WO2021036069A1 - 云台 - Google Patents

云台 Download PDF

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Publication number
WO2021036069A1
WO2021036069A1 PCT/CN2019/122424 CN2019122424W WO2021036069A1 WO 2021036069 A1 WO2021036069 A1 WO 2021036069A1 CN 2019122424 W CN2019122424 W CN 2019122424W WO 2021036069 A1 WO2021036069 A1 WO 2021036069A1
Authority
WO
WIPO (PCT)
Prior art keywords
pan
arm
tilt
handle
clamping
Prior art date
Application number
PCT/CN2019/122424
Other languages
English (en)
French (fr)
Inventor
陈敏
Original Assignee
深圳市浩瀚卓越科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=68416905&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2021036069(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by 深圳市浩瀚卓越科技有限公司 filed Critical 深圳市浩瀚卓越科技有限公司
Priority to US17/639,097 priority Critical patent/US20220303375A1/en
Publication of WO2021036069A1 publication Critical patent/WO2021036069A1/zh

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Classifications

    • 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
    • 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
    • F16M11/041—Allowing quick release of the apparatus
    • 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
    • F16M11/105—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis the horizontal axis being the roll axis, e.g. for creating a landscape-portrait rotation
    • 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
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2064—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for tilting and panning
    • 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
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/563—Camera grips, handles
    • 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
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage

Definitions

  • the present invention relates to the technical field of pan-tilt, in particular to a pan-tilt.
  • the pan-tilt is a carrier of a mobile phone, similar to a selfie stick, which works by clamping the mobile phone.
  • the pan/tilt When the pan/tilt is working, it will produce an opposite movement relative to the hand movement, so as to ensure that the mobile phone is relatively stable during shooting, and the picture obtained by shooting is stable without shaking.
  • pan/tilt is large in size and inconvenient to carry. How to improve the portability of the pan/tilt has become a technical problem that needs to be solved urgently in this field.
  • a pan/tilt head comprising a handle, a first arm, a second arm, and a clamping member that are sequentially connected, the second arm comprising a second connecting part and a second rod part; and further comprising:
  • a first driving member connecting the handle and the first arm to drive the first arm to rotate relative to the handle
  • a second driving member connecting the second connecting part and the second rod part in the second arm to drive the second rod part to rotate relative to the second connecting part
  • a third driving member which connects the second rod part and the clamping part to drive the clamping part to rotate relative to the second rod part;
  • the second connecting portion is rotatably connected to the first arm so that the pan/tilt can be folded or unfolded. After the pan/tilt is folded, along the axis of the handle, the second drive The third driving part, the third driving part and the first driving part are arranged in sequence.
  • Figure 1 is a front view of the pan-tilt in the first embodiment of the application after being folded;
  • Figure 2 is an exploded view of the gimbal in Figure 1;
  • FIG 3 is a perspective view of the pan/tilt in Figure 1;
  • Fig. 4 is a schematic diagram of the unfolded structure of the pan/tilt in Fig. 1;
  • Figure 5 is an exploded view of the pan-tilt in the second embodiment of the application.
  • Fig. 6 is a schematic diagram of the pan-tilt in Fig. 5 after unfolding
  • Fig. 7 is a schematic structural diagram of the pan-tilt in Fig. 5 after being folded;
  • Fig. 8 is an exploded view of the clamping member included in the pan-tilt in Fig. 5;
  • Figure 9 is a perspective view of the pan-tilt in the third embodiment of the application after unfolding
  • Figure 10 is a perspective view of the pan-tilt in Figure 9 after being folded;
  • FIG. 11 is a perspective view of the pan-tilt in the fourth embodiment of the application.
  • Figure 12 is a front view of the PTZ shown in Figure 11;
  • Fig. 13 is a perspective view of the pan-tilt shown in Fig. 11 from another perspective;
  • Figure 14 is a perspective view of the pan-tilt shown in Figure 11 after being folded;
  • 15 is a schematic diagram of the three-dimensional structure of the pan/tilt in the fifth embodiment of the application.
  • Fig. 16 is a schematic structural diagram of the pan/tilt platform shown in Fig. 15 from another perspective.
  • Fig. 1 is a front view of the pan-tilt in the first embodiment after being folded
  • Fig. 2 is an exploded view of the pan-tilt in Fig. 1
  • Fig. 3 is a perspective view of the pan-tilt shown in Fig. 1.
  • the pan/tilt includes a handle 300.
  • the handle 300 can be used as a holding part, that is, a person holds the handle 300 to hold the pan/tilt.
  • the handle 300 can be supported by a supporting base, and the pan/tilt can be supported by the supporting base.
  • the base can be placed on a car or other places where a stable shooting environment is required.
  • the pan/tilt can hold a mobile phone.
  • the pan/tilt includes three driving parts, namely the first driving part 11, the second driving part 12 and the third driving part 13. When the pan/tilt is unfolded, these three driving parts are arranged in the three-dimensional space. Therefore, the mobile phone can move in the three-dimensional space.
  • the sensor in the pan/tilt can sense the offset angle, and then generate a corrective motion in the three-dimensional space through the three driving parts.
  • the mobile phone installed on the pan-tilt can be used for shooting in a relatively stable state.
  • the pan-tilt includes a first arm 100 and a second arm 200.
  • One end of the first arm 100 is connected to the handle 300, and the other end of the first arm 100 is connected to the second arm 200.
  • the first arm 100 is hinged to the second arm 200, as shown in FIG. 3, the axis of the hinge axis is m, so that the second arm 200 can rotate about the hinge axis m, and then fold toward the direction of the handle 300 .
  • the first arm 100 includes a first connecting portion 110 and a first rod portion 111 that are fixedly connected to each other.
  • the handle 300 may be a long strip, and the handle 300 may also be a cylinder.
  • the rotation axis of the first driving member 11 is a first rotation axis a
  • the rotation axis of the second driving member 12 is a second rotation axis b
  • the rotation axis of the third driving member 13 is a third rotation axis c.
  • the first rotation axis a, the second rotation axis b, and the third rotation axis c are all in the same plane.
  • the first connecting portion 110 is rotatably connected to the handle 300 around the first rotation axis a.
  • the second arm 200 includes a second connecting portion 210 and a second rod portion 211 that are detachably connected, and the second connecting portion 210 and the second rod portion 211 are rotatably connected.
  • the second connecting portion 210 and the second rod portion 211 are rotatably connected around the second rotating shaft b.
  • the second connecting portion 210 is rotatably connected to an end of the first rod portion 111 away from the first connecting portion 110 about the hinge axis m.
  • the pan/tilt head further includes a clamping member 400, which is used to clamp a mobile phone and other photographing equipment.
  • the clamping member 400 is rotatably connected to the second rod portion 211.
  • the clamping member 400 is rotatably connected to the second rod portion 211 around the third rotation axis c.
  • FIG. 4 is a schematic diagram of the unfolding structure of the pan/tilt shown in FIG. 1.
  • the unfolding process is to manually rotate the second arm 200 around the hinge axis m relative to the first arm 100, and then turn on the switch k of the pan/tilt, the pan/tilt
  • the first driving member 11 drives the first arm 100 to rotate relative to the handle 300 around the first rotation axis a
  • the second driving member 12 drives the second rod 211 relative to
  • the second connecting portion 210 rotates around the second rotation axis b
  • the third driving member 13 drives the clamping member 400 to rotate relative to the second rod portion 211 around the third rotation axis c.
  • the final state after folding is in the direction of the axis of the handle 300 (the vertical direction in Fig. 1), followed by the second driving member 12, the third driving member 13, and the first driving member 11.
  • the third driving member 13 is located between the second driving member 12 and the first driving member 11 along the vertical direction.
  • the foldable portion of the pan/tilt is accommodated along the axial direction of the handle 300, that is, compared with the unfolded state of the pan/tilt, the longitudinal dimension of the pan/tilt becomes smaller after folding, and the pan/tilt
  • the circumferential size of the gimbal is slightly increased, or the circumferential size of the gimbal remains unchanged, or the circumferential size of the gimbal is reduced, which facilitates the storage and carrying of the gimbal in a narrow space such as a pocket, which greatly facilitates the carrying of the gimbal .
  • the clamping member 400 is arranged obliquely with respect to the first rotation axis a.
  • the first rod 111 is connected to the peripheral side of the first connecting part 110, and the first rod 111 may also be arranged at a position deviated from the center of the first connecting part 110. Therefore, after folding, the approximate storage position of the clamping member 400 is in the area enclosed by the handle 300 and the first rod 111. Therefore, the clamping member 400 does not abut the handle 300 in a large area, so that after folding, the pan/tilt There is no significant increase in the volume in the circumferential direction, and the overall appearance is slender, which is convenient to be directly inserted into the pocket and easy to carry.
  • the second rotation axis b and the first rotation axis a in the present application are substantially parallel, which may specifically mean that the actual positional relationship between the second rotation axis b and the first rotation axis a is parallel within the allowable error range, and the error range may be, for example, 0° -5°. Further, when the distance between the first rotating shaft a and the second rotating shaft b is 0, that is, the best when the first rotating shaft a and the second rotating shaft b overlap.
  • FIG. 5 is an exploded view of the pan-tilt in the second embodiment of this application.
  • the main difference from the first embodiment is the shape of the first arm 100.
  • the first rod portion 111 in the first arm 100 starts from the first connecting portion 110, first extends diagonally upward, and then extends in a direction parallel to the axial direction of the handle 300, so that The space enclosed between the first arm 100 and the handle 300 is relatively large.
  • the first rod portion 111 in the first arm 100 starts from the first connecting portion 110 and directly extends upward in a direction parallel to the axis of the handle 300. At this time, the circumferential space of the pan/tilt is smaller. It is easier to store and carry.
  • Fig. 6 is a schematic diagram of the pan-tilt in the embodiment shown in Fig. 5 after being unfolded.
  • the first rotation axis a, the second rotation axis b, and the third rotation axis c are not parallel to each other, so that the clamping
  • the piece 400 can rotate in a three-dimensional space relative to the handle 300.
  • the first rotation axis a and the second rotation axis b are vertical in space.
  • the second rotation axis b and the third rotation axis c are translated into the same plane, the second rotation axis b It is not perpendicular to the third rotation axis c, and the included angle between the two is an acute or obtuse angle, so that the clamped mobile phone can have a larger space for rotation and minimize the interference of the pan/tilt on the movement of the mobile phone.
  • the second connecting portion 210 is provided with a protruding hinge portion 210A
  • the hinge portion 210A is provided with a through hole 210B
  • the first rod portion 111 is provided with
  • the groove has side walls on both sides of the groove, the hinge part 210A is arranged in the groove, and a threaded member 14 sequentially passes through one of the side walls, the through hole 210B on the hinge part 210A, and is screwed to the other side wall
  • the knob screw 14 is used, the two side walls can be pulled close to each other and squeeze the hinge part 210A located in the groove, thereby realizing the locking of the first arm 100 and the second arm 200.
  • a number of protrusions 210C are provided on the hinge part 210A, and a number of recessed holes are provided on the side wall of the groove.
  • the protrusions 210C can move into the recessed holes.
  • the protrusion 210C can be transferred in different concave holes, and the screw 14 can be used to clamp the hinge part 210A by the screw member 14 through the knob.
  • the protrusion 210C is accommodated In the recessed hole, so as to play a better revolving effect.
  • a recessed hole may be provided on the hinge portion 210A, and a protrusion 210C may be provided on the side wall.
  • the first driving member 11 is arranged on the handle 300, the first driving member 11 may be a motor, the housing of the first driving member 11 is fixed on the handle 300, and the first driving member 11 is fixed on the handle 300.
  • the rotating shaft of the component 11 may extend along the direction of the first rotating shaft a, and the first connecting portion 110 is fixedly connected to the rotating shaft of the first driving component 11.
  • the housing of the first driving member 11 may also be fixed to the first connecting portion 110, and the rotating shaft of the first driving member 11 is fixedly connected to the handle 300.
  • the first arm 100 includes a first connecting portion 110 and a first rod portion 111.
  • the first connecting portion 110 may be a cylinder, and the first rod portion 111 is fixed on the side circumference of the first connecting portion 110.
  • the first rod portion 111 is offset from the first rotation axis a, so that the first rod portion 111 and the first connecting portion 110 are formed between the first rod portion 111 and the first connecting portion 110 for accommodating at least part of the clamping member 400 and at least part of the second arm 200, as shown in Figure 1, when the pan/tilt is folded, at least part of the clamping member 400 and at least part of the second arm 200 are housed in the space, which makes the various parts of the pan/tilt more compact after folding and reduces the size of the pan/tilt.
  • the first rod 111 is bent, one end of the first rod 111 close to the first connecting part 110 is close to the first rotating shaft a, and the first rod 111 is away from the first connecting part 110 One end is away from the first shaft a.
  • one end of the clamping member 400 holds the handle 300, and the other end is spaced from the first rod 111.
  • There is a larger accommodating space between the first connecting part 110 and the second rod 211 for the clamping member. 400 and the second support arm 200 are accommodated, thereby providing more accommodation space for the clamping member 400.
  • the first rod portion 111 is elongated, and the length direction of the first rod portion 111 extends along the direction of the first rotation axis a.
  • the first connecting portion 110 is a cylinder, the central axis of the cylinder is the extension direction of the first rotating shaft a, and the length direction of the first rod 111 is perpendicular to the end surface of the cylinder.
  • the handle 300 and the first rod portion 111 are both straight rods, and the lengths of the first rod portion 111 and the handle 300 are approximately the same.
  • a first holding portion 510 is provided on the first arm 100
  • a second holding portion 520 is provided on the handle 300
  • the first arm 100 rotates around the first rotation axis a.
  • the rotation of the first arm 100 relative to the handle 300 is locked, which prevents the first arm 100 from relative to the handle. 300 unlimited rotation.
  • the first clamping portion 510 and the second clamping portion 520 are mutually clamped, so that the structure of the folded head is more stable.
  • the first retaining portion 510 is a protrusion provided on the first connecting portion 110
  • the second retaining portion 520 is a groove or protrusion provided on the handle 300.
  • the first clamping portion 510 may also be a groove provided on the first connecting portion 110.
  • the second driving member 12 may be a motor, the housing of the second driving member 12 is fixed on the second connecting portion 210, and the rotation axis of the second driving member 12 may be along the second connecting part 210.
  • the rotation axis b extends in the direction, and the rotation axis of the second driving member 12 is fixedly connected to the second rod portion 211, so that the second driving member 12 can drive the second rod portion 211 to rotate relative to the second connecting portion 210 about the second rotation axis b.
  • the housing of the second driving member 12 may also be fixedly connected to the second rod portion 211, and the rotating shaft may be fixedly connected to the second connecting portion 210.
  • the second rod portion 211 is provided with a first end surface 211A and a second end surface 211B.
  • the included angle between the first end surface 211A and the second end surface 211B is an acute angle.
  • the second rotation axis b is perpendicular to The first end surface 211A and the third rotation axis c are perpendicular to the second end surface 211B.
  • the third driving member 13 is a motor
  • the housing of the third driving member 13 can be fixedly connected to the second rod portion 211 of the second arm 200
  • the rotating shaft is fixedly connected to the clamping member 400.
  • the housing of the third driving member 13 is fixedly connected to the clamping member 400
  • the rotating shaft of the third driving member 13 is fixedly connected to the second rod portion 211 of the second support arm 200.
  • FIG. 6 is a schematic diagram of the folded structure of the pan/tilt in FIG. 5.
  • the first rod 111 is partially accommodated in the first In a slot 410, the side wall of the first slot 410 of the clamping member 400 can abut the first rod 111, so that the clamping member 400 does not basically rotate.
  • the first slot 410 is formed by the two first clamping fingers 410A on the clamping member 400 at intervals.
  • the two first clamping fingers 410A can be attached to the first clamping fingers 410A respectively.
  • the clamping member 400 can no longer rotate relative to the second arm 200, which makes the structure of the folded PTZ more stable.
  • the clamping member 400 is also provided with a second card slot 420.
  • part of the handle 300 is accommodated in the second card slot 420, for example, the upper part of the handle 300 Part of it is accommodated in the second slot 420. Since the first slot 410 and the second slot 420 are provided, not only can the first slot 410 cooperate with the first rod 111, but also the second slot 420 and the second slot 420 can cooperate with each other. The cooperation of the handle 300 or the first connecting portion 110 restricts the rotation of the clamping member 400 relative to the second arm 200.
  • the first rod 111 is partially accommodated in the first slot 410, and the handle 300 or the first connecting portion 110 is accommodated in the second slot 420, which enables the clamping member 400 to be closer to the handle.
  • 300 and the first arm 100 make the various parts of the pan-tilt more compact after folding, reducing the volume of the pan-tilt after folding.
  • the clamping member 400 is provided with a first buckle, and the handle 300 or the first connecting portion 110 is provided with a second buckle.
  • the first buckle and the second buckle can be buckled together. Through the engagement of the first buckle and the second buckle, the clamping member 400 can also be prevented from rotating after folding.
  • the shapes of the first slot 410 and the second slot 420 are different.
  • the shape of the first slot 410 corresponds to the shape of the first rod 111
  • the shape of the second slot 420 corresponds to the shape of the handle 300 or the shape of the first connecting portion 110.
  • the cross section of the first arm 100 is roughly rectangular, the first slot 410 is enclosed by a number of flat inner walls; the handle 300 and the first connecting portion 110 are roughly cylindrical, and the inner wall of the second slot 420 is roughly arc shape.
  • FIG. 8 is an exploded view of the clamping member 400 in FIG. 5.
  • the clamping member 400 includes a supporting seat 430, a first movable seat 440 and a second movable seat 450, wherein the first movable seat 440 and The second movable seats 450 are respectively disposed on both sides of the support seat 430, and the first movable seat 440 can be close to or far from the support seat 430, and the second movable seat 450 can also be close to or far away from the support seat 430.
  • the clamping member 400 further includes a plurality of elastic members 460, the first movable seat 440 is connected to the supporting seat 430 through two elastic members 460, and the second movable seat 450 is connected to the supporting seat 430 through the other two elastic members 460.
  • the first movable seat 440 and the first movable seat 440 are pulled toward the middle, and the mobile phone is fixed together by the first movable seat 440, the second movable seat 450 and the supporting seat 430.
  • the first movable seat 440 includes two first clamping fingers 410A, the two first clamping fingers 410A are spaced apart, and a first card slot 410 is formed between the two first clamping fingers 410A.
  • the second movable seat 450 includes two second clamping fingers 420A, the two second clamping fingers 420A are spaced apart, and a second clamping slot 420 is formed between the two second clamping fingers 420A.
  • the support base 430 is in the shape of a flat plate, so as to better lean against the mobile phone, so that the mobile phone is stably fixed.
  • at least the surface of the support base 430 used to abut against the mobile phone is a flat surface.
  • the two first clamping fingers 410A and the two second clamping fingers 420A are provided with clamping grooves 470 on the opposite surfaces.
  • the mobile phone When the mobile phone is installed on the clamping member 400, the mobile phone It is just stuck in the clamping slot 470, so that the mobile phone is held stably, and the mobile phone is not prone to shaking.
  • the mobile phone may not abut on the support base 430.
  • the two first clamping fingers 410A are respectively located on both sides of the first rod portion 111, and the two second clamping fingers 420A abut on the handle 300.
  • the support base 430 is inclined relative to the first rotation axis a, that is, the angle between the support base 430 and the first rotation axis a as a whole is an acute angle.
  • the support base 430 as a whole can be understood as the angle between the plane where the support base 430 translates and intersects the longitudinal axis and the width axis and the first rotation axis a is an acute angle.
  • FIG. 9 is a perspective view of the pan-tilt in the third embodiment after being unfolded
  • FIG. 10 is a perspective view of the pan-tilt shown in FIG. 9 after being folded.
  • the following embodiments introduce the two-fold pan/tilt as shown in FIGS. 9 and 10. When the pan/tilt is folded from the unfolded state shown in FIG. 9 to the fully folded state shown in FIG. 10, it needs to be folded twice .
  • the first arm 100 includes a first connecting portion 110 and a first rod portion 111 that are hinged to each other.
  • the first connecting portion 110 is connected to the handle 300 around a first rotation axis a. After being folded, as shown in FIG. As shown, the first connecting portion 110 and the first rod portion 111 can be locked by the screw 14A.
  • the second arm 200 includes a second connecting portion 210 and a second rod portion 211, and one end of the second rod portion 211 is rotatably connected to the second connecting portion 210 around the second rotating shaft b.
  • the second connecting part 210 is hinged to an end of the first rod 111 away from the first connecting part 110, and after being folded, the second connecting part 210 and the first rod 111 can be locked by the screw 14.
  • the first rod portion 111 of the first arm 100 and the second arm 200 are housed on one side of the handle 300 in the circumferential direction.
  • the circumferential direction of the handle 300 can be understood as, if the handle 300 is a cylinder, the cylinder has a central axis.
  • the first rotation axis a can be the central axis.
  • the straight line 300 can be referred to as a straight line located on the circumferential side of the handle 300.
  • the first rod portion 111 of the first arm 100 is located between the handle 300 and the second arm 200.
  • the various components are arranged more compactly, and the storage space occupied is small.
  • the first rotation axis a, the second rotation axis b, and the third rotation axis c are coplanar.
  • the first axis a, the second axis b, and the third axis c are distributed in a three-dimensional space, that is, the three axes are not distributed in the same plane.
  • the first rotation axis a and the second rotation axis b can be on the same plane and arranged vertically.
  • the second lever part 211 When the pan/tilt is turned off, the second lever part 211 is rotated by a certain angle relative to the second connecting part 210 around the second shaft b, so that the third shaft c and the second shaft b are coplanar, because the first shaft a and the second shaft b can be set vertically on the same plane, so the three rotating shafts are already in the same plane at this time. Since the three rotating shafts are arranged on the same plane, the folded head has a flat structure as a whole, and occupies a small storage space, which is convenient for carrying and storage.
  • the clamping member 400 after folding, one end of the clamping member 400 abuts the first rod 111, and the other end of the clamping member 400 is a free end. If the clamping member 400 can still be rotated at will after folding, it is inconvenient for storage. In this embodiment, after folding, the clamping member 400 is used to resist the first rod 111, which can prevent the clamping member 400 from being folded to a certain extent. Still able to rotate at will.
  • the clamping member 400 is provided with at least a first card slot 410. When the pan/tilt is folded, the first rod 111 is partially received in the first card slot 410, and can pass through the first card slot. The groove 410 cooperates with the first rod portion 111 to better limit the rotation of the clamping portion.
  • FIG. 11 is a perspective view of the pan-tilt in the fourth embodiment of the application, and the pan-tilt includes a handle 300.
  • the handle 300 can be used as a holding part, that is, a person holds the handle 300 to hold the pan/tilt.
  • the handle 300 can be supported by a support base, and the pan/tilt can be supported by the support base.
  • the pan/tilt can be used as a mobile phone holder, and the base can be placed in a car or other places where a stable shooting environment is required.
  • FIG. 12 is a front view of the pan/tilt head shown in FIG. 11.
  • the pan/tilt head includes a handle 300, a first arm 100, a second arm 200, and a clamping member 400 that are connected in sequence.
  • the holder 400 can hold the mobile phone.
  • the first arm 100 includes a first connecting part 100A and a first rod part 100B.
  • the first connecting part 100A and the first rod part 100B can be fixedly connected, the first connecting part 100A is connected to the handle 300, and the first rod The part 100B is connected to the second support arm 200.
  • the second arm 200 includes a second connecting portion 200A and a second lever portion 200B.
  • the second connecting portion 200A and the second lever portion 200B are rotatably connected. Specifically, the second lever portion 200B rotates around the first axis. 12A is rotatably connected to the second connecting portion 200A.
  • the first arm 100 is hinged to the second arm 200. Specifically, the end of the first rod portion 100B away from the first connecting portion 100A is hinged to the second connecting portion 200A, and the hinge position is at M in FIG.
  • the arm 200 can rotate around M relative to the first arm 100, so that the second arm 200 moves toward the handle 300 to complete the folding of the pan/tilt. Refer to FIG. 14 for the folded state, which is shown in FIG. 11 A perspective view of the folded pan/tilt.
  • the pan-tilt includes three driving parts, namely, a first driving part 510A, a second driving part 520A, and a third driving part 530A.
  • the first driver 510A connects the handle 300 and the first connecting portion 100A of the first arm 100 so that the first arm 100 can rotate along the axial direction of the handle 300.
  • the axial direction of the handle 300 may be the first shaft 11A.
  • the second driving member 520A connects the second connecting portion 200A and the second lever portion 200B of the second arm 200 so that the second lever portion 200B can rotate relative to the second connecting portion 200A about the first axis 12A. As shown in FIGS.
  • the third driving member 530A connects the second rod portion 200B and the clamping member 400 so that the clamping member 400 can rotate about the third axis 13A relative to the second rod portion 200B.
  • the first axis 11A and the first axis 12A are vertical in space, and the angle between the third axis 13A and the first axis 12A is an acute angle; when the gimbal is unfolded, these three
  • the driving parts are arranged in a three-dimensional space.
  • the driving parts may be electric motors, and the driving shafts of the three electric motors may respectively extend along the directions of the first shaft 11A, the first shaft 12A, and the third shaft 13A.
  • the pan/tilt in this application can be expanded and collapsed. When unfolded, it is in the use state of the pan/tilt, and when folded, it is in the storage state of the pan/tilt.
  • the handle 300, the first arm 100, the second arm 200, and the clamping member 400 need to be able to move relative to each other, so as to fine-tune the handle 300, the first arm 100, the second arm 200, and The angle of the clamping member 400 keeps the mobile phone on the clamping member 400 stable.
  • the handle 300, the first arm 100, the second arm 200, and the clamping member 400 need to be relatively fixed, so that the folded pan/tilt can maintain a stable shape.
  • the clamping member 400 is provided with a first clamping portion 610, and the first connecting portion 100A is provided with a second clamping portion 620.
  • the first clamping portion 610 is a trough
  • the second clamping portion 620 is a bump.
  • FIG. 14 when the pan/tilt is folded, the second clamping portion 620 is inserted into the first clamping portion 610, thereby realizing the mutual locking of the first supporting arm 100, the second supporting arm 200, and the clamping member 400 to The mutual position of the first arm 100, the second arm 200 and the clamping member 400 cannot be changed. Specifically, as shown in FIG.
  • the first clamping portion 610 as a groove body includes a first groove surface 610A and a second groove surface 610B disposed oppositely
  • the second clamping portion 620 as a protrusion includes a first groove surface 610A and a second groove surface 610B disposed oppositely.
  • a side wall 620A and a second side wall 620B, the first holding portion 610 is inserted into the second holding portion 620, and the first side wall 620A is in contact with the first groove surface 610A, and the second side wall 620B is in contact with the second groove surface 610B conflicted.
  • the first clamping portion 610 as a groove body also includes other groove surfaces in addition to the first groove surface 610A and the second groove surface 610B;
  • the second clamping portion 620 as a protrusion also includes other groove surfaces in addition to the first groove surface 610A and the second groove surface 610B;
  • first clamping portion 610 may also be a bump
  • second clamping portion 620 is a groove, that is, in this embodiment, the first clamping portion 610 and the second clamping portion
  • the 620's forms are interchanged.
  • the clamping member 400 when the pan/tilt is in the folded state, the clamping member 400 is inclined relative to the axial direction of the handle 300, and one end of the clamping member 400 abuts against the first connecting portion 100A of the first arm 100, and the clamping member 400 The other end of is spaced apart from the first rod portion 100B of the first arm 100.
  • the clamping member 400 when the pan/tilt is in the folded state, the clamping member 400 is inclined relative to the axial direction of the handle 300, and one end of the clamping member 400 abuts against the first connecting portion 100A of the first arm 100, and the clamping member 400 The other end of the can also abut the first rod portion 100B of the first arm 100.
  • the first support arm 100, the second support arm 200, and the clamping member 400 are mutually connected. locking. That is to say, only through the mutual clamping of the first clamping portion 610 and the second clamping portion 620, the first supporting arm 100, the second supporting arm 200, and the clamping member 400 can be locked to each other, and the structure is simple, and A reliable lock can be achieved.
  • the first rod portion 100B is in a bent shape.
  • the first rod portion 100B in the first arm 100 starts from the first connecting portion 100A, first extends diagonally upward, and then extends along the axis parallel to the handle 300 Extend in the direction of the direction to make the space enclosed between the first arm 100 and the handle 300 larger.
  • the mobile phone When the mobile phone is installed on the pan-tilt, it can provide a larger space for the mobile phone to move.
  • the first connecting part 100A and the first rod part 100B in the first arm 100 are fixedly connected, and the clamping part is rotatably connected to the end of the first rod part 100B away from the first connecting part 100A.
  • the first arm The shape of the arm 100 remains unchanged, and the second arm 200 and the clamping member 400 rotate around the M position toward the handle 300 to achieve folding.
  • the pan/tilt is folded, it is folded from the state shown in FIG. 11 to the state shown in FIG. 14.
  • the third driving member 530A drives the clamping member 400 to rotate 90°
  • the second driving member 520A drives the second rod part 200B to rotate 90°, and then manually rotate the second arm 200 and the clamping member 400 around M Turning toward the handle 300 realizes folding.
  • the first clamping portion 610 and the second clamping portion 620 realize clamping.
  • FIG. 13 is a perspective view of the pan-tilt shown in FIG. 11 from another perspective.
  • a third clamping portion 630 is provided on the handle 300, and the third clamping portion 630 is A protrusion provided on the handle 300, the second holding portion 620 is provided with a card slot 620C, when the handle 300 and the first connecting portion 100A of the first arm 100 are relatively rotated, the third holding portion 630 can be screwed into In the groove 620C of the second clamping portion 620, after the convex-shaped third clamping portion 630 is clamped with the clamping slot 620C, the rotation of the handle 300 relative to the first arm 100 is locked.
  • the card slot 620C has an opening 620D and a stop portion 620E.
  • the third clamping portion 630 can enter through the opening 620D In the card slot 620C of the second holding part 620, when the rotation continues, the third holding part 630 can abut the stop part 620E of the card slot 620C, so the rotation of the handle 300 and the first connecting part 100A is stopped .
  • the card slot 620C is also provided with an inner concave portion 620F
  • the third clamping portion 630 is also provided with an outer convex portion 630A.
  • the handle 300 is rotated to enable the third clamping portion 630 and the second clamping portion 620 to achieve clamping, and finally the folded state shown in FIG. 14 is obtained. In this state, the freedom of movement of each part of the pan/tilt head is restricted.
  • a locking member 700 is provided at the rotational connection of the first arm 100 and the second arm 200.
  • the locking member 700 can be a threaded member.
  • the locking member 700 can be used to achieve The posture of the first arm 100 and the second arm 200 are fixed. After the pan/tilt is folded, the locking member 700 can further fix the postures of the first arm 100 and the second arm 200.
  • FIG. 15 is a schematic diagram of the three-dimensional structure of the pan-tilt in the second embodiment of the application;
  • FIG. 16 is a schematic diagram of the structure of the pan-tilt shown in FIG. 15 from another perspective.
  • the pan-tilt in this embodiment can also be used as a mobile phone holder.
  • the pan/tilt structures shown in FIGS. 15 and 16 are similar to the pan/tilt structures shown in FIGS. 11-14.
  • the pan-tilt includes a handle 300, a first arm 100, a second arm 200, and a clamping member 400 connected in sequence, and the clamping member 400 can clamp a mobile phone.
  • One end of the first arm 100 is connected to the handle 300, and the other end of the first arm 100 is connected to the second arm 200.
  • the first arm 100 includes a first connecting part 100A and a first rod part 100B.
  • first connecting part 100A and the first rod part 100B can be fixedly connected, the first connecting part 100A is connected to the handle 300, and the first rod The part 100B is connected to the second support arm 200.
  • the second arm 200 includes a second connecting part 200A and a second rod part 200B.
  • the second connecting part 200A and the second rod part 200B are rotatably connected.
  • the second rod part 200B is rotatably connected to the second shaft 12A.
  • the first arm 100 is hinged to the second arm 200.
  • the end of the first rod part 100B away from the first connecting part 100A is hinged to the second connecting part 200A, and the hinge position is N in 6, the second arm
  • the first support arm 200 can rotate around the N position relative to the first support arm 100, so that the second support arm 200 can move toward the handle 300 to complete the folding of the pan/tilt head.
  • the gimbal shown in Figs. 15 and 16 has at least the following differences.
  • the power of the gimbal can be turned off by mechanical locking.
  • the relative positions of the first arm 100, the second arm 200, the clamping member 400 and the handle 300 are locked.
  • the pan/tilt includes a first locking component 810 for locking the clamping member 400 and the first arm 100, a second locking component 820 for locking the second connecting portion 200A and the second lever portion 200B, and The third locking component 830 for locking the first rod 100B and the handle 300.
  • first locking component 810, the second locking component 820, and the third locking component 830 lock the pan/tilt, so that the clamping member 400 and the first arm 100 Relatively fixed, the second connecting portion 200A and the second rod portion 200B are relatively fixed, and the first rod portion 100B and the handle 300 are relatively fixed.
  • the first locking assembly 810 includes a first locking pin 810A and a first locking seat 810B that can be locked to each other.
  • the first locking pin 810A is provided on the clamping member 400
  • the first locking seat 810B is provided on the second rod portion 200B of the second arm 200.
  • the clamping member 400 can rotate relative to the second rod portion 200B, so that the first lock pin 810A moves into the first lock base 810B and is locked with the first lock base 810B.
  • the first lock base 810B has a groove, and when the first lock pin 810A slides into the groove, the first lock pin 810A and the first lock base 810B are locked together.
  • the first lock pin 810A may be disposed on the second rod portion 200B of the second arm 200; the first lock seat 810B may be disposed on the clamping member 400.
  • the second locking assembly 820 includes a second locking pin 820A and a second locking seat 820B that can be locked to each other.
  • the second lock pin 820A is provided on the second rod portion 200B
  • the second lock base 820B is provided on the second connecting portion 200A.
  • the second rod portion 200B can rotate relative to the second connecting portion 200A, so that the first lock pin 810A can move into the second lock base 820B and be locked with the second lock base 820B.
  • the second lock base 820B has a groove, and when the second lock pin 820A slides into the groove, the second lock pin 820A and the second lock base 820B are locked together.
  • the second lock pin 820A may be provided on the second connecting portion 200A; the second lock base 820B may be provided on the second rod portion 200B.
  • the third locking assembly 830 includes a third locking pin 830A and a third locking seat 830B that can be locked to each other.
  • the third lock pin 830A is provided on the handle 300
  • the third lock seat 830B is provided on the first connecting portion 100A of the first arm 100.
  • the handle 300 can rotate relative to the first arm 100, so that the third lock pin 830A moves into the third lock base 830B and is locked with the third lock base 830B.
  • the third lock base 830B has a groove, and when the third lock pin 830A slides into the groove, the third lock pin 830A and the third lock base 830B are locked together.
  • the third lock pin 830A may be provided on the first connecting portion 100A of the first arm 100; the third lock seat 830B may be provided on the handle 300.

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  • General Engineering & Computer Science (AREA)
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  • General Physics & Mathematics (AREA)
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  • Accessories Of Cameras (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Purses, Travelling Bags, Baskets, Or Suitcases (AREA)

Abstract

一种云台，包括依次连接的手柄(300)、第一支臂(100)、第二支臂(200)和夹持件(400)，所述第二支臂(200)包括第二连接部(210)和第二杆部(211)；还包括：第一驱动件(11)，连接所述手柄(300)和所述第一支臂(100)，以驱动所述第一支臂(100)相对于所述手柄(300)旋转；第二驱动件(12)，连接所述第二支臂(200)中的第二连接部(210)和第二杆部(211)，以驱动所述第二杆部(211)相对于所述第二连接部(210)旋转；以及第三驱动件(13)，连接所述第二杆部(211)和所述夹持件(400)，以驱动所述夹持件(400)相对于所述第二杆部(211)旋转；其中，所述第二连接部(210)转动连接于所述第一支臂(100)，以使所述云台可折叠或展开，所述云台折叠后，沿着所述手柄(300)的轴线方向，所述第二驱动件(12)、第三驱动件(13)和第一驱动件(11)依次排布。

Description

云台
本申请要求于2019年08月30提交中国专利局、申请号为201910817431X、发明名称为“可折叠式云台”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及云台技术领域，特别是涉及一种云台。
背景技术
随着手机功能的强大，越来越多的人通过手机进行拍摄。
在手持手机进行拍摄时，由于手的抖动会导致手机拍摄的画面抖动，降低了拍摄质量。在此基础上，出现了云台，云台是一种手机的载体，类似于自拍杆，通过夹持手机来工作。云台在工作时，会产生一个相对于手移动的相反的运动，从而保证手机在拍摄时相对稳定，拍摄得到的画面稳定而不抖动。
但传统的云台尺寸较大，不方便携带，如何提高云台的便携性成为本领域中亟需解决的技术问题。
发明内容
基于此，有必要针对上述技术问题，提供一种云台。
一种云台，包括依次连接的手柄、第一支臂、第二支臂和夹持件，所述第二支臂包括第二连接部和第二杆部；还包括：
第一驱动件，连接所述手柄和所述第一支臂，以驱动所述第一支臂相对于所述手柄旋转；
第二驱动件，连接所述第二支臂中的第二连接部和第二杆部，以驱动所述第二杆部相对于所述第二连接部旋转；以及
第三驱动件，连接所述第二杆部和所述夹持件，以驱动所述夹持件相对于所述第二杆部旋转；
其中，所述第二连接部转动连接于所述第一支臂，以使所述云台可折叠或展开，所述云台折叠后，沿着所述手柄的轴线方向，所述第二驱动件、第三驱动件和第一驱动件依次排布。
本发明的一个或多个实施例的细节在下面的附图和描述中提出。本发明的其他特征、目的和优点将从说明书、附图以及权力要求书变得明显。
附图说明
图1为本申请的第一个实施例中的云台折叠后的正视图；
图2为图1中的云台的爆炸图；
图3为图1中的云台的立体图；
图4为图1中的云台展开的结构示意图；
图5为本申请的第二个实施例中的云台的爆炸图；
图6为图5中的云台展开后的示意图；
图7为图5中的云台折叠后的结构示意图；
图8为图5中的云台包含的夹持件的爆炸图；
图9为本申请的第三个实施例中的云台展开后的立体图；
图10为图9中的云台折叠后的立体图；
图11为本申请的第四个实施例中的云台的立体图；
图12为图11所示的云台的正视图；
图13为图11所示云台另一个视角的立体图；
图14为图11所示的云台折叠后的立体图；
图15为本申请的第五个实施例中的云台的立体结构示意图；
图16为图15所示云台的另一个视角的结构示意图。
附图标记：a、第一转轴；b、第二转轴；c、第三转轴；11、第一驱动件；12、第二驱动件；13、第三驱动件；11A、第一轴；12A、第二轴；13A、第三轴；14、螺纹件；100、第一支臂；100A、第一连接部；100B、第一杆部；110、第一连接部；111、第一杆部；200、第二支臂；200A、第二连接部；200B、第二杆部；210、第二连接部；210A、铰接部；210B、通孔；210C、凸起；211、第二杆部；211A、第一端面；211B、第二端面；300、手柄；400、夹持件；410、第一卡槽；410A、第一夹指；420、第二卡槽；420A、第二夹指；430、支撑座；440、第一活动座；450、第二活动座；460、弹性件；470、夹槽；510、第一卡持部；520、第二卡持部；510A、第一驱动件；520A、第二驱动件；530A、第三驱动件；610、第一卡持部；610A、第一槽面；610B、第二槽面；620、第二卡持部；620A、第一侧壁；620B、第二侧壁；620C、卡槽；620D、开口；620E、止挡部；620F、内凹部；630、第三卡持部；630A、外凸部；700、锁紧件；810、第一锁持组件；810A、第一锁销；810B、第一锁座；820、第二锁持组件；820A、第二锁销；820B、第二锁座；830、第三锁持组件；830A、第三锁销；830B、第三锁座。
具体实施方式
为了便于理解本发明，下面参照相关附图对本发明进行更全面的描述。附图中给出了本发明较佳实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使本发明公开内容的理解更加透彻全面。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接 到另一个元件或者可能同时存在居中元件。相反，当元件被称为“直接在”另一元件“上”时，不存在中间元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
图1为第一个实施例中的云台折叠后的正视图，图2为图1中的云台的爆炸图；图3为图1所示的云台的立体图。
如图1-图3所示，云台包括手柄300。在一个使用场景中，手柄300可以作为握持部，即人手持手柄300来握持云台。在另一个使用场景中，手柄300可以通过一个支撑底座支撑，通过支撑底座将云台支撑，底座可以放置在车上等需要稳定拍摄环境的场所。
云台可以夹持手机，云台包括三个驱动件，即第一驱动件11、第二驱动件12和第三驱动件13，当云台展开后，这三个驱动件在立体空间内排布，从而使得手机可以在三维空间内运动，例如手握持的手柄300发生偏移时，云台内的传感器能够感知该偏移角度，进而通过三个驱动件在三维空间内产生一个纠正运动，最终保持安装在云台上的手机能够在一个相对稳定的状态下进行拍摄。
如图1-图3所示，云台包括第一支臂100和第二支臂200，第一支臂100的一端连接手柄300，第一支臂100的另一端连接第二支臂200，具体地，第一支臂100铰接于第二支臂200，如图3所示，铰接轴的轴线为m，以使第二支臂200能够绕铰接轴m转动，进而朝向手柄300的方向折叠。
在其中一个实施例中，如图1和图2所示，第一支臂100包括相互固定连接的第一连接部110和第一杆部111。手柄300可以为长条状，手柄300也可以为圆柱体。如图1所示，第一驱动件11的转动轴为第一转轴a，第二驱动件12的转动轴为第二转轴b，第三驱动件13的转动轴为第三转轴c，在一个实施例中，当云台折叠后，第一转轴a、第二转轴b和第三转轴c均在同一个平面内。第一连接部110绕第一转轴a转动连接于手柄300。
如图1和图2所示，第二支臂200包括可拆卸连接的第二连接部210和第二杆部211，且第二连接部210和第二杆部211转动连接。如图1所示，第二连接部210和第二杆部211绕第二转轴b转动连接。结合图3，第二连接部210绕铰接轴m转动连接于第一杆部111的远离第一连接部110的一端。
如图1-图3所示，云台还包括夹持件400，夹持件400用于夹持手机等拍摄设备。夹持件400转动连接于第二杆部211，如图1所示，夹持件400绕第三转轴c转动连接于第二杆部211。
图4为图1所示的云台展开的结构示意图，展开的过程为，手动使第二支臂200绕铰接轴m相对于第一支臂100旋转，然后打开云台的开关k，云台开始自动完成后续的展开过程，结合图1和图4，第一驱动件11驱动第一支臂100相对于手柄300绕第一转轴a转动，第二驱动件12驱动第二杆部211相对于第二连接部210绕第二转轴b转动，第三驱动件13驱动夹持件400相对于第二杆部211绕第三转轴c转动。折叠时，如图1和图4所示，关闭云台开关k，云台的第一驱动件11、第二驱动件12和第三驱动件13工作，完成上述的反向步骤；然后手动将第二支臂200绕铰接轴m相对于第一支臂100旋转，以使夹持件400抵触在手柄300或第一连接部110上。折叠时，第二支臂200和夹持件400作为整体朝向手柄300运动。
如图1所示，折叠后的最终状态为，沿着手柄300轴线的方向(图1中的竖直方向)，依次为第二驱动件12、第三驱动件13和第一驱动件11，例如，折叠后，沿着竖直方向，第三驱动件13位于第二驱动件12和第一驱动件11之间。本申请中，折叠后，云台可以折叠的部分收容的位置大致沿着手柄300的轴向方向，即与云台展开的状态相比，折叠后，云台的纵向尺寸变小，且云台的周向尺寸略微增大，或者云台的周向尺寸不变，或者云台的周向尺寸缩小，进而方便将云台插入口袋等狭窄的空间进行收纳与携带，大大方便了云台的携带。
具体如图1所示，折叠后，夹持件400相对于第一转轴a倾斜设置。第一杆部111连接在第一连接部110周侧，第一杆部111也可以设置在第一连接部110偏离中心的位置。因此，折叠后，夹持件400大致的收容位置是在手柄300和第一杆部111合围区域，因此，夹持件400没有大面积的贴靠在手柄300周侧，使得折叠后，云台的周向体积没有明显增大，整体上呈现为细长状，便于直接插入口袋中，携带方便。
对比图1和图4，云台折叠后，第一转轴a和第二转轴b的相对位置关系发生变化，第二转轴b和第三转轴c的相对位置关系不变。具体地，如图1所示，云台折叠后，第二转轴b和第一转轴a大致平行，进一步地，为了使云台在手柄300的周向上的尺寸较小，控制第一转轴a和第二转轴b的间距在1厘米之内。应理解，本申请中的第二转轴b和第一转轴a大致平行具体可以指第二转轴b和第一转轴a的实际位置关系在误差允许的范围内平行，该误差范围例如可以为0°-5°。进一步地，第一转轴a和第二转轴b间距为0时，即第一转轴a和第二转轴b重合时最佳。
图5为本申请第二个实施例中的云台的爆炸图，其与第一个实施例的主要区别在于第一支臂100的形状。在图1所示的实施例中，第一支臂100中的第一杆部111自第一连接部110开始，首先斜向上延伸，然后沿着平行于手柄300轴向的方向延伸，以使第一支臂100与手柄300之间合围的空间较大，当云台上安装手机后，可以提供手机活动的更大的空间。如图5所示，第一支臂100中的第一杆部111自第一连接部110开始，直接沿着平行于手柄300轴的方向向上延伸，此时云台的周向空间更小，更便于收纳和携带。
图6为图5所示实施例中的云台展开后的示意图。如图4和图6所示，在两个实施例中的云台，云台在完全展开后，第一转轴a、第二转轴b和第三转轴c相互之间不平行，以使夹持件400相对于手柄300能够在三维空间转动。在其中一个实施例中，云台在完全展开后，第一转轴a和第二转轴b在空间上垂直，若第二转轴b和第三转轴c平移到同一个平面内时，第二转轴b和第三转轴c不垂直，两者的夹角为锐角或钝角，以使夹持的手机能够有较大的空间进行转动，尽量减少云台对手机活动产生干涉。
在其中一个实施例中，如图2和图5所示，第二连接部210上设置有外凸出的铰接部210A，铰接部210A上设置有通孔210B，第一杆部111上设置有凹槽，凹槽的两侧具有侧壁，铰接部210A设置在凹槽内，通过一个螺纹件14依次穿过其中一个侧壁、铰接部210A上的通孔210B并螺纹连接于另一个侧壁，当旋钮螺纹件14时，能够将两个侧壁相互拉紧靠近并挤压位于凹槽内的铰接部210A，从而实现对第一支臂100和第二支臂200的锁紧。为了使锁紧效果更好，在铰接部210A上设置有若干凸起210C，在凹槽的侧壁上设置有若干凹孔，凸起210C能够运动到凹孔内，当第二支臂200相对于第一支臂100转动时，凸起210C能够在不同的凹孔内转移，通过旋钮所述螺纹件14，能够使两个侧壁夹持所述铰接部210A，此时凸起210C容置在凹孔内，从而起到较好的放转效果。在其他实施例中，也可以在铰接部210A上设置凹孔，在侧壁上设置凸起210C。
在其中一个实施例中，如图1所示，第一驱动件11设置在手柄300上，第一驱动件11可以为电机，第一驱动件11的壳体固定在手柄300上，第一驱动件11的转轴可以沿第一转轴a方向延伸，第一连接部110固定连接于第一驱动件11的转轴。当然，在其中一个实施例中，第一驱动件11的壳体也可以固定于第一连接部110，第一驱动件11的转轴固定连接于手柄300。
在其中一个实施例中，第一支臂100包括第一连接部110和第一杆部111，第一连接部110可以为圆柱体，第一杆部111固定在第一连接部110的侧周，此时，第一杆部111偏移第一转轴a设置，以使第一杆部111和第一连接部110之间形成用于容置至少部分夹持件400和至少部分第二支臂200的空间，如图1所示，当云台折叠后，至少部分夹持件400和至少部分第二支臂200收容在该空间内，使得云台折叠后各个部件更加紧凑，减少云台的体积。在图1所示的实施例中，第一杆部111为弯折状，第一杆部111靠近第一连 接部110的一端靠近第一转轴a，第一杆部111远离第一连接部110的一端远离第一转轴a。当云台折叠后，夹持件400一端卡持手柄300、另一端与第一杆部111间隔设置，第一连接部110和第二杆部211之间具有更大的收容空间供夹持件400和第二支臂200收容，从而为夹持件400提供更多的收容空间。
在图5所示的实施例中，第一杆部111为长条状，第一杆部111的长度方向沿着第一转轴a的方向延伸。第一连接部110为圆柱体，圆柱体的中轴线方向为第一转轴a的延伸方向，第一杆部111的长度方向垂直于圆柱体的端面。
在图5所示的实施例中，手柄300和第一杆部111均为直杆状，且第一杆部111和手柄300的长度大致相同。
在其中一个实施例中，如图6所示，第一支臂100上设置有第一卡持部510，手柄300上设置有第二卡持部520，第一支臂100绕第一转轴a相对于手柄300转动至第一卡持部510抵持于第二卡持部520时，第一支臂100相对于手柄300的转动被锁止，这样就能够防止第一支臂100相对于手柄300无限制的转动。折叠后，第一卡持部510和第二卡持部520相互卡持，以使折叠后的云台结构更加稳定。
在其中一个实施例中，第一卡持部510为设置在第一连接部110上的凸起，第二卡持部520为设置在手柄300上的凹槽或凸起。在其中一个实施例中，第一卡持部510也可以为设置在第一连接部110上的凹槽。
在其中一个实施例中，如图1所示，第二驱动件12可以为电机，第二驱动件12的壳体固定在第二连接部210上，第二驱动件12的转轴可以沿第二转轴b方向延伸，第二驱动件12的转轴固定连接于第二杆部211，从而第二驱动件12能够驱动第二杆部211绕第二转轴b相对于第二连接部210转动。在其中一个实施例中，第二驱动件12的壳体也可以固定连接于第二杆部211，转轴固定连接于第二连接部210。
如图2所示，第二杆部211设置有第一端面211A和第二端面211B，第一端面211A和第二端面211B之间的夹角为锐角，结合图1，第二转轴b垂直于第一端面211A，第三转轴c垂直于第二端面211B。
如图1所示，第三驱动件13为电机，第三驱动件13的壳体可以固定连接于第二支臂200的第二杆部211，转轴固定连接于夹持件400。在其他实施例中，第三驱动件13的壳体固定连接于夹持件400，第三驱动件13的转轴固定连接于第二支臂200的第二杆部211。
如图6所示，夹持件400上设置有第一卡槽410，图7为图5中的云台折叠后的结构示意图，当云台折叠后，第一杆部111部分容置于第一卡槽410内，夹持件400的第一卡槽410的侧壁能够抵触第一杆部111，从而使夹持件400基本不会转动。具体地，如图6所示，第一卡槽410由夹持件400上的两个第一夹指410A间隔形成，当云台折叠后，两个第一夹指410A可以分别贴合在第一杆部111的两侧，此时，夹持件400相对于第二支臂200已经不能转动，使得折叠后的云台结构更加稳定。
如图6和图7所示，夹持件400上还设置有第二卡槽420，当云台折叠后，部分手柄300容置于第二卡槽420内，例如，手柄300的靠上的一部分容置在第二卡槽420内，由于设置了第一卡槽410和第二卡槽420，不但能够通过第一卡槽410与第一杆部111的配合，以及第二卡槽420与手柄300或第一连接部110的配合来限制夹持件400相对于第二支臂200的转动。此外，云台折叠后，第一杆部111部分容置在第一卡槽410内，手柄300或第一连接部110容置在第二卡槽420内，能够使夹持件400进一步贴近手柄300和第一支臂100，使得云台折叠后，各个部件更加紧凑，减小了折叠后云台的体积。
在其中一个实施例中，所述夹持件400上设置有第一卡扣，所述手柄300或所述第一连接部110上设置有第二卡扣，当所述云台折叠后，所述第一卡扣和所述第二卡扣能够扣合。通过第一卡扣和所述第二卡扣相扣合，也能够防止折叠后夹持件400转动。
如图6所示，第一卡槽410和第二卡槽420的形状不同。第一卡槽410的形状对应第 一杆部111的形状，第二卡槽420的形状对应手柄300的形状或第一连接部110的形状。例如，第一支臂100的横截面大致为矩形，第一卡槽410由若干平面的内壁合围成；手柄300和第一连接部110大致为圆柱形，第二卡槽420的内壁大致为弧形。
图8为图5中的夹持件400的爆炸图，如图8所示，夹持件400包括支撑座430、第一活动座440和第二活动座450，其中，第一活动座440和第二活动座450分别设置在支撑座430的两侧，且第一活动座440能靠近或远离支撑座430，第二活动座450也能靠近或远离支撑座430。夹持件400还包括多个弹性件460，第一活动座440通过两个弹性件460连接支撑座430，第二活动座450通过另外两个弹性件460连接支撑座430。使用时，向两侧拉开第二活动座450和第一活动座440，使第一活动座440和第二活动座450相互远离，将手机贴靠着支撑座430放置，通过弹性件460将第一活动座440和第二活动座450向中间拉，通过第一活动座440、第二活动座450和支撑座430共同固定手机。
如图8所示，第一活动座440包括两个第一夹指410A，两个第一夹指410A间隔设置，两个第一夹指410A之间形成第一卡槽410。第二活动座450包括两个第二夹指420A，两个第二夹指420A间隔设置，两个第二夹指420A之间形成第二卡槽420。当夹持手机时，通过两个第一夹指410A、两个第二夹指420A和支撑座430共同抵触在手机上，提高了夹持的牢固性。
如图8所示，支撑座430为平板状，以更好的抵靠手机，使手机稳定的固定。或者说，支撑座430至少用于抵靠手机的面为平面。
在其中一个实施例中，如图8所示，两个第一夹指410A和两个第二夹指420A相对的面上开设有夹槽470，当手机安装在夹持件400上时，手机刚好卡在夹槽470内，从而使手机稳定的夹持，手机不容易出现晃动。在该实施例中，手机可以不抵靠在支撑座430上。
在其中一个实施例中，如图7所示，当云台折叠后，两个第一夹指410A分别位于第一杆部111两侧，两个第二夹指420A均贴靠在手柄300上。此时支撑座430相对于第一转轴a是倾斜的，即支撑座430整体上与第一转轴a之间的夹角为锐角。支撑座430作为整体可以理解为，支撑座430沿长度方向的轴和宽度方向的轴平移并相交所在的平面与第一转轴a之间的夹角为锐角。
图9为第三个实施例中的云台展开后的立体图，图10为图9所示的云台折叠后的立体图。以下各个实施例中介绍如图9和图10所示的两折式的云台，该云台由图9所示的展开状态折叠至如图10所示的完全折叠状态时，需要两次折叠。
如图9所示，第一支臂100包括相互铰接的第一连接部110和第一杆部111，第一连接部110绕第一转轴a转动连接于手柄300，折叠后，如图10所示，通过螺纹件14A能够锁紧第一连接部110和第一杆部111。第二支臂200包括第二连接部210和第二杆部211，第二杆部211一端绕第二转轴b转动连接第二连接部210。第二连接部210铰接于第一杆部111的远离第一连接部110的一端，折叠后，通过螺纹件14能够锁紧第二连接部210和第一杆部111。
如图10所示，折叠后，第一支臂100的第一杆部111和第二支臂200收容于手柄300的周向的一侧。手柄300的周向可以理解为，若手柄300为圆柱体，圆柱体具有中轴线，实际上，第一转轴a可以为该中轴线，在若干平行于该中轴线的直线中，没有穿过手柄300的直线均可以称为位于手柄300周向一侧的直线。本实施例中的云台经过折叠后，沿着手柄300的中轴线的轴向的尺寸大大减小，便于收纳。
在其中一个实施例中，如图10所示，折叠后，第一支臂100的第一杆部111位于手柄300和第二支臂200之间。本实施例中，云台折叠后，各个组件之间布置的更加紧凑，所占的收纳空间小。
在其中一个实施例中，如图10所示，折叠后，第一转轴a、第二转轴b和第三转轴c共面。如图9所示，云台在展开使用时，第一转轴a、第二转轴b和第三转轴c是在立体 空间分布的，即三个转轴并没有分布在同一个平面内，此时，第一转轴a和第二转轴b可以在同一个平面且垂直设置。云台关机时，使第二杆部211绕第二转轴b相对于第二连接部210转动一定的角度，使得第三转轴c和第二转轴b共面，由于第一转轴a和第二转轴b可以在同一个平面且垂直设置，因此，三个转轴此时已经在同一个平面内了。由于三个转轴共面设置，使得折叠后的云台整体上为扁平的结构，所占的收纳空间小，便于携带和收纳。
在其中一个实施例中，如图10所示，折叠后，夹持件400一端抵持所述第一杆部111，所述夹持件400另一端为自由端。若折叠后夹持件400仍然可以随意转动，则不便于收纳，本实施例中，折叠后，通过夹持件400抵持与第一杆部111，一定程度上能防止折叠后夹持件400仍然能够随意转动。在其中一个实施例中，夹持件400上至少设置有第一卡槽410，当云台折叠后，第一杆部111部分容置于所述第一卡槽410内，可以通过第一卡槽410与第一杆部111的配合来更好的限制夹持部的转动。
图11为本申请的第四个实施例中的云台的立体图，云台包括手柄300。在一个使用场景中，手柄300可以作为握持部，即人手持手柄300来握持云台。在另一个使用场景中，手柄300可以通过一个支撑底座支撑，通过支撑底座将云台支撑，此时云台可以作为手机支架，底座可以放置在车上等需要稳定拍摄环境的场所。
图12为图11所示的云台的正视图，如图11和图12所示，云台包括依次连接的手柄300、第一支臂100、第二支臂200和夹持件400，夹持件400可以夹持手机。
如图12所示，第一支臂100的一端连接手柄300，第一支臂100的另一端连接第二支臂200。具体地，第一支臂100包括第一连接部100A和第一杆部100B，例如，第一连接部100A和第一杆部100B可以固定连接，第一连接部100A连接手柄300，第一杆部100B连接第二支臂200。
如图12所示，第二支臂200包括第二连接部200A和第二杆部200B，第二连接部200A和第二杆部200B转动连接，具体地，第二杆部200B绕第一轴12A转动连接于第二连接部200A。第一支臂100铰接于第二支臂200，具体地，第一杆部100B远离第一连接部100A的一端铰接于第二连接部200A，铰接位置为图12中的M处，第二支臂200能够相对第一支臂100绕M处转动，从而使第二支臂200朝向手柄300的方向运动，以完成云台的折叠，折叠后的状态参照图14，图14为图11所示的云台折叠后的立体图。
如图12所示，云台包括三个驱动件，即第一驱动件510A、第二驱动件520A和第三驱动件530A。第一驱动件510A连接手柄300和第一支臂100的第一连接部100A，以使第一支臂100能够沿手柄300的轴向旋转，例如手柄300的轴向可以为第一轴11A。第二驱动件520A连接第二支臂200的第二连接部200A和第二杆部200B，以使第二杆部200B能够相对于第二连接部200A绕第一轴12A转动。如图11和图12所示，第三驱动件530A连接第二杆部200B和夹持件400，以使夹持件400能够相对于第二杆部200B绕第三轴13A转动。当云台展开后，云台在某一个姿态时，第一轴11A和第一轴12A在空间上垂直，第三轴13A与第一轴12A夹角为锐角；当云台展开后，这三个驱动件在立体空间内排布，驱动件可以为电动机，三个电动机的驱动轴可以分别沿着第一轴11A、第一轴12A和第三轴13A方向延伸。如图12和图14所示，当云台折叠或展开后，三个轴的相对位置关系是变化的。本申请中的云台夹持手机时，主要依靠第一驱动件510A、第二驱动件520A和第三驱动件530A的相互配合进行角度微调，最终使得夹持件400上的手机保持稳定状态。
如图11和图14所示，本申请中的云台可以展开和折叠，展开时为云台的使用状态，折叠时为云台的存储状态。当云台展开时，需要手柄300、第一支臂100、第二支臂200和夹持件400之间能够相对活动，以通过微调手柄300、第一支臂100、第二支臂200和夹持件400的角度来使夹持件400上的手机保持稳定。折叠时，需要手柄300、第一支臂100、第二支臂200和夹持件400之间能够相对固定，以使折叠后的云台保持稳定的形态。
如图11所示，夹持件400上设置有第一卡持部610，第一连接部100A上设置有第二卡持部620。其中，第一卡持部610为槽体，第二卡持部620为凸块。如图14所示，当云台折叠后，第二卡持部620插入第一卡持部610内，从而实现了第一支臂100、第二支臂200和夹持件400相互锁定，以使第一支臂100、第二支臂200和夹持件400相互位置不能变动。具体地，如图12所示，作为槽体的第一卡持部610包括相对设置的第一槽面610A和第二槽面610B，作为凸块的第二卡持部620包括相对设置的第一侧壁620A和第二侧壁620B，第一卡持部610插入第二卡持部620内，且第一侧壁620A与第一槽面610A抵触，第二侧壁620B与第二槽面610B抵触。在其他实施例中，作为槽体的第一卡持部610还包括除了第一槽面610A和第二槽面610B的其他槽面；作为凸块的第二卡持部620还包括除了第一侧壁620A和第二侧壁620B的其他侧壁。
在其他实施例中，第一卡持部610也可以为凸块，第二卡持部620为槽体，也就是说，在该实施例中，第一卡持部610与第二卡持部620的形态互换。
如图14所示，当云台在折叠状态时，夹持件400相对手柄300的轴向倾斜设置，夹持件400的一端抵触第一支臂100的第一连接部100A，夹持件400的另一端与第一支臂100的第一杆部100B间隔设置。
在其他实施例中，当云台在折叠状态时，夹持件400相对手柄300的轴向倾斜设置，夹持件400的一端抵触第一支臂100的第一连接部100A，夹持件400的另一端也可以抵触第一支臂100的第一杆部100B。
上述实施例中，通过第一卡持部610和第二卡持部620的卡持连接，实现了云台在折叠状态时，第一支臂100、第二支臂200和夹持件400相互锁定。也就是说，仅仅通过第一卡持部610和第二卡持部620的相互卡持，就能够实现第一支臂100、第二支臂200和夹持件400相互锁定，结构简单，且能够实现可靠的锁定。
在其中一个实施例中，第一杆部100B呈弯折状，第一支臂100中的第一杆部100B自第一连接部100A开始，首先斜向上延伸，然后沿着平行于手柄300轴向的方向延伸，以使第一支臂100与手柄300之间合围的空间较大，当云台上安装手机后，可以提供手机活动的更大的空间。
第一支臂100中的第一连接部100A和第一杆部100B固定连接，夹持部转动连接于第一杆部100B远离第一连接部100A的一端，当云台折叠时，第一支臂100形状不变，第二支臂200和夹持件400绕M处朝向手柄300转动实现折叠。云台折叠时，即从图11所示的状态折叠成图14所示的状态。折叠的过程中，第三驱动件530A驱动夹持件400旋转90°，第二驱动件520A驱动第二杆部200B旋转90°，然后手动使第二支臂200和夹持件400绕M处朝向手柄300转动实现折叠。从而使第一卡持部610与第二卡持部620实现卡持。
在其中一个实施例中，图13为图11所示云台另一个视角的立体图，如图11和图13所示，手柄300上设置有第三卡持部630，第三卡持部630为设置在手柄300上的凸起，第二卡持部620上设置有卡槽620C，手柄300与第一支臂100的第一连接部100A相对旋转时，能够将第三卡持部630旋入第二卡持部620的卡槽620C内，呈凸起状的第三卡持部630与卡槽620C卡持后，手柄300相对于第一支臂100的转动就被锁定。
例如，如图13所示，卡槽620C具有开口620D和止挡部620E，当手柄300与第一支臂100的第一连接部100A相对旋转时，第三卡持部630能够从开口620D进入第二卡持部620的卡槽620C内，继续旋转时，第三卡持部630能够抵接卡槽620C的止挡部620E，因此，手柄300与第一连接部100A的旋转就被止挡。卡槽620C内还设置有内凹部620F，第三卡持部630还设置有外凸部630A，当第三卡持部630进入第二卡持部620的卡槽620C内时，外凸部630A与内凹部620F配合，从而实现了手柄300与第一支臂100的完全锁定。
进一步地，旋转手柄300，以使第三卡持部630与第二卡持部620实现卡持，最终就 得到图14所示的折叠状态。在该状态下，云台的各个零件的运动自由度均被限制。
如图11所示，第一支臂100与第二支臂200的转动连接处设置有锁紧件700，锁紧件700可以为螺纹件，当云台展开后，可以通过锁紧件700实现第一支臂100与第二支臂200姿态的固定。当云台折叠后，可以通过锁紧件700实现第一支臂100与第二支臂200姿态的进一步固定。
如图15所示，图15为本申请的第二个实施例中的云台的立体结构示意图；图16为图15所示云台的另一个视角的结构示意图。
如图15和图16所示，该实施例中的云台还可以作为手机支架使用。
图15和图16所示的云台结构与图11-图14所示的云台结构相似。如图15和图16所示，云台包括依次连接的手柄300、第一支臂100、第二支臂200和夹持件400，夹持件400可以夹持手机。第一支臂100的一端连接手柄300，第一支臂100的另一端连接第二支臂200。具体地，第一支臂100包括第一连接部100A和第一杆部100B，例如，第一连接部100A和第一杆部100B可以固定连接，第一连接部100A连接手柄300，第一杆部100B连接第二支臂200。第二支臂200包括第二连接部200A和第二杆部200B，第二连接部200A和第二杆部200B转动连接，具体地，第二杆部200B绕第一轴12A转动连接于第二连接部200A。第一支臂100铰接于第二支臂200，具体地，第一杆部100B远离第一连接部100A的一端铰接于第二连接部200A，铰接位置为6中的N处，第二支臂200能够相对第一支臂100绕N处转动，从而使第二支臂200朝向手柄300的方向运动，以完成云台的折叠。
图15和图16所示的云台相比于图11-图14所示的云台结构至少具有以下区别，云台作为手机支架使用时，可以关闭云台的电源，通过机械锁定的方式，实现第一支臂100、第二支臂200、夹持件400和手柄300的相对位置的锁定。将手柄300安装在三脚架等底座上，然后将底座放在桌面上，云台就能作为手机支架使用。
具体地，云台包括用于锁定夹持件400与第一支臂100的第一锁持组件810、用于锁定第二连接部200A和第二杆部200B的第二锁持组件820和用于锁定第一杆部100B与手柄300的第三锁持组件830。其中，云台在展开并夹持手机时，所述第一锁持组件810、第二锁持组件820和第三锁持组件830将云台锁定，使得夹持件400与第一支臂100相对固定，第二连接部200A和第二杆部200B相对固定，第一杆部100B与手柄300相对固定。
如图16所示，第一锁持组件810包括能够相互锁合的第一锁销810A和第一锁座810B。在图15和图16所示的实施例中，第一锁销810A设置在夹持件400上，第一锁座810B设置在第二支臂200的第二杆部200B上。夹持件400能够相对于第二杆部200B旋转，以使第一锁销810A运动至第一锁座810B内，并与第一锁座810B实现锁合。例如第一锁座810B具有槽部，第一锁销810A滑入槽部时，实现第一锁销810A与第一锁座810B的锁合。在其他实施例中，第一锁销810A可以设置在第二支臂200的第二杆部200B；第一锁座810B设置在夹持件400上。
如图15所示，第二锁持组件820包括能够相互锁合的第二锁销820A和第二锁座820B。在图15和图16所示的实施例中，第二锁销820A设置在第二杆部200B上，第二锁座820B设置在第二连接部200A上。第二杆部200B能够相对于第二连接部200A旋转，以使第一锁销810A运动至第二锁座820B内，并与第二锁座820B实现锁合。例如第二锁座820B具有槽部，第二锁销820A滑入槽部时，实现第二锁销820A与第二锁座820B的锁合。在其他实施例中，第二锁销820A可以设置在第二连接部200A上；第二锁座820B可以设置在第二杆部200B上。
如图15所示，第三锁持组件830包括能够相互锁合的第三锁销830A和第三锁座830B。在图15和图16所示的实施例中，第三锁销830A设置在手柄300上，第三锁座830B设置在第一支臂100的第一连接部100A上。手柄300能够相对于第一支臂100旋转，以使第 三锁销830A运动至第三锁座830B内，并与第三锁座830B实现锁合。例如第三锁座830B具有槽部，第三锁销830A滑入槽部时，实现第三锁销830A与第三锁座830B的锁合。在其他实施例中，第三锁销830A可以设置在第一支臂100的第一连接部100A上；第三锁座830B设置在手柄300上。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种云台，其特征在于，包括依次连接的手柄(300)、第一支臂(100)、第二支臂(200)和夹持件(400)，所述第二支臂(200)包括第二连接部(210)和第二杆部(211)；还包括：第一驱动件(11)，连接所述手柄(300)和所述第一支臂(100)，以驱动所述第一支臂(100)相对于所述手柄(300)旋转；
    第二驱动件(12)，连接所述第二支臂(200)中的第二连接部(210)和第二杆部(211)，以驱动所述第二杆部(211)相对于所述第二连接部(210)旋转；以及
    第三驱动件(13)，连接所述第二杆部(211)和所述夹持件(400)，以驱动所述夹持件(400)相对于所述第二杆部(211)旋转；
    其中，所述第二连接部(210)转动连接于所述第一支臂(100)，以使所述云台可折叠或展开，所述云台折叠后，沿着所述手柄(300)的轴线方向，所述第二驱动件(12)、第三驱动件(13)和第一驱动件(11)依次排布。
  2. 根据权利要求1所述的云台，其特征在于，所述第一支臂(100)包括第一连接部(110)和第一杆部(111)，所述第一连接部(110)连接所述手柄(300)，所述第一杆部(111)连接所述第二连接部(210)。
  3. 根据权利要求2所述的云台，其特征在于，所述第二连接部(210)转动连接于所述第一杆部(111)远离所述第一连接部(110)的一端。
  4. 根据权利要求2所述的云台，其特征在于，所述第一连接部(110)和所述第一杆部(111)固定连接。
  5. 根据权利要求2所述的云台，其特征在于，所述第一杆部(111)连接于所述第一连接部(110)周侧，以使所述第一杆部(111)与所述第一连接部(110)之间形成用于容置至少部分夹持件(400)和至少部分第二支臂(200)的空间。
  6. 根据权利要求5所述的云台，其特征在于，所述第一杆部(111)为弯折杆，所述云台折叠后，所述夹持件(400)能够卡持所述手柄(300)，所述夹持件(400)与所述第一杆部(111)间隔设置；
    或所述第一杆部(111)为直杆，所述第一杆部(111)沿着所述手柄(300)的轴向延伸，所述云台折叠后，所述夹持件(400)能够卡持所述第一杆部(111)和所述手柄(300)。
  7. 根据权利要求1所述的云台，其特征在于，所述第一支臂(100)上设置有第一卡持部(510)，所述手柄(300)上设置有第二卡持部(520)，所述第一支臂(100)相对于所述手柄(300)转动至所述第一卡持部(510)抵持于所述第二卡持部(520)时，所述第一支臂(100)相对于所述手柄(300)的转动被锁止。
  8. 根据权利要求1所述的云台，其特征在于，云台折叠后，所述夹持件(400)的一部分收容于所述第一支臂(100)和所述手柄(300)合围的空间内周侧。
  9. 根据权利要求2所述的云台，其特征在于，所述第二连接部(210)上设置有铰接部(210A)，所述铰接部(210A)上设置有通孔(210B)，所述第一杆部(111)上设置有凹槽，所述凹槽的两侧均设置有侧壁，所述铰接部(210A)设置在所述凹槽内；还包括螺纹件(14)，所述螺纹件(14)穿过其中一个侧壁和所述铰接部(210A)上的通孔(210B)并螺纹连接另一个侧壁，通过旋钮所述螺纹件(14)，能够使两个侧壁夹持所述铰接部(210A)。
  10. 根据权利要求9所述的云台，其特征在于，所述铰接部(210A)上设置有凸起(210C)或凹孔中的一者，所述凹槽的侧壁上设置有所述凸起(210C)或所述凹孔中的另一者，所述凸起(210C)能够容置于所述凹孔中。
  11. 根据权利要求1所述的云台，其特征在于，所述夹持件(400)上设置有第一卡持部(610)，所述第一支臂(100)上设置有第二卡持部(620)，所述云台折叠后，所述第一卡持部(610)与所述第二卡持部(620)卡持配合，以使所述第一支臂(100)、第二支臂(200)和夹 持件(400)相互锁定并保持固定的相对位置。
  12. 根据权利要求11所述的云台，其特征在于，所述第一卡持部(610)为槽体，所述第二卡持部(620)为凸块，所述凸块能够插入所述槽体内。
  13. 根据权利要求12所述的云台，其特征在于，所述第一卡持部(610)至少包括第一侧壁(620A)和第二侧壁(620B)，所述第二卡持部(620)至少包括第一槽面(610A)和第二槽面(610B)，所述第一卡持部(610)与所述第二卡持部(620)卡持配合时，所述第一侧壁(620A)与所述第一槽面(610A)抵触，所述第二侧壁(620B)与所述第二槽面(610B)抵触。
  14. 根据权利要求11所述的云台，其特征在于，所述手柄(300)上设置有第三卡持部(630)，所述第三卡持部(630)为凸起，所述第二卡持部(620)上设置有卡槽(620C)，所述手柄(300)与所述第一支臂(100)相对旋转时，所述第三卡持部(630)能够卡入所述第二卡持部(620)，以使所述手柄(300)与所述第一支臂(100)相互锁定。
  15. 根据权利要求11所述的云台，其特征在于，所述第一支臂(100)包括相互固定连接的第一连接部(100A)和第一杆部(100B)，所述第一连接部(100A)连接所述手柄(300)，所述第一杆部(100B)连接所述第二支臂(200)。
  16. 根据权利要求15所述的云台，其特征在于，所述第二支臂(200)转动连接于所述第一杆部(100B)远离所述第一连接部(100A)的一端。
  17. 根据权利要求1所述的云台，其特征在于，所述云台还包括：
    第一锁持组件(810)，用于云台在展开状态时锁定所述夹持件(400)与所述第一支臂(100)；第二锁持组件(820)，用于云台在展开状态时锁定所述第二连接部(200A)和所述第二杆部(200B)；以及
    第三锁持组件(830)，用于云台在展开状态时锁定所述第一支臂(100)与所述手柄(300)；其中，所述云台在展开状态时，通过所述第一锁持组件(810)、第二锁持组件(820)和第三锁持组件(830)使手柄(300)、第一支臂(100)、第二连接部(200A)和第二杆部(200B)和夹持件(400)相对固定。
  18. 根据权利要求17所述的云台，其特征在于，所述第一锁持组件(810)包括能够相互锁合的第一锁销(810A)和第一锁座(810B)，所述第二锁持组件(820)包括能够相互锁合的第二锁销(820A)和第二锁座(820B)，所述第三锁持组件(830)包括能够相互锁合的第三锁销(830A)和第三锁座(830B)。
  19. 根据权利要求18所述的云台，其特征在于，所述第一锁销(810A)设置在所述夹持件(400)和所述第二杆部(200B)之一上，所述第一锁座(810B)设置在所述夹持件(400)和所述第二杆部(200B)之另一上。
  20. 根据权利要求18所述的云台，其特征在于，所述第二锁销(820A)设置在所述第二杆部(200B)和所述第二连接部(200A)之一上，所述第二锁座(820B)设置在所述第二杆部(200B)和所述第二连接部(200A)之另一上。
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