定连接；
    所述定子套设在所述转子的外侧，并与所述连接座固定连接。
  33. 根据权利要求32所述的夹持装置，其中，
    所述夹持组件设有连接环，所述转子套设在所述连接环的外侧并与所述连接环固定连接；
    所述转轴的一端与所述连接座固定连接，另一端贯穿所述连接环，且通过轴承与所述连接环转动连接。
  34. 根据权利要求33所述的夹持装置，其中，
    所述轴承的数量为两个，两个所述轴承沿所述转轴的长度方向间隔设置。
  35. 根据权利要求33所述的夹持装置，其中，
    所述转轴与所述连接座为一体式结构。
  36. 根据权利要求32所述的夹持装置，其中，
    所述转子包括电机线圈，所述定子包括套装在所述电机线圈外侧的电机磁铁和套装在所述磁铁外侧的电机磁轭；
    所述定子与所述连接座粘接固定。
  37. 一种手持云台，其中，包括：
    手柄；
    第一轴组件，包括第一旋转电机；
    第二轴组件，包括第二旋转电机；
    第三轴组件，包括第三旋转电机和连接座；以及
    夹持装置，所述夹持装置包括：
    交叉形的夹持组件，与所述连接座相配合围设出安装空间，适于相对所述连接座运动以在收纳状态与工作状态之间切换，并在处于所述工作状态的情况下构造出夹持空间；
    检测装置，用于检测所述夹持组件的位置信息；
    其中，所述第三旋转电机安装在所述安装空间内，并与所述夹持组件相连，用于驱动所述夹持组件转动，以调整所述夹持空间的位置。
  38. 根据权利要求37所述的手持云台，其中，
    所述检测装置还用于根据所述位置信息获取所述夹持空间相对于基准面的绝对偏转角度。
  39. 根据权利要求38所述的手持云台，其中，还包括：
    控制板，与所述第三旋转电机及所述检测装置电连接，用于根据所述绝对偏转角度控制所述旋转电机动作，使所述旋转电机驱动所述夹持组件转动。
  40. 根据权利要求39所述的手持云台，其中，所述检测装置包括：
    惯性测量装置，用于检测所述夹持组件的至少一部分的姿态信息；
    霍尔检测装置，用于检测所述夹持组件的至少一部分的旋转角位移；
    其中，所述位置信息包括所述姿态信息和所述旋转角位移，所述检测装置根据所述姿态信息以及所述旋转角位移确认所述夹持空间相对于基准面的绝对偏转角度。
  41. 根据权利要求40所述的手持云台，其中，
    所述基准面为水平面，所述控制板根据所述绝对偏转角度控制所述第三旋转电机反向动作，以驱动所述夹持组件反向旋转所述绝对偏转角度，使所述夹持空间处于水平位置。
  42. 根据权利要求40所述的手持云台，其中，
    所述夹持组件包括固定夹和活动夹，所述活动夹与所述固定夹转动连接，且所述活动夹与所述固定夹由所述收纳状态沿相反方向旋转相同角度的情况下切换至所述工作状态，所述固定夹与所述第三旋转电机相连；
    其中，所述固定夹与所述活动夹为联动机构，所述霍尔检测装置用于检测所述固定夹或所述活动夹的旋转角位移；或者
    所述固定夹与所述活动夹为非联动机构，所述霍尔检测装置的数量为两个，两个所述霍尔检测装置分别用于检测所述固定夹与所述活动夹的旋转角位移。
  43. 根据权利要求42所述的手持云台，其中，
    所述夹持组件内设有容纳空间，所述控制板位于所述容纳空间内，并固定在所述固定夹上；
    所述惯性测量装置设置在所述控制板上以检测所述控制板与所述固定夹的姿态信息，所述霍尔检测装置的一部分设置在所述控制板上。
  44. 根据权利要求43所述的手持云台，其中，
    所述霍尔检测装置包括霍尔磁铁和霍尔元件；
    用于检测所述固定夹的旋转角位移的所述霍尔检测装置的霍尔磁铁和霍尔元件分别设置在所述第三旋转电机与所述控制板的一个板面上；
    用于检测所述活动夹的旋转角位移的所述霍尔检测装置的霍尔磁铁和霍尔元件分别设置在所述活动夹与所述控制板的另一个板面上。
  45. 根据权利要求44所述的手持云台，其中，
    一个所述霍尔检测装置的所述霍尔元件的数量为两个，两个所述霍尔元件之间具有相位差，使所述霍尔检测装置能够检测所述旋转角位移。
  46. 根据权利要求45所述的手持云台，其中，
    一个所述霍尔检测装置的两个所述霍尔元件之间的相位差为90°。
  47. 根据权利要求44所述的手持云台，其中，
    所述第三旋转电机的转轴远离所述连接座的一端设有预紧螺母，所述预紧螺母设有沉槽，设置在所述第三旋转电机上的所述霍尔磁铁固定在所述沉槽内。
  48. 根据权利要求47所述的手持云台，其中，
    所述霍尔磁铁与所述预紧螺母粘接固定。
  49. 根据权利要求44所述的手持云台，其中，
    所述活动夹上设有限位槽，设置在所述活动夹上的所述霍尔磁铁固定在所述限位槽内。
  50. 根据权利要求49所述的手持云台，其中，
    所述限位槽的开口朝向背离所述控制板。
  51. 根据权利要求37至50中任一项所述的手持云台，其中，所述夹持组件包括：
    固定夹，与所述连接座相配合围设出所述安装空间；
    活动夹，与所述固定夹转动连接，用于与所述固定夹相配合以构造出所述夹持空间。
  52. 根据权利要求51所述的手持云台，其中，
    所述固定夹包括第一基座和与所述第一基座相连的两个第一夹臂；
    所述活动夹包括第二基座和与所述第二基座相连的两个第二夹臂；
    所述第一基座与所述连接座相配合围设出所述安装空间，且与所述第三旋转电机相连；
    所述第二基座与所述第一基座转动连接；
    两个所述第一夹臂与两个所述第二夹臂交叉分布构造出所述夹持空间。
  53. 根据权利要求52所述的手持云台，其中，所述夹持组件还包括：
    扭簧，套装在所述第一基座与所述第二基座之间，且所述扭簧的一个扭臂限位在所述第一基座上，所述扭簧的另一个扭臂限位在所述第二基座上，用于带动所述固定夹及所述活动夹复位。
  54. 根据权利要求53所述的手持云台，其中，所述夹持组件还包括：
    摩擦环，套装在所述第一基座与所述第二基座之间，且所述摩擦环采用自润滑材料制成。
  55. 根据权利要求54所述的手持云台，其中，
    所述第一基座包括第一基板和与所述第一基板相连的环形凸台，所述环形凸台位于所述第一基板的外周缘的内侧，所述摩擦环套设在所述环形凸台的外 侧并与所述第一基板接触，所述扭簧套装在所述环形凸台上，并位于所述环形凸台与所述摩擦环之间；
    所述第二基座包括第二基板和与所述第二基板的外周缘相连的环形盖沿，所述环形盖沿套设在所述摩擦环的外侧并与所述摩擦环接触。
  56. 根据权利要求55所述的手持云台，其中，
    所述摩擦环包括内环和与所述内环的外侧壁相连的外环，所述内环的轴向高度大于所述外环的轴向高度，使所述摩擦环的截面呈L形，所述内环的端面与所述第二基板接触。
  57. 根据权利要求55所述的手持云台，其中，
    所述环形凸台与所述第二基板之间具有间隙。
  58. 根据权利要求55所述的手持云台，其中，
    所述第二基板局部加厚形成加厚部，所述加厚部设有用于安装霍尔磁铁的限位槽。
  59. 根据权利要求55所述的手持云台，其中，
    所述第一基座还包括连接盖和与所述连接盖的底壁相连的连接环，所述连接盖的开口端与所述第一基板背离所述环形凸台的板面相连，所述连接盖的底壁上设有与所述连接环连通的通孔；
    所述连接座设有端盖，所述端盖套设在所述连接环的外侧，所述安装空间包括所述端盖与所述连接环之间的空间、所述连接环的内部空间以及所述连接盖围设出的部分空间。
  60. 根据权利要求59所述的手持云台，其中，
    所述环形凸台的内部空间以及所述连接盖围设出的部分空间形成用于容纳控制板的容纳空间；
    所述连接盖内设有连接柱，所述控制板通过紧固件与所述连接柱固定连接。
  61. 根据权利要求52所述的手持云台，其中，所述夹持组件还包括：
    固定盖，盖设在所述第二基座上，并与所述第一基座固定连接，且将所述第二基座夹设在所述固定盖与所述第一基座之间。
  62. 根据权利要求61所述的手持云台，其中，
    所述第一基座与所述固定盖中的一个上设有连接柱，另一个上设有连接孔，紧固件穿过所述连接孔与所述连接柱固定连接，使所述固定盖与所述第一基座固定连接。
  63. 根据权利要求62所述的手持云台，其中，
    所述连接柱穿过所述第二基座，所述第二基座上设有用于避让所述连接柱的避让孔。
  64. 根据权利要求63所述的手持云台，其中，
    所述避让孔呈圆弧形。
  65. 根据权利要求64所述的手持云台，其中，
    所述连接柱的数量为两个，两个所述连接柱对称分布；
    所述避让孔的数量为两个，两个所述避让孔对称分布。
  66. 根据权利要求61所述的手持云台，其中，
    所述固定盖上设有至少一个凸耳，所述第一夹臂与所述第一基座的连接部位设有定位槽，所述凸耳旋转进入或旋转脱出所述定位槽。
  67. 根据权利要求61所述的手持云台，其中，还包括：
    摩擦垫，固定在所述固定盖背离所述第二基座的表面上。
  68. 根据权利要求37至67中任一项所述的手持云台，其中，
    所述第三旋转电机包括定子、转子和转轴；
    所述转子套设在所述转轴的外侧，并与所述夹持组件固定连接；
    所述定子套设在所述转子的外侧，并与所述连接座固定连接。
  69. 根据权利要求68所述的手持云台，其中，
    所述夹持组件设有连接环，所述转子套设在所述连接环的外侧并与所述连接环固定连接；
    所述转轴的一端与所述连接座固定连接，另一端贯穿所述连接环，且通过轴承与所述连接环转动连接。
  70. 根据权利要求69所述的手持云台，其中，
    所述轴承的数量为两个，两个所述轴承沿所述转轴的长度方向间隔设置。
  71. 根据权利要求69所述的手持云台，其中，
    所述转轴与所述连接座为一体式结构。
  72. 根据权利要求68所述的手持云台，其中，
    所述转子包括电机线圈，所述定子包括套装在所述电机线圈外侧的电机磁铁和套装在所述磁铁外侧的电机磁轭；
    所述定子与所述连接座粘接固定。
  73. 一种可移动装置，其中，包括主体以及与所述主体相连的云台，所述云台包括：
    第一轴组件，包括第一旋转电机；
    第二轴组件，包括第二旋转电机；
    第三轴组件，包括
    如权利要求1至36中任一项所述的夹持装置。
  74. 根据权利要求73所述的可移动装置，其中，所述可移动装置为无人机或者车辆。
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