WO2022041009A1 - 云台 - Google Patents

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Publication number
WO2022041009A1
WO2022041009A1 PCT/CN2020/111522 CN2020111522W WO2022041009A1 WO 2022041009 A1 WO2022041009 A1 WO 2022041009A1 CN 2020111522 W CN2020111522 W CN 2020111522W WO 2022041009 A1 WO2022041009 A1 WO 2022041009A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotating part
axis
carrier
shaft assembly
circuit board
Prior art date
Application number
PCT/CN2020/111522
Other languages
English (en)
French (fr)
Inventor
周仕强
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.)
Filing date
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 CN202080026065.7A priority Critical patent/CN113692512A/zh
Priority to PCT/CN2020/111522 priority patent/WO2022041009A1/zh
Publication of WO2022041009A1 publication Critical patent/WO2022041009A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • 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
    • 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
    • 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

Definitions

  • the present application relates to the technical field of auxiliary equipment for image shooting, and in particular, to a pan/tilt head.
  • the PTZ as an auxiliary device for image shooting, is widely used to carry shooting devices such as mobile phones.
  • the field of view of the camera is getting larger and larger, and even high FOV (field of view) photography quality is pursued.
  • the FOV parameter of the camera represents the ability of the camera to capture the largest field of view.
  • the structure of the existing gimbal is not reasonable enough, so that part of the shell of the gimbal will be captured in the picture by the camera with high FOV, that is, the problem of the gimbal entering the picture, thus affecting the picture shooting effect of the shooting device.
  • the purpose of the present application is to provide a pan/tilt head.
  • Another object of the present application is to provide another pan/tilt.
  • a pan/tilt head comprising: a carrier for carrying a photographing device; a first shaft assembly, the first shaft assembly comprising a first rotating part and a second rotating part, the first rotating part is fixedly connected with the bearing and used for The carrier is driven to rotate around the first axis relative to the second rotating part, and the first rotating part is sandwiched between the carrier and the second rotating part; wherein the second rotating part is far away from the first rotating part
  • One end has an avoidance part for making the first shaft assembly located outside the field of view of the photographing device when the carrier carries the photographing device; the avoidance part has an avoidance surface arranged obliquely with respect to the first axis, and In a direction from the carrier to the second rotating part, the avoidance surface extends obliquely in a direction close to the first axis.
  • a pan/tilt head comprising: a carrier for carrying a photographing device; a first shaft assembly, the first shaft assembly including a motor part, the motor part including a rotor, a stator and a circuit board, one of the stator and the rotor and fixedly connected with the carrier, for driving the carrier to rotate around the first axis relative to the other one of the stator and the rotor; a hall assembly, the hall assembly includes a magnetic member and is matched with the magnetic member The Hall sensor is set on the circuit board; one of the magnetic member and the circuit board is fixedly connected with the stator, the other is fixedly connected with the rotor, and the circuit board and the magnetic member are along the rotor radial arrangement.
  • the problem of the pan/tilt entering the picture can be improved, and the picture shooting effect of the photographing device can be improved.
  • Fig. 1 is the schematic diagram of the pan-tilt into the picture when the pan-tilt and the photographing equipment cooperate in the related art
  • FIG. 3 is a partial structural schematic diagram of a pan/tilt and a photographing device provided by an embodiment of the present application
  • FIG. 4 is a partial structural schematic diagram of a pan/tilt and a photographing device provided by an embodiment of the present application
  • FIG. 5 is a schematic diagram of a partial internal structure of a PTZ provided by an embodiment of the present application.
  • FIG. 7 is a schematic exploded structural diagram of another perspective of a partial structure of a pan/tilt head provided by an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a viewing angle of a pan/tilt head provided by an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of another viewing angle of a pan/tilt head provided by an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of another perspective of a pan/tilt head provided by an embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of an escape portion provided by an embodiment of the present application.
  • FIG. 13 is a schematic structural diagram of an escape portion provided by an embodiment of the present application.
  • 15 is a schematic structural diagram of an escape portion provided by an embodiment of the present application.
  • 16 is a schematic structural diagram of an escape portion provided by an embodiment of the present application.
  • L1 is the first axis
  • L2 is the second axis
  • L3 is the third axis
  • L4 is the central axis of the maximum angle of view.
  • FIG. 1 illustrates a schematic diagram of a gimbal entering a painting when the gimbal cooperates with a photographing device in the related art.
  • the pan/tilt head includes a carrier 1', a first rotating part 21', a second rotating part 22' and a connecting arm 23'.
  • the carrier 1' is used to carry the photographing device 4'.
  • the carrier 1', the first rotating part 21', and the second rotating part 22' are stacked and arranged in the front-rear direction.
  • the rear end of the second rotating part 22' partially enters the field of view of the photographing device 4', that is, the field of view of the image-in part 221' and the camera 41' overlap, resulting in the occurrence of the pan/tilt in the image.
  • the problem affects the shooting effect of the picture.
  • the shape of the second rotating part 22' is improved so that the rear end of the second rotating part 22' avoids the field of view of the photographing device 4', so that the pan/tilt head can be moved in the front-rear direction.
  • the stack thickness remains the same, solve the problem of the gimbal entering the picture.
  • the rear end of the second rotating portion 22' can also be made to avoid the field of view of the photographing device 4', thereby solving the problem of the pan/tilt being drawn into the picture.
  • pan/tilt provided by some embodiments of the present application with reference to FIG. 3 to FIG. 16 .
  • a pan/tilt head provided by an embodiment of the first aspect of the present application includes: a carrier 1 and a first shaft assembly 2 .
  • the carrier 1 is used to carry the photographing device 4 .
  • the first shaft assembly 2 includes a first rotating part 21 and a second rotating part 22 .
  • the first rotating part 21 is fixedly connected to the carrier 1 and is used to drive the carrier 1 to rotate relative to the second rotating part 22 around the first axis L1 .
  • the first rotating part 21 is sandwiched between the carrier 1 and the second rotating part 22 .
  • the end of the second rotating part 22 away from the first rotating part 21 has an avoidance part 221 , which is used to keep the first shaft assembly 2 outside the field of view of the photographing device 4 when the carrier 1 carries the photographing device 4 .
  • the avoidance portion 221 has an avoidance surface inclined relative to the first axis L1 , and along the direction from the carrier 1 to the second rotating portion 22 , the avoidance surface extends obliquely toward the first axis L1 .
  • the pan/tilt provided by the embodiment of the first aspect of the present application optimizes and improves the shape of the pan/tilt, and avoids the field of view of the photographing device 4 through the setting of the avoidance portion 221 and the avoidance surface 222, thereby improving the ability of the pan/tilt to enter the picture.
  • the problem is to improve the picture shooting effect of the shooting device 4 .
  • the pan/tilt head includes a carrier 1 and a first shaft assembly 2 .
  • the carrier 1 cooperates with the photographing device 4 , and generally realizes the carrying of the photographing device 4 by the pan/tilt by means of clamping, fixing, magnetic attraction, or the like.
  • the first rotating part 21 of the first shaft assembly 2 is connected to the bearing member 1, and is used to drive the bearing member 1 to rotate relative to the second rotating part 22 around the first axis L1 (for example, a roll axis, or a Roll axis), so that the bearing member 1 is rotated
  • the component 1 can drive the photographing device 4 to rotate synchronously relative to the second rotating part 22 .
  • the photographing device 4 In actual use, the photographing device 4 generally needs to be leveled when fixed on the pan/tilt. Therefore, the fixed first axis L1 is generally located near the geometric center of the photographing device 4 and is staggered by a certain distance from the camera 41 of the photographing device 4 .
  • the direction from the carrier 1 to the second rotating part 22 is defined as the direction from front to back, then the first rotating part 21 and the second rotating part 22 are arranged in layers from front to back, and are located at the oblique rear side of the camera 41 , As shown in Figure 3.
  • the maximum angle of view of the photographing device 4 is tapered, the central axis L4 of the maximum angle of view is parallel to the first axis L1, and the boundary of the maximum angle of view gradually extends outward along the front-to-back direction, namely: It extends obliquely in a direction away from the central axis L4 of the maximum angle of view.
  • the rear end of the second rotating part 22 that is, the end part of the second rotating part 22 away from the first rotating part 21, is more likely to be captured by the camera 41 in the picture, resulting in the problem of entering the picture, as shown in FIG. 1 shown.
  • the shape of the rear end of the second rotating part 22 is improved.
  • the avoidance part 221 the maximum angle of view of the camera 41 is avoided, that is, the field of view of the photographing device 4 is avoided, so that the cloud can be avoided.
  • the first shaft assembly 2 can be located outside the field of view of the photographing device 4 , as shown in FIG. 3 , so as to avoid the problem of entering the picture.
  • the avoidance portion 221 has an avoidance surface 222 , since the avoidance surface 222 extends obliquely along the front-to-rear direction toward the direction close to the first axis L1 , that is, away from the center axis L4 of the maximum angle of view of the camera 41 .
  • the direction extends obliquely, so that the boundary of the maximum field of view of the camera 41 can be avoided, so that the problem of the gimbal entering the picture can be solved under the condition that the stacking thickness in the front and rear directions of the gimbal remains unchanged, thereby improving the shooting effect of the picture.
  • the field of view of the photographing device 4 is determined by the maximum field of view.
  • the maximum field angle of the photographing device 4 refers to the field angle of the camera 41 with the largest FOV parameter among the multiple cameras 41 .
  • the maximum field of view of the photographing device 4 refers to the field of view of the camera 41 .
  • the second rotating part 22 has a side wall 225, as shown in FIG. 4 .
  • the edge of the avoidance surface 222 close to the carrier 1 is in contact with the edge of the side wall 225 .
  • the avoidance surface 222 is a curved surface, and the curved surface is formed by rotating a line around the first axis L1 by a predetermined angle.
  • the preset angle is determined according to the angle range that the photographing device 4 can rotate relative to the second rotating part 22 when the gimbal is in use.
  • the plane defining the first axis L1 and the central axis L4 of the maximum angle of view is the reference plane.
  • there are two limit positions for the rotation of the photographing device 4 relative to the second rotating part 22 there are two limit positions for the rotation of the photographing device 4 relative to the second rotating part 22 , and the two limit positions may be determined by actual needs or by limit structures.
  • the reference plane also rotates around the first axis L1 accordingly.
  • the angle between the reference planes at the two extreme positions is not less than the preset angle, which can ensure that when the gimbal carries the shooting device 4, no matter the shooting device 4 is rotated to any required angle, it can avoid the occurrence of the gimbal entering the picture. question.
  • the photographing device 4 can rotate with the carrier 1 relative to the second rotating part 22 around the first axis L1 during use, there may be a problem that the camera 4 is rotated relative to the second rotating part 22 by a certain angle, and the gimbal is drawn into the picture. .
  • the design of this solution can effectively avoid the occurrence of the above problems, so that the shooting device 4 will not have the problem of the gimbal entering the picture within the range of the preset angle of rotation relative to the second rotating part 22, thereby improving the user's comfort.
  • the avoidance surface 222 as a whole is a curved structure that changes with the boundary of the maximum angle of view of the photographing device.
  • the line includes at least one curved segment 2221 .
  • the angle between the tangent of the curved segment 2221 and the first axis L1 gradually increases, as shown in FIGS. 3 and 4 .
  • the plane defining the first axis L1 and the central axis L4 of the maximum angle of view is the reference plane. Since the maximum angle of view of the camera 41 is in the shape of a cone, the line of intersection between the boundary of the maximum angle of view and the reference plane is two rays. One of the rays (denoted as the first ray 42 ) extends obliquely in the direction away from the first axis L1 , and the other ray (denoted as the second ray 43 ) extends obliquely in the direction close to the first axis L1 , as shown in FIGS. 3 and 4 shown.
  • the probability of the curved segment 2221 intersecting or overlapping with the second ray 43 is significantly reduced compared to the straight segment. In this way, even if there is a machining error or assembly error, or the fixed part of the photographing device 4 deviates, only one point on the curve segment 2221 may be drawn into the drawing, and the entire curve segment 2221 will not be drawn into the drawing, so this is beneficial to minimize the gimbal drawing into the drawing
  • the area of is beneficial to improve the reliability of preventing the gimbal from entering the picture.
  • the line may only include one curved segment 2221.
  • the avoidance surface 222 is a curved surface.
  • the avoidance surface 222 is a curved surface with two ends open. Or a curved surface with an opening at one end resembling the shape of a lid.
  • the line may also include two curved segments 2221 or more curved segments 2221 .
  • the line may also include at least one straight line segment.
  • the avoidance surface 222 formed by rotating the linear segment by a predetermined angle has a simpler structure and is more convenient to be processed and formed, which is beneficial to reduce the processing difficulty of the avoidance surface 222 , thereby reducing the production cost.
  • the line may also include at least one straight segment and at least one curved segment 2221 .
  • the line includes at least one curved segment 2221, and the axial distance between one end of the curved segment 2221 close to the first axis L1 and the carrier 1 is greater than that between the end of the curved segment 2221 away from the first axis L1 and the carrier 1
  • the axial distance between parts 1 is shown in Figures 3 and 4.
  • This solution prevents the middle of the avoidance surface 222 from being concave or excessively concave in the direction close to the first rotating part 21 .
  • the inner space of the second rotating part 22 is convenient for the reasonable arrangement of the components in the second rotating part 22 .
  • the design of this solution also prevents the middle of the avoidance surface 222 from being concave or excessively concave in the direction close to the first rotating part 21 .
  • the internal space of the second rotating part 22 is increased to facilitate the rational arrangement of the components in the second rotating part 22 .
  • the photographing device 4 usually adopts two modes: horizontal screen and vertical screen, the difference between the two modes is 90°, so the preset angle is at least 90°, which can meet most needs of users.
  • the preset angle is further expanded, even expanded to 360°, which is not only beneficial to meet the needs of users for taking pictures in a wider range, but also makes the avoidance surface 222 closer to the circumferential direction of the second rotating part 22, so that the second The structure of the rotating part 22 is more regular, and it is more convenient to process and form.
  • the preset angle may also be less than 90°.
  • the required rotation angle of the photographing device 4 relative to the second rotating part 22 is less than 90°.
  • the intersection line of the avoidance surface and the longitudinal section includes at least one curved segment 2221, as shown in FIGS. 11 to 13 .
  • the longitudinal section is any plane coplanar with the first axis L1 and intersecting with the avoidance surface 222 .
  • the plane defining the first axis L1 and the central axis L4 of the maximum angle of view is the reference plane. Since the maximum angle of view of the camera 41 is in the shape of a cone, the line of intersection between the boundary of the maximum angle of view and the reference plane is two rays. One of the rays (denoted as the first ray 42 ) extends obliquely in a direction away from the first axis L1 , and the other ray (denoted as the second ray 43 ) obliquely extends in a direction close to the first axis L1 . Since the first rotating part 21 and the second rotating part 22 are stacked in a front-to-rear direction.
  • the distance between the avoidance surface 222 and the second ray 43 is the closest. Therefore, the avoidance surface 222 only needs to avoid the second ray 43 , and the intersection line of the avoidance surface 222 and the reference surface only needs to not intersect or overlap with the second ray 43 .
  • the longitudinal section in this solution can be rotated around the first axis L1 relative to the reference plane, and it is only necessary to avoid the longitudinal section when it overlaps with the reference plane.
  • the intersection line of the surface 222 and the longitudinal section does not need to intersect or coincide with the second ray 43 .
  • the probability of the curved segment 2221 intersecting or overlapping with the second ray 43 is significantly reduced compared to the straight segment 2225 .
  • the probability of the curved segment 2221 intersecting or overlapping with the second ray 43 is significantly reduced compared to the straight segment 2225 .
  • the included angle between the tangent of the curved segment 2221 and the first axis L1 gradually increases.
  • the end point of the curve segment 2221 close to one end of the carrier 1 is the critical point.
  • the angle ⁇ between the tangent of the curve segment 2221 at the critical point and the first axis L1 is in the range of 30° to 75°.
  • the viewing angles of the cameras 41 of different photographing devices 4 are different, the viewing angles of different cameras 41 of the same photographing device 4 are also different, and the sizes of different photographing devices 4 are also different.
  • the angle between the tangent of the critical point and the first axis L1 within the range of 30° to 75°, the angle between the tangent of other parts of the curve segment 2221 and the first axis L1 gradually increases , which is beneficial to meet the use requirements of different photographing devices 4 , and minimize the risk of the gimbal entering the picture when clamping different photographing devices 4 , thereby improving the versatility of the gimbal.
  • the end point of the curve segment 2221 connecting one end of the second rotating part 22 is the front end point of the curve segment 2221 .
  • the front end point of the curved segment 2221 does not coincide with the second ray 43 and is not within the range between the first ray 42 and the second ray 43, and the tangent of the front end point of the curved segment 2221 is clamped between the first axis L1
  • the angle is greater than or equal to half of the maximum angle of view of the photographing device 4
  • the other parts of the ray will not intersect or overlap with the second ray 43 , and will not enter the range between the first ray 42 and the second ray 43 .
  • the axial length of the curved section 2221 affects the stacking thickness of the first shaft assembly 2 in the front-rear direction. Therefore, this solution is beneficial to reduce the requirement on the stacking thickness of the first shaft assembly 2 in the front-rear direction, that is, the stacking thickness of the first shaft assembly 2 in the front-rear direction can be designed to be slightly thicker as required.
  • the motor part 24 that provides the driving force source is an important factor affecting the stacking thickness of the first shaft assembly 2 in the front-rear direction. Therefore, this solution is conducive to reducing the requirements for the motor part 24 of the first shaft assembly 2, thereby reducing the The cost of the first shaft assembly 2.
  • the number of curve segments 2221 is two, as shown in FIG. 12 and FIG. 13 .
  • the two curved segments 2221 are respectively a first curved segment 2222 and a second curved segment 2223, and the first curved segment 2222 and the second curved segment 2223 are located on two sides of the first axis L1.
  • the avoidance surface 222 is a curved surface, and the curved surface is formed by rotating a curved segment around the first axis L1 by a preset angle, and the preset angle is greater than or equal to 180°, otherwise the intersection of the avoidance surface 222 and the longitudinal section is impossible There are two curved segments 2221.
  • the preset angle is determined according to the angular range within which the photographing device 4 can rotate relative to the second rotating part 22 when the gimbal is in use.
  • the plane defining the first axis L1 and the central axis L4 of the maximum angle of view is the reference plane.
  • the two limit positions may be determined by actual needs or by limit structures.
  • the reference plane also rotates around the first axis L1 accordingly.
  • the angle between the reference planes at the two extreme positions is not less than the preset angle, which can ensure that when the gimbal carries the shooting device 4, no matter the shooting device 4 is rotated to any required angle, it can avoid the occurrence of the gimbal entering the picture. question.
  • the preset angle is greater than 180°, and the angle range of the rotation of the photographing device is also relatively large, which can solve the problem of the motor entering the picture within a relatively large angle range.
  • the second rotating part 22 is generally cylindrical or substantially cylindrical. Therefore, this solution is beneficial to improve the structural regularity of the avoidance surface 222, so that the avoidance part 221 and the avoidance surface 222 are matched with the conventional shape of the second rotating part 22, thereby reducing the processing difficulty of the avoidance surface 222, and also reducing or even avoiding as much as possible. Other structures in the second rotating part 22 are improved.
  • curve segments 2221 may also be one, as shown in FIG. 11 .
  • the first curved segment 2222 and the second curved segment 2223 are connected, and the connection point is located on the first axis L1 , as shown in FIG. 13 .
  • first curve segment 2222 and the second curve segment 2223 are arranged at intervals, as shown in FIG. 12 .
  • the first curved segment 2222 and the second curved segment 2223 are arranged at intervals, so that the avoidance surface 222 forms a segment or a complete annular curved surface with openings at both ends in the front-rear direction.
  • the second rotating part 22 also has a connecting surface 2231 connecting a rear open end of the curved surface, such as a flat surface, to cover the rear end of the second rotating part 22 .
  • this solution is equivalent to changing the outer peripheral region of the rear end surface of the existing second rotating part 22 to an inclined curved surface.
  • the straight section 2225 is easier to process than the curved section 2221 , which is beneficial to reduce the processing difficulty of the avoidance surface 222 .
  • the angle ⁇ between the straight line segment 2225 and the first axis L1 is in the range of 30° to 75°.
  • the viewing angles of the cameras 41 of different photographing devices 4 are different, the viewing angles of different cameras 41 of the same photographing device 4 are also different, and the sizes of different photographing devices 4 are also different.
  • the angle between the straight line segment 2225 and the first axis L1 within the range of 30° to 75°, it is beneficial to meet the usage requirements of different photographing devices 4 , and minimize the need for the gimbal when clamping different photographing devices 4 . reduce the risk of entering the painting, thereby improving the versatility of the gimbal.
  • the included angle ⁇ between the straight line segment 2225 and the first axis L1 is greater than or equal to half of the maximum angle of view ⁇ of the photographing device 4 .
  • the axial length of the straight section 2225 affects the stacking thickness of the first shaft assembly 2 in the front-rear direction. Therefore, this solution is beneficial to reduce the requirement on the stacking thickness of the first shaft assembly 2 in the front-rear direction, that is, the stacking thickness of the first shaft assembly 2 in the front-rear direction can be designed to be slightly thicker as required.
  • the motor part 24 that provides the driving force source is an important factor affecting the stacking thickness of the first shaft assembly 2 in the front-rear direction. Therefore, this solution is conducive to reducing the requirements for the motor part 24 of the first shaft assembly 2, thereby reducing the The cost of the first shaft assembly 2.
  • the number of straight line segments 2225 is two, as shown in FIG. 15 and FIG. 16 .
  • the two straight line segments 2225 are a first straight line segment 2226 and a second straight line segment 2227 respectively, and the first straight line segment 2226 and the second straight line segment 2227 are located on two sides of the first axis L1.
  • the avoidance surface 222 is a curved surface, and the curved surface is formed by rotating a line segment around the first axis L1 by a preset angle, and the preset angle is greater than or equal to 180°, otherwise the intersection of the longitudinal section of the avoidance surface 222 and the reference surface It is not possible to have two straight line segments 2225.
  • the preset angle is determined according to the angular range within which the photographing device 4 can rotate relative to the second rotating part 22 when the gimbal is in use.
  • the plane defining the first axis L1 and the central axis L4 of the maximum angle of view is the reference plane.
  • the two limit positions may be determined by actual needs or by limit structures.
  • the reference plane also rotates around the first axis L1 accordingly.
  • the angle between the reference planes at the two extreme positions is not less than the preset angle, which can ensure that when the gimbal carries the shooting device 4, no matter the shooting device 4 is rotated to any required angle, it can avoid the occurrence of the gimbal entering the picture. question.
  • the preset angle is greater than 180°, and the angle range within which the photographing device 4 is allowed to rotate is also relatively large, which can solve the problem of the motor entering the picture within a relatively large angle range.
  • the second rotating part 22 is generally cylindrical or substantially cylindrical. Therefore, this solution is beneficial to improve the structural regularity of the avoidance surface 222, so that the avoidance part 221 and the avoidance surface 222 are matched with the conventional shape of the second rotating part 22, thereby reducing the processing difficulty of the avoidance surface 222, and also reducing or even avoiding as much as possible. Other structures in the second rotating part 22 are improved.
  • first straight segment 2226 and the second straight segment 2227 are connected, and the connection point is located on the first axis L1, as shown in FIG. 16 .
  • the avoidance surface 222 forms a segment or a complete tapered surface that opens toward the front.
  • this solution is equivalent to changing the rear end surface of the existing second rotating part 22 from a plane as a whole to a conical surface (when the lengths of the first straight segment 2226 and the second straight segment 2227 are equal) or a substantially conical surface. (When the lengths of the first straight segment 2226 and the second straight segment 2227 are not equal).
  • first straight line segment 2226 and the second straight line segment 2227 are arranged at intervals, as shown in FIG. 15 .
  • the first straight section 2226 and the second straight section 2227 are arranged at intervals, so that the avoidance surface 222 forms a section or a complete annular cone surface with openings at both ends in the front-rear direction.
  • the second rotating part 22 also has a connecting surface 2231 connecting the rear open end of the annular cone surface, such as a flat surface, which covers the rear end of the second rotating part 22 .
  • this solution is equivalent to changing the outer peripheral area of the rear end surface of the existing second rotating part 22 into an inclined surface, which can be formed by machining chamfering during machining.
  • intersection line of the avoidance surface 222 and the longitudinal section may also include at least one curved segment 2221 and at least one straight segment 2225, and the curved segment 2221 and the linear segment 2225 may be connected or separately provided.
  • the second rotating part 22 further includes an end cover 223 , as shown in FIGS. 4 and 6 .
  • the end cover 223 is covered on one end of the second rotating part 22 away from the first rotating part 21 .
  • the avoidance portion 221 is at least partially provided on the end cover 223 .
  • the end cap 223 is designed as a separate part, which is beneficial to simplify the shape of the end cap 223 and facilitate the processing of the avoidance portion 221 of the required shape and size as required, thereby reducing the processing difficulty of the second rotating portion 22 .
  • a part of the avoidance part 221 is provided on the end cover 223, and the other part is provided on the main body of the second rotating part 22 (ie, the part connected to the side wall 225).
  • the avoidance portion 221 may also be completely disposed on the end cover 223 , or completely disposed on the main body of the second rotating portion 22 .
  • the first shaft assembly 2 further includes a motor part 24 , as shown in FIG. 7 .
  • the motor part 24 is provided in the first rotating part 21 and/or the second rotating part 22 .
  • the motor part 24 includes a rotor 241 , a stator 242 and a circuit board 243 , one of the first rotating part 21 and the second rotating part 22 is fixedly connected to the rotor 241 , and the other of the first rotating part 21 and the second rotating part 22 .
  • One is fixedly connected to the stator 242 .
  • the pan/tilt also includes a hall assembly 3 , the hall assembly 3 includes a magnetic member 31 and a hall sensor 32 matched with the magnetic member 31 , and the hall sensor 32 is arranged on the circuit board 243 , as shown in FIG. 6 .
  • One of the magnetic member 31 and the circuit board 243 is fixedly connected to the first rotating part 21 , and the other is fixedly connected to the second rotating part 22 .
  • the circuit board 243 and the magnetic member 31 are arranged along the radial direction of the rotor 241 .
  • the motor part 24 is the power source of the first shaft assembly 2 .
  • the circuit board 243 When the motor part 24 is running, the circuit board 243 generates a control signal, so that the rotor 241 and the stator 242 rotate relative to each other, which in turn drives the first rotating part 21 to rotate relative to the second rotating part 22, so as to realize the driving of the carrier 1 and realize the driving The function of the rotation of the photographing device 4 .
  • one of the magnetic member 31 and the circuit board 243 is fixedly connected to the rotor 241, and the other is fixedly connected to the stator 242, and the Hall sensor 32 is arranged on the circuit board 243, then the first rotating part 21 and the second rotating part 22
  • the magnetic element 31 and the Hall sensor 32 also rotate relative to each other, and the magnetic field of the magnetic element 31 detected by the Hall sensor 32 also changes accordingly. Therefore, through the detection of the magnetic member 31 by the Hall sensor 32, the detection of the rotation information of the rotor 241 by the Hall component 3, such as the rotation angle and the rotation speed, can be realized.
  • detachable connection can be realized by screw connection, snap connection, magnetic connection, etc.
  • non-detachable connection can be realized by integral injection molding, welding, bonding, etc.
  • the motor part 24 may be completely disposed in the first rotating part 21 , completely disposed in the second rotating part 22 , or partially disposed in the first rotating part 21 and partially disposed in the second rotating part 22 .
  • the number of Hall sensors 32 may be one or multiple; the number of magnetic elements 31 may be one or multiple.
  • the Hall sensor 31' is provided on the circuit board 24', and the circuit board 24' and the magnetic member 32' are arranged along the axial direction of the rotor (that is, along the extending direction of the first axis L1). as shown in picture 2.
  • the circuit board 243 and the magnetic member 31 are arranged along the radial direction of the rotor 241 , which is beneficial to reduce the axial thickness of the motor portion 24 .
  • the axial direction of the rotor 241 is consistent with the extension direction of the first axis L1, so this solution is beneficial to further compress the space of the first shaft assembly 2 in the front-rear direction (that is, the head is in the direction of the first axis L1).
  • the stacking thickness of the components 2 in the front-rear direction is reduced, and the field of view of the photographing device 4 can also be avoided, thereby further reducing the risk of the gimbal entering the picture.
  • the magnetic member 31 and the circuit board 243 are coplanar as much as possible to reduce the occupation of the axial space, so that the size of the motor part in the front-rear direction is further compressed.
  • Hall sensor 32 and the circuit board 243 are arranged along the axial direction of the rotor 241 , as shown in FIG. 5 .
  • the Hall sensor 32 and the circuit board 243 are arranged along the axial direction of the rotor 241 , and the position on the board surface of the circuit board 243 can be reasonably used, which is convenient to reasonably arrange the position of the Hall sensor 32 according to the needs, so as to improve the detection accuracy of the Hall sensor 32 .
  • this solution is beneficial to avoid the radial dimension of the motor part 24 being too large, and thus is beneficial to avoid the first shaft assembly 2 of the gimbal and the If the distance between the cameras 41 is too small, it is ensured that the distance between the first shaft assembly 2 and the camera 41 is relatively large, thereby reducing the risk of the gimbal entering the picture.
  • the Hall sensor 32 is provided on the side of the circuit board 243 facing away from the carrier 1 , as shown in FIG. 5 .
  • the Hall sensor 32 Since there may also be magnetic structures in the photographing device 4 , if the distance between the photographing device 4 and the Hall sensor 32 is too close, the Hall sensor 32 may be disturbed. Therefore, arranging the Hall sensor 32 on the side of the circuit board 243 that faces away from the carrier 1 is beneficial to increase the distance between the Hall sensor 32 and the photographing device 4 , thereby reducing the risk of the Hall sensor 32 being interfered with and improving the risk of the Hall sensor 32 being disturbed. the detection accuracy of the sensor 32.
  • the axial distance between the board surface of the circuit board 243 facing the carrier 1 and the carrier 1 is the first distance.
  • the axial distance between the surface of the magnetic member 31 facing the carrier 1 and the carrier 1 is the second distance.
  • the first distance is greater than the second distance.
  • the fact that the first distance is greater than the second distance is also beneficial to increase the distance between the Hall sensor 32 and the photographing device 4 , thereby reducing the risk of interference of the Hall sensor 32 and improving the detection accuracy of the Hall sensor 32 .
  • the magnetic member 31 is provided in the first rotating part 21 and is fixedly connected with the second rotating part 22 .
  • the hall sensor 32 and the circuit board 243 are provided in the first rotating part 21 and are fixedly connected to the first rotating part 21 .
  • the magnetic element 31 is arranged in the first rotating part 21 and is fixedly connected with the second rotating part 22 , which ensures that the magnetic element 31 can rotate relative to the first rotating part 21 .
  • the Hall sensor 32 and the circuit board 243 are arranged in the first rotating part 21 and are fixedly connected with the first rotating part 21 to ensure that the Hall sensor 32 can rotate relative to the second rotating part 22 , thereby realizing the connection between the magnetic element 31 and the Hall sensor 32 . Relative rotation of sensor 32 .
  • the magnetic member 31 , the Hall sensor 32 and the circuit board 243 are all located in the first rotating part 21 , which is beneficial to reduce the distance between the magnetic member 31 and the Hall sensor 32 , thereby improving the detection accuracy of the Hall sensor 32 .
  • the stator 242 and the rotor 241 are arranged in the second rotating part 22 , which rationally utilizes the inner space of the first rotating part 21 and the second rotating part 22 and ensures the reasonable arrangement of the motor part 24 .
  • the second rotating part 22 has a positioning column 224, as shown in FIG. 7 .
  • the first rotating part 21 has a hollow shaft 211 as shown in FIG. 5 .
  • the hollow shaft 211 is sleeved on the outside of the positioning column 224 .
  • the motor portion 24 also includes a bearing 25 as shown in FIGS. 5 and 7 .
  • the bearing 25 is sleeved on the positioning column 224 and is located between the positioning column 224 and the hollow shaft 211 .
  • the inner wall of the bearing 25 is fixed with the positioning column 224 , and the outer wall of the bearing 25 is fixed with the hollow shaft 211 .
  • the rotor 241 is sleeved on the outside of the hollow shaft 211 and is fixed with the hollow shaft 211 .
  • the stator 242 is matched with the rotor 241 , and the stator 242 and the second rotating part 22 are fixed together.
  • the motor part 24 also includes a fixing member 26 , as shown in FIG. 5 , the fixing member 26 is fixed on the top of the positioning column 224 , which can prevent the hollow shaft 211 from falling out of the positioning column 224 and ensure that the first rotating part 21 is limited to the second rotating part 22 .
  • the fixing member 26 can be a fixing nut, and is fixed to the positioning post 224 through screw connection.
  • the magnetic member 31 can be fixed to the fixing member 26 by means of bonding.
  • the rotor 241 and the stator 242 are two parts in the motor part 24 that can rotate relative to each other, and their names can be interchanged.
  • the rotor 241 may be named as the stator of the motor
  • the stator 242 may be named as the rotor of the motor.
  • the magnetic member 31 is a magnet.
  • the magnetic member 31 adopts a magnet, which has high magnetic properties and a good cooperation effect with the Hall sensor 32, and is convenient to select the required size according to the needs, which is convenient for mass production.
  • magnetic member 31 can also be used as the magnetic member 31 .
  • the magnet is a ring magnet, as shown in FIG. 6 and FIG. 7 .
  • the magnet is a ring magnet, and the N and S poles of the ring magnet are arranged along its circumferential direction, so that when the magnet and the Hall sensor 32 rotate relative to each other, the magnetic field detected by the Hall sensor 32 will change, thereby realizing the detection function.
  • the magnets are not limited to ring magnets, and one or more bar magnets may also be used.
  • the central axis of the ring magnet is collinear with the first axis L1.
  • the central axis of the ring magnet is collinear with the first axis L1
  • the radial distances between the different magnetic poles of the ring magnet and the Hall sensor 32 are equal, so that the structure of the Hall assembly 3 is arranged regularly, and it is beneficial to improve the Hall sensor. 32 detection accuracy.
  • the middle of the circuit board 243 has a circular hole 2431, as shown in FIG. 5 and FIG. 6 . At least part of the magnetic element 31 is accommodated in the circular hole 2431 , as shown in FIG. 5 .
  • this solution is conducive to further reducing the distance between the magnetic member 31 and the Hall sensor 32, thereby further improving the detection accuracy of the Hall sensor 32, and on the other hand, it is also conducive to reducing the occupation of the magnetic member 31 and the circuit board 243
  • the radial space is beneficial to reduce the radial size of the motor part 24, and also helps to reduce the stacking thickness of the magnetic member 31 and the circuit board 243 in the axial direction, thereby reducing the axial direction of the first shaft assembly 2. thickness to further avoid the problem of motor into the painting.
  • circuit board 243 is annular, as shown in FIG. 6 .
  • the central axis of the circuit board 243 is collinear with the first axis L1.
  • This solution facilitates maintaining equal radial distances between different magnetic poles of the magnetic element 31 and the Hall sensor 32 , so that the structure of the Hall component 3 is arranged regularly, and is conducive to improving the detection accuracy of the Hall sensor 32 .
  • the first shaft assembly 2 further includes a connecting arm 23 that is fixedly connected to the second rotating part 22 .
  • the head further includes: a second shaft assembly 5 , as shown in FIG. 8 , FIG. 9 and FIG. 10 .
  • the second shaft assembly 5 is rotatably connected to the connecting arm 23 for driving the connecting arm 23 to rotate around the second axis L2.
  • the setting of the second axis assembly 5 increases the degree of freedom of the gimbal, thereby increasing the rotational freedom of the photographing device 4, and enhancing the stabilization of the gimbal to the photographing device 4.
  • the second shaft assembly 5 also includes a rotating part and a motor part 24 .
  • the fixed connection between the connecting arm 23 and the second rotating part 22 can be detachable connection by screw connection, snap connection, magnetic connection, etc., or non-detachable connection by integral injection molding, welding, bonding, etc.
  • the pan/tilt head further includes: a third shaft assembly 6 , as shown in FIG. 8 , FIG. 9 and FIG. 10 .
  • the third shaft assembly 6 is rotatably connected to the second shaft assembly 5 for driving the second shaft assembly 5 to rotate around the third axis L3.
  • the setting of the third shaft assembly 6 further increases the degree of freedom of the gimbal, thereby increasing the rotational freedom of the photographing device 4 and enhancing the pairing of the gimbal.
  • the third shaft assembly 6 also includes a rotating part and a motor part 24 .
  • the first axis L1 is a roll axis (Roll axis)
  • the second axis L2 is a pitch axis (Pitch axis)
  • the third axis L3 is a translation axis (Yaw axis).
  • the first axis L1, the second axis L2, and the third axis L3 may be perpendicular to each other, in an orthogonal relationship, or may not be perpendicular to each other, and can be specifically designed according to requirements.
  • the carrier 1 is detachably connected to the first rotating part 21 by means of magnetic attraction.
  • the carrier 1 is detachably connected to the first rotating part 21 , so when one of the carrier 1 or the first shaft assembly 2 needs to be replaced, only one of them needs to be replaced instead of the whole, and the replacement is convenient and quick.
  • the magnetic attraction method enables the user to first fix the photographing device 4 on the carrier 1 and then fix the carrier 1 on the PTZ, which is more convenient to use and improves the user experience.
  • the carrier 1 can also be detachably connected to the first rotating part 21 by means of screw connection, snap connection or the like.
  • the carrier 1 can also be non-detachably connected to the first rotating part 21 by means of integral injection molding, welding, bonding, or the like.
  • a pan/tilt head provided by an embodiment of the second aspect of the present application includes: a carrier 1 and a first shaft assembly 2 .
  • the carrier 1 is used to carry the photographing device 4 .
  • the first shaft assembly 2 includes a motor portion 24 .
  • the motor part 24 includes a rotor 241 , a stator 242 and a circuit board 243 .
  • One of the stator 242 and the rotor 241 is fixedly connected to the carrier 1 for driving the carrier 1 to rotate about the first axis L1 relative to the other of the stator 242 and the rotor 241 .
  • the Hall component 3 includes a magnetic member 31 and a Hall sensor 32 matched with the magnetic member 31 , and the Hall sensor 32 is provided on the circuit board 243 .
  • One of the magnetic member 31 and the circuit board 243 is fixedly connected to the stator 242 , and the other is fixedly connected to the rotor 241 .
  • the circuit board 243 and the magnetic member 31 are arranged along the radial direction of the rotor 241 .
  • the positions of the circuit board 243 and the magnetic member 31 are improved, the stacking thickness of the pan/tilt in the direction of the first axis L1 is reduced, and the field of view of the photographing device 4 is facilitated. Avoidance, thereby improving the problem of the gimbal entering the picture and improving the picture shooting effect of the shooting device 4 .
  • the pan/tilt head includes a carrier 1 , a first shaft assembly 2 and a Hall assembly 3 .
  • the carrier 1 cooperates with the photographing device 4, and generally realizes the bearing of the pan/tilt on the photographing device 4 by means of clamping, fixing, magnetic attraction, or the like.
  • the first shaft assembly 2 is connected to the bearing member 1 for driving the bearing member 1 to rotate around the first axis L1 (eg, a roll axis, or a Roll axis), so that the bearing member 1 can drive the photographing device 4 to rotate synchronously.
  • L1 eg, a roll axis, or a Roll axis
  • the first shaft assembly 2 includes a motor part 24 , the motor part 24 includes a rotor 241 , a stator 242 and a circuit board 243 , one of the stator 242 and the rotor 241 is fixedly connected to the carrier 1 for driving the carrier 1 relative to the stator 242
  • the other of the rotor 241 and the rotor 241 rotates about the first axis L1.
  • the Hall component 3 includes a magnetic member 31 and a Hall sensor 32 matched with the magnetic member 31 , and the Hall sensor is arranged on the circuit board 243 .
  • One of the magnetic member 31 and the circuit board 243 is fixedly connected to the stator 242 , and the other is fixedly connected to the rotor 241 .
  • the circuit board 243 and the magnetic member 31 are arranged along the radial direction of the rotor 241 .
  • the motor part 24 is the power source of the first shaft assembly 2 .
  • the circuit board 243 When the motor part 24 is running, the circuit board 243 generates a control signal, so that the rotor 241 and the stator 242 rotate relative to each other, which in turn drives the first rotating part 21 to rotate relative to the second rotating part 22, so as to realize the driving of the carrier 1 and realize the driving The function of the rotation of the photographing device 4 .
  • one of the magnetic member 31 and the circuit board 243 is fixedly connected to the rotor 241, and the other is fixedly connected to the stator 242, and the Hall sensor 32 is arranged on the circuit board 243, then the first rotating part 21 and the second rotating part 22
  • the magnetic element 31 and the Hall sensor 32 also rotate relative to each other, and the magnetic field of the magnetic element 31 detected by the Hall sensor 32 also changes accordingly. Therefore, through the detection of the magnetic member 31 by the Hall sensor 32, the detection of the rotation information of the rotor 241 by the Hall component 3, such as the rotation angle and the rotation speed, can be realized.
  • detachable connection can be realized by screw connection, snap connection, magnetic connection, etc.
  • non-detachable connection can be realized by integral injection molding, welding, bonding, etc.
  • the number of the Hall sensor 32 may be one or multiple (as shown in FIG. 6 ).
  • the number of the magnetic members 31 may be one (as shown in FIG. 6 ) or multiple.
  • the Hall sensor 31' is arranged on the circuit board 24', and the circuit board 24' and the magnetic member 32' are arranged along the axial direction of the rotor (ie, along the extending direction of the first axis L1). as shown in picture 2.
  • the circuit board 243 and the magnetic member 31 are arranged along the radial direction of the rotor 241 , which is beneficial to reduce the axial thickness of the motor portion 24 .
  • the axial direction of the rotor 241 is consistent with the extension direction of the first axis L1, so this solution is beneficial to further compress the space of the first shaft assembly 2 in the front-rear direction (that is, the head is in the direction of the first axis L1).
  • the stacking thickness of the component 2 in the front-rear direction is reduced, so as to avoid the field of view of the photographing device 4 and solve the problem of the gimbal entering the picture.
  • the magnetic member 31 and the circuit board 243 are coplanar as much as possible to reduce the occupation of the axial space, so that the size of the motor part in the front-rear direction is further compressed.
  • the Hall sensor 32 and the circuit board 243 are arranged along the axial direction of the rotor 241 , as shown in FIG. 5 .
  • this solution is beneficial to avoid the radial dimension of the motor part 24 being too large, and thus is beneficial to avoid the first shaft assembly 2 of the gimbal and the If the distance between the cameras 41 is too small, it is ensured that the distance between the first shaft assembly 2 and the camera 41 is relatively large, thereby reducing the risk of the gimbal entering the picture.
  • the Hall sensor 32 is provided on the side of the circuit board 243 facing away from the carrier 1 , as shown in FIG. 5 .
  • the Hall sensor 32 Since there may also be magnetic structures in the photographing device 4 , if the distance between the photographing device 4 and the Hall sensor 32 is too close, the Hall sensor 32 may be disturbed. Therefore, arranging the Hall sensor 32 on the side of the circuit board 243 that faces away from the carrier 1 is beneficial to increase the distance between the Hall sensor 32 and the photographing device 4 , thereby reducing the risk of the Hall sensor 32 being interfered with and improving the risk of the Hall sensor 32 being disturbed. the detection accuracy of the sensor 32.
  • the axial distance between the board surface of the circuit board 243 facing the carrier 1 and the carrier 1 is the first distance.
  • the axial distance between the surface of the magnetic member 31 facing the carrier 1 and the carrier 1 is the second distance.
  • the first distance is greater than the second distance.
  • the fact that the first distance is greater than the second distance is also beneficial to increase the distance between the Hall sensor 32 and the photographing device 4 , thereby reducing the risk of interference of the Hall sensor 32 and improving the detection accuracy of the Hall sensor 32 .
  • the first shaft assembly 2 further includes a first rotating part 21 and a second rotating part 22 .
  • One of the stator 242 and the rotor 241 is fixedly connected to the first rotating part 21 , and the other is fixedly connected to the second rotating part 22 ;
  • the first rotating part 21 is fixedly connected to the carrier 1 and is used to drive the carrier 1 to the second
  • the rotating part 22 rotates around the first axis L1.
  • the first rotating part 21 is sandwiched between the carrier 1 and the second rotating part 22 .
  • the magnetic member 31 is arranged in the first rotating part 21 and is fixedly connected with the second rotating part, which ensures that the magnetic member 31 can rotate relative to the first rotating part 21.
  • the Hall sensor 32 and the circuit board 243 are arranged in the first rotating part 21 and are fixedly connected with the first rotating part 21 to ensure that the Hall sensor 32 can rotate relative to the second rotating part 22 , thereby realizing the connection between the magnetic element 31 and the Hall sensor 32 . Relative rotation of sensor 32 .
  • the magnetic member 31 , the Hall sensor 32 and the circuit board 243 are all located in the first rotating part 21 , which is beneficial to reduce the distance between the magnetic member 31 and the Hall sensor 32 , thereby improving the detection accuracy of the Hall sensor 32 .
  • the stator 242 and the rotor 241 are arranged in the second rotating part 22 , which rationally utilizes the inner space of the first rotating part 21 and the second rotating part 22 and ensures the reasonable arrangement of the motor part 24 .
  • the second rotating part 22 has a positioning column 224, as shown in FIG. 7 .
  • the first rotating part 21 has a hollow shaft 211 as shown in FIG. 5 .
  • the hollow shaft 211 is sleeved on the outside of the positioning column 224 .
  • the motor portion 24 also includes a bearing 25 as shown in FIGS. 5 and 7 .
  • the bearing 25 is sleeved on the positioning column 224 and is located between the positioning column 224 and the hollow shaft 211 .
  • the inner wall of the bearing 25 is fixed with the positioning column 224 , and the outer wall of the bearing 25 is fixed with the hollow shaft 211 .
  • the rotor 241 is sleeved on the outside of the hollow shaft 211 and is fixed with the hollow shaft 211 .
  • the stator 242 is matched with the rotor 241 , and the stator 242 and the second rotating part 22 are fixed together.
  • the motor part 24 also includes a fixing member 26 , as shown in FIG. 5 .
  • the fixing member 26 is fixed on the top of the positioning column 224 , which can prevent the hollow shaft 211 from coming out of the positioning column 224 and ensure that the first rotating part 21 is limited to the second rotating part 22 .
  • the fixing member 26 can be a fixing nut, and is fixed to the positioning post 224 through screw connection.
  • the magnetic member 31 can be fixed to the fixing member 26 by means of bonding.
  • the magnetic member 31 is a magnet.
  • magnetic member 31 can also be used as the magnetic member 31 .
  • the magnet may be a ring magnet, as shown in FIGS. 6 and 7 .
  • the magnet is a ring magnet, and the N and S poles of the ring magnet are arranged along its circumferential direction, so that when the magnet and the Hall sensor 32 rotate relative to each other, the magnetic field detected by the Hall sensor 32 will change, thereby realizing the detection function.
  • the magnets are not limited to ring magnets, and one or more bar magnets may also be used.
  • the central axis of the ring magnet is collinear with the first axis L1.
  • the central axis of the ring magnet is collinear with the first axis L1
  • the radial distances between the different magnetic poles of the ring magnet and the Hall sensor 32 are equal, so that the structure of the Hall assembly 3 is arranged regularly, and it is beneficial to improve the Hall sensor. 32 detection accuracy.
  • a circular hole 2431 is formed in the middle of the circuit board 243 , as shown in FIGS. 5 and 6 . At least part of the magnetic element 31 is accommodated in the circular hole 2431 , as shown in FIG. 5 .
  • this solution is conducive to further reducing the distance between the magnetic member 31 and the Hall sensor 32, thereby further improving the detection accuracy of the Hall sensor 32, and on the other hand, it is also conducive to reducing the occupation of the magnetic member 31 and the circuit board 243
  • the radial space is beneficial to reduce the radial size of the motor part 24, and also helps to reduce the stacking thickness of the magnetic member 31 and the circuit board 243 in the axial direction, thereby reducing the axial direction of the first shaft assembly 2. thickness to further avoid the problem of motor into the painting.
  • circuit board 243 is annular, as shown in FIG. 6 .
  • the central axis of the circuit board 243 is collinear with the first axis L1.
  • This solution facilitates maintaining equal radial distances between different magnetic poles of the magnetic element 31 and the Hall sensor 32 , so that the structure of the Hall component 3 is arranged regularly, and is conducive to improving the detection accuracy of the Hall sensor 32 .
  • the second shaft assembly 5 also includes a rotating part and a motor part 24.
  • the motor part 24 can drive the rotating part to rotate relative to the first shaft assembly 2 around the second axis L2.
  • the first shaft assembly 2 further includes a connecting arm 23
  • the second shaft assembly 5 is rotatably connected with the connecting arm 23 of the first shaft assembly 2 .
  • the detachable connection can be realized by screw connection, snap connection, magnetic connection, etc., or non-detachable connection can be realized by integral injection molding, welding, bonding, etc. .
  • the pan/tilt head further includes: a third shaft assembly 6 , as shown in FIG. 8 , FIG. 9 and FIG. 10 .
  • the third shaft assembly 6 is rotatably connected to the second shaft assembly 5 for driving the second shaft assembly 5 to rotate around the third axis L3.
  • the third shaft assembly 6 also includes a rotating part and a motor part 24.
  • the motor part 24 can drive the rotating part to rotate relative to the second shaft assembly 5 around the third axis L3.
  • the specific structure and working principle of the motor part 24 please refer to the A shaft assembly 2 will not be repeated here.
  • the first axis L1 is a roll axis (Roll axis)
  • the second axis L2 is a pitch axis (Pitch axis)
  • the third axis L3 is a translation axis (Yaw axis).
  • the first axis L1, the second axis L2, and the third axis L3 may be perpendicular to each other, in an orthogonal relationship, or may not be perpendicular to each other, and can be specifically designed according to requirements.
  • the carrier 1 is detachably connected to the first shaft assembly 2 by means of magnetic attraction.
  • the carrier 1 is detachably connected to the first shaft assembly 2, so when one of the carrier 1 or the first shaft assembly 2 needs to be replaced, only one of them needs to be replaced instead of the entire replacement, which is convenient and quick to replace.
  • the magnetic attraction method enables the user to first fix the photographing device 4 on the carrier 1 and then fix the carrier 1 on the PTZ, which is more convenient to use and improves the user experience.
  • the carrier 1 can also be detachably connected to the first shaft assembly 2 by means of screw connection, snap connection or the like.
  • the carrier 1 can also be non-detachably connected to the first shaft assembly 2 by means of integral injection molding, welding, bonding, or the like.

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Abstract

一种云台，包括：承载件(1)，用于承载拍摄设备；第一轴组件(2)，第一轴组件(2)包括第一旋转部(21)和第二旋转部(22)，第一旋转部(21)与承载件(1)固定连接并用于带动承载件(1)相对第二旋转部(22)绕第一轴线转动，第一旋转部(21)夹设在承载件(1)与第二旋转部(22)之间；其中，第二旋转部(22)远离第一旋转部(21)的一端具有避让部(221)，用于在承载件(1)承载拍摄设备时使第一轴组件(2)位于拍摄设备的视野范围之外；避让部(221)具有相对于第一轴线倾斜设置的避让表面(222)，且沿由承载件(1)指向第二旋转部(22)的方向，避让表面(222)向靠近第一轴线的方向倾斜延伸。

Description

云台 技术领域
本申请涉及图像拍摄辅助设备技术领域，具体而言，涉及一种云台。
背景技术
目前，云台作为一种图像拍摄辅助设备，广泛用于承载手机等拍摄设备。随着拍摄设备的不断改进，摄像头的视场角越来越大，甚至都追求高FOV(视场角)的摄影品质，摄像头的FOV参数代表摄像头能拍到最大视野的能力。但是，现有云台的结构不够合理，导致云台的部分外壳会被高FOV的摄像头拍摄到画面中，即出现云台入画的问题，从而影响拍摄设备的画面拍摄效果。
发明内容
为了解决上述技术问题至少之一，本申请的目的在于提供一种云台。
本申请的另一个目的在于提供另一种云台。
一种云台，包括：承载件，用于承载拍摄设备；第一轴组件，该第一轴组件包括第一旋转部和第二旋转部，该第一旋转部与该承载件固定连接并用于带动该承载件相对该第二旋转部绕该第一轴线转动，该第一旋转部夹设在该承载件与该第二旋转部之间；其中，该第二旋转部远离该第一旋转部的一端具有避让部，用于在该承载件承载该拍摄设备时使该第一轴组件位于该拍摄设备的视野范围之外；该避让部具有相对于该第一轴线倾斜设置的避让表面，且沿着由该承载件指向该第二旋转部的方向，该避让表面向靠近该第一轴线的方向倾斜延伸。
一种云台，包括：承载件，用于承载拍摄设备；第一轴组件，该第一轴组件包括电机部，该电机部包括转子、定子和电路板，该定子和该转子中的一者与该承载件与固定连接，用于带动该承载件相对于该定子和该转子中的另一者 绕第一轴线转动；霍尔组件，该霍尔组件包括磁性件和与该磁性件相配合的霍尔传感器，该霍尔传感器设在该电路板上；该磁性件和该电路板中的一个与该定子固定连接，另一个与该转子固定连接，该电路板与该磁性件沿该转子的径向排布。
根据本发明实施方式提供的云台，能够改善云台入画的问题，提高拍摄设备的画面拍摄效果。
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是相关技术中云台与拍摄设备配合时云台入画的示意图；
图2是相关技术中云台的局部内部结构示意图；
图3是本申请一个实施例提供的云台与拍摄设备配合时的部分结构示意图；
图4是本申请一个实施例提供的云台与拍摄设备配合时的部分结构示意图；
图5是本申请一个实施例提供的云台的局部内部结构示意图；
图6是本申请一个实施例提供的云台的部分结构的一个视角的分解结构示意图；
图7是本申请一个实施例提供的云台的部分结构的另一个视角的分解结构示意图；
图8是本申请一个实施例提供的云台一个视角的结构示意图；
图9是本申请一个实施例提供的云台另一个视角的结构示意图；
图10是本申请一个实施例提供的云台又一个视角的结构示意图；
图11是本申请一个实施例提供的避让部的结构示意图；
图12是本申请一个实施例提供的避让部的结构示意图；
图13是本申请一个实施例提供的避让部的结构示意图；
图14是本申请一个实施例提供的避让部的结构示意图；
图15是本申请一个实施例提供的避让部的结构示意图；
图16是本申请一个实施例提供的避让部的结构示意图；
其中，图1和图2中附图标记与部件名称之间的对应关系为：
1’承载件；
21’第一旋转部，22’第二旋转部，221’入画部位，23’连接臂，24’电路板；
31’霍尔传感器，32’磁性件；
4’拍摄设备，41’摄像头；
图3至图16中的附图标记与部件名称之间的对应关系为：
1承载件；
2第一轴组件，21第一旋转部，211空心轴，22第二旋转部，221避让部，222避让表面，2221曲线段，2222第一曲线段，2223第二曲线段，2225直线段，2226第一直线段，2227第二直线段，223端盖，2231连接面，224定位柱，225侧壁，23连接臂，24电机部，241转子，242定子，243电路板，2431圆形孔，25轴承，26固定件；
3霍尔组件，31磁性件，32霍尔传感器；
4拍摄设备，41摄像头，42第一射线，43第二射线；
5第二轴组件；
6第三轴组件；
L1第一轴线，L2第二轴线，L3第三轴线，L4最大视场角的中心轴线。
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。
图1示意了相关技术中云台与拍摄设备配合时云台入画的示意图。
如图1所示，云台包括承载件1’、第一旋转部21’、第二旋转部22’和连接臂23’。承载件1’用于承载拍摄设备4’。承载件1’、第一旋转部21’、第二旋转部22’沿前后方向堆叠排布。受限于云台结构，第二旋转部22’的后端部局部进入拍摄设备4’的视野中，即：入画部位221’与摄像头41’的视场角发生重叠，导致出现云台入画的问题，影响画面的拍摄效果。
由图1的示意图可以看出，对第二旋转部22’的外形进行改进，以使第二旋转部22’的后端部避让拍摄设备4’的视野，可以实现云台在前后方向上的堆叠厚度保持不变的情况下，解决云台入画的问题。
或者，对云台在前后方向上的堆叠厚度进行减薄，也可以使第二旋转部22’的后端部避让拍摄设备4’的视野，解决云台入画的问题。
并且，上述两种解决方案互不干涉，可以并存，从而更有效地解决云台入画的问题。
下面参照图3至图16描述本申请一些实施例提供的云台。
如图3所示，本申请第一方面的一个实施例提供的云台，包括：承载件1和第一轴组件2。
具体地，承载件1用于承载拍摄设备4。第一轴组件2包括第一旋转部21和第二旋转部22，第一旋转部21与承载件1固定连接，并用于带动承载件1相对第二旋转部22绕第一轴线L1转动。第一旋转部21夹设在承载件1与第二旋转部22之间。
其中，第二旋转部22远离第一旋转部21的一端具有避让部221，用于在承载件1承载拍摄设备4时使第一轴组件2位于拍摄设备4的视野范围之外。避让部221具有相对于第一轴线L1倾斜设置的避让表面，且沿着由承载件1指向第二旋转部22的方向，避让表面向靠近第一轴线L1的方向倾斜延伸。
本申请第一方面的实施例提供的云台，对云台的外形进行了优化改进，通过避让部221和避让表面222的设置，来对拍摄设备4的视野进行避让，从而改善云台入画的问题，提高拍摄设备4的画面拍摄效果。
具体而言，云台包括承载件1和第一轴组件2。承载件1与拍摄设备4相配合，一般通过夹持固定、磁吸固定等方式实现云台对拍摄设备4的承载。第一轴组件2的第一旋转部21与承载件1相连，用于带动承载件1相对第二旋 转部22绕第一轴线L1(例如，横滚轴，或者叫Roll轴)转动，使得承载件1能够带动拍摄设备4相对第二旋转部22同步转动。
实际使用过程中，拍摄设备4固定到云台上一般需要配平，因此固定后第一轴线L1一般位于拍摄设备4的几何中心附近，会与拍摄设备4的摄像头41错开一定距离。定义由承载件1指向第二旋转部22的方向为由前向后的方向，则第一旋转部21和第二旋转部22由前向后层叠排布，并位于摄像头41的斜后侧，如图3所示。而拍摄设备4的最大视场角呈锥形，最大视场角的中心轴线L4平行于第一轴线L1，最大视场角的边界沿着由前向后的方向逐渐向外倾斜延伸，即：向远离最大视场角的中心轴线L4的方向倾斜延伸。
因此，实际使用过程中，第二旋转部22的后端部，即第二旋转部22远离第一旋转部21的一端部，较为容易被摄像头41拍摄到画面中，产生入画问题，如图1所示。而本方案对第二旋转部22的后端部的形状进行了改进，通过设计避让部221来对摄像头41的最大视场角进行避让，也就是对拍摄设备4的视野进行避让，以使云台在使用过程中第一轴组件2能够位于拍摄设备4的视野范围之外，如图3所示，从而避免产生入画问题。
具体地，避让部221具有避让表面222，由于避让表面222沿着由前向后的方向朝靠近第一轴线L1的方向倾斜延伸，也就是向远离摄像头41的最大视场角的中心轴线L4的方向倾斜延伸，因而能够避让摄像头41的最大视场角的边界，从而可以在云台前后方向上的堆叠厚度保持不变的情况下，解决云台入画问题，进而提高画面的拍摄效果。
其中，拍摄设备4的视野由最大视场角决定。对于具有多个摄像头41的拍摄设备4，拍摄设备4的最大视场角指的是，多个摄像头41中FOV参数最大的摄像头41的视场角。对于只有一个摄像头41的拍摄设备4，拍摄设备4的最大视场角指的是该摄像头41的视场角。
进一步地，第二旋转部22具有侧壁225，如图4所示。避让表面222靠近承载件1的边缘与侧壁225的边缘相接。
在该实施例中，由于避让表面222靠近承载件1的边缘与第二旋转部22的侧壁225的边缘相接，因而相对于相关技术只需对第二旋转部22的局部进行改进，有利于减小对现有第二旋转部22的改动幅度，并相应降低避让部221 的设置对第二旋转部22内的其他结构的影响，从而降低生产成本。
进一步地，避让表面222为曲面，曲面为一线条绕第一轴线L1旋转预设角度形成的。预设角度是根据云台使用时拍摄设备4可以相对于第二旋转部22旋转的角度范围确定的。定义第一轴线L1和最大视场角的中心轴线L4所在的平面为参考面。在云台的使用过程中，拍摄设备4相对于第二旋转部22的旋转存在两个极限位置，这两个极限位置可以是由实际需要确定的，也可以是由限位结构确定的。随着拍摄设备4相对于第二旋转部22的旋转，参考面也会相应地绕着第一轴线L1旋转。两个极限位置处的参考面之间的夹角不小于预设角度，这样可以保证云台承载拍摄设备4时，无论拍摄设备4旋转到任何需要的角度，都可以实现避免产生云台入画的问题。
由于在使用过程中，拍摄设备4可以随承载件1相对第二旋转部22绕第一轴线L1发生转动，因此可能存在拍摄设备4相对第二旋转部22转动一定角度后产生云台入画的问题。而本方案的设计，可以有效避免上述问题的发生，使得拍摄设备4在相对第二旋转部22转动预设角度的范围内，均不会产生云台入画的问题，从而提高用户的使用舒适度。换言之，避让表面222整体是一个随着拍摄设备最大视场角边界变化的曲面结构。
其中，该线条可以是一根连续的线条，也可以是一组间隔设置的线条。
在本申请的一个实施例中，线条包括至少一条曲线段2221。沿着由承载件1指向第二旋转部22的方向，曲线段2221的切线与第一轴线L1之间的夹角逐渐增大，如图3和图4所示。
定义第一轴线L1和最大视场角的中心轴线L4所在的平面为参考面。由于摄像头41的最大视场角呈锥形，因而最大视场角的边界与参考面的交线为两条射线。其中一条射线(记为第一射线42)向远离第一轴线L1的方向倾斜延伸，另一条射线(记为第二射线43)向靠近第一轴线L1的方向倾斜延伸，如图3和图4所示。由于第一旋转部21和第二旋转部22沿由前向后的方向堆叠排布，因此，避让表面222与第二射线43之间的距离最近。故而，避让表面222只需对第二射线43进行避让即可，只需避让表面222与参考面的交线(即位于参考面中的前述线条)不与第二射线43发生相交或重合即可。
当前述线条包括至少一条曲线段2221时，相较于直线段，曲线段2221 与第二射线43发生相交或重合的概率显著降低。如此，即使存在加工误差或者装配误差，或者拍摄设备4固定的部位发生偏差，曲线段2221上可能只有一个点入画，而不会导致整个曲线段2221都入画，因此这样有利于尽量减少云台入画的面积，有利于提高防止云台入画的可靠性。
进一步地，沿着由前向后的方向，当曲线段2221的切线与第一轴线L1之间的夹角逐渐增大时，曲线段2221与第二射线43之间的距离也逐渐增大，因而有利于进一步降低云台入画的风险。
其中，该线条可以仅包括一条曲线段2221，当预设角度小于360°时，则避让表面222为一段曲面，当预设角度等于360°时，则避让表面222为两端开口的一圈曲面或者一端开口类似盖子形状的曲面。
或者，该线条也可以包括两条曲线段2221或者更多条曲线段2221。
当然，在另一些实施例中，该线条也可以包括至少一条直线段。相较于曲线段2221，采用直线段旋转预设角度形成的避让表面222的结构更加简单，更加便于加工成型，因而有利于降低避让表面222的加工难度，进而降低生产成本。
或者，该线条也可以包括至少一条直线段和至少一条曲线段2221。
在本申请的一个实施例中，线条包括至少一条曲线段2221，曲线段2221靠近第一轴线L1的一端与承载件1之间的轴向距离大于曲线段2221远离第一轴线L1的一端与承载件1之间的轴向距离，如图3和图4所示。
该方案的设计，避免了避让表面222中部向靠近第一旋转部21的方向内凹或者过度内凹，一方面有利于降低避让表面222的加工难度，进而降低生产成本；另一方面有利于增加第二旋转部22的内部空间，便于第二旋转部22内零部件的合理布置。
在本申请的另一个实施例中，线条包括至少一条直线段2225，如图14所示。直线段2225靠近第一轴线L1的一端与承载件1之间的轴向距离大于直线段2225远离第一轴线L1的一端与承载件1之间的轴向距离。
该方案的设计，也避免了避让表面222中部向靠近第一旋转部21的方向内凹或者过度内凹，一方面有利于降低避让表面222的加工难度，进而降低生产成本；另一方面有利于增加第二旋转部22的内部空间，便于第二旋转部22 内零部件的合理布置。
在本申请的一些实施例中，预设角度在90°至360°范围内。
由于拍摄设备4在拍照过程中，较常采用的方式有横屏和竖屏两种，两种方式相差90°，因此预设角度至少为90°，能够满足用户的大部分需求。在此基础上，预设角度进一步扩大，甚至扩大到360°，既有利于满足用户更大范围的拍照需求，也使得避让表面222更加接近沿第二旋转部22的周向设置，这样第二旋转部22的结构更加规整，更加便于加工成型。
当然，预设角度也可以小于90°。在这种情况下，拍摄设备4相对于第二旋转部22所需要的旋转角度小于90°。
在本申请的一个实施例中，避让表面与纵截面的交线包括至少一条曲线段2221，如图11至图13所示。其中，纵截面为与第一轴线L1共面且与避让表面222相交的任意平面。
定义第一轴线L1和最大视场角的中心轴线L4所在的平面为参考面。由于摄像头41的最大视场角呈锥形，因而最大视场角的边界与参考面的交线为两条射线。其中一条射线(记为第一射线42)向远离第一轴线L1的方向倾斜延伸，另一条射线(记为第二射线43)向靠近第一轴线L1的方向倾斜延伸。由于第一旋转部21和第二旋转部22沿由前向后的方向堆叠排布。因此，避让表面222与第二射线43之间的距离最近。故而，避让表面222只需对第二射线43进行避让即可，进而只需避让表面222与参考面的交线不与第二射线43发生相交或重合即可。
由于拍摄设备4能够随承载件1相对第二旋转部22绕第一轴线L1转动，因而本方案中的纵截面可以相对参考面绕第一轴线L1转动，只需纵截面与参考面重合时避让表面222与纵截面的交线不与第二射线43发生相交或重合即可。
当避让表面222与纵截面的交线包括至少一条曲线段2221时，相较于直线段2225，曲线段2221与第二射线43发生相交或重合的概率显著降低。如此，即使存在加工误差或者装配误差，或者拍摄设备4固定的部位发生偏差，曲线段2221相应的云台的部分上可能只有一小部分入画，而不会导致整个曲线段2221相应的云台的部分都入画，因此这样有利于尽量减少云台入画的体 积，有利于提高防止云台入画的可靠性。
进一步地，沿着由承载件1指向第二旋转部22的方向，曲线段2221的切线与第一轴线L1之间的夹角逐渐增大。
沿着由前向后的方向，当曲线段2221的切线与第一轴线L1之间的夹角逐渐增大时，曲线段2221与第二射线43之间的距离也逐渐增大，因而有利于进一步降低云台入画的风险。
进一步地，曲线段2221靠近承载件1的一端的端点为临界点。曲线段2221在临界点的切线与第一轴线L1之间的夹角β在30°至75°的范围内。
由于不同拍摄设备4的摄像头41的视场角不尽相同，同一拍摄设备4的不同摄像头41的视场角也不尽相同，不同拍摄设备4的尺寸也不尽相同。通过将该临界点的切线与第一轴线L1之间的夹角限定在30°至75°的范围内，而曲线段2221的其他部位的切线与第一轴线L1之间的夹角逐渐增大，有利于满足不同拍摄设备4的使用需求，尽量降低云台在夹持不同拍摄设备4时的入画风险，从而提高云台的通用性。
进一步地，曲线段2221靠近承载件1的一端的端点为临界点。曲线段2221在临界点的切线与第一轴线L1之间的夹角β大于或等于拍摄设备4的最大视场角α的一半。
曲线段2221连接第二旋转部22的一端的端点，即为曲线段2221的前端点。只要保证曲线段2221的前端点不与第二射线43重合且不在第一射线42与第二射线43之间的范围内，且曲线段2221的前端点的切线与第一轴线L1之间的夹角大于或等于拍摄设备4的最大视场角的一半，则无论前端点与第二射线43之间的距离有多小，也无论曲线段2221的轴向长度有多大，均可保证曲线段2221的其他部位也不会与第二射线43相交或重合，不会进入第一射线42与第二射线43之间的范围内。
而曲线段2221的轴向长度影响着第一轴组件2在前后方向上的堆叠厚度。因此，该方案有利于降低对第一轴组件2在前后方向上的堆叠厚度的要求，即第一轴组件2在前后方向上的堆叠厚度可以根据需要设计得略厚。而提供驱动力来源的电机部24是影响第一轴组件2在前后方向上的堆叠厚度的重要因素，因而本方案有利于降低对第一轴组件2的电机部24的要求，从而有利于降低 第一轴组件2的成本。
在本申请的一些实施例中，曲线段2221的数量为两条，如图12和图13所示。两条曲线段2221分别为第一曲线段2222和第二曲线段2223，第一曲线段2222和第二曲线段2223分居第一轴线L1的两侧。
这种情况下，避让表面222为曲面，且曲面为一曲线段绕第一轴线L1旋转预设角度形成，且该预设角度大于等于180°，否则避让表面222与纵截面的交线不可能具有两条曲线段2221。其中，预设角度是根据云台使用时拍摄设备4可以相对于第二旋转部22旋转的角度范围确定的。定义第一轴线L1和最大视场角的中心轴线L4所在的平面为参考面。在云台的使用过程中，拍摄设备4相对于第二旋转部22的旋转存在两个极限位置，这两个极限位置可以是由实际需要确定的，也可以是由限位结构确定的。随着拍摄设备4相对于第二旋转部22的旋转，参考面也会相应地绕着第一轴线L1旋转。两个极限位置处的参考面之间的夹角不小于预设角度，这样可以保证云台承载拍摄设备4时，无论拍摄设备4旋转到任何需要的角度，都可以实现避免产生云台入画的问题。
因此，当曲线段2221的数量为两条时，保证了预设角度大于180°，进而允许拍摄设备旋转的角度范围也比较大，这样可以在比较大的角度范围内解决电机入画的问题。
另外，由于第二旋转部22一般呈圆柱形或大致呈圆柱形。因此，本方案有利于提高避让表面222的结构规整性，使避让部221和避让表面222与第二旋转部22的常规形状匹配，从而降低避让表面222的加工难度，也尽可能减少甚至避免对第二旋转部22内的其他结构进行改进。
当然，曲线段2221的数量也可以为一条，如图11所示。
在本申请的一个实施例中，第一曲线段2222和第二曲线段2223相连，且连接点位于第一轴线L1上，如图13所示。
第一曲线段2222和第二曲线段2223相连，且连接点位于第一轴线L1上，则避让表面222形成一段或一个完整的朝向前方开口的曲面。相对于相关技术，本方案相当于将现有第二旋转部22的后端面由平面整体改为曲面。
在本申请的另一个实施例中，第一曲线段2222和第二曲线段2223间隔设 置，如图12所示。
第一曲线段2222和第二曲线段2223间隔设置，则避让表面222形成一段或一个完整的前后方向两端开口的环形的曲面。该方案中，第二旋转部22还具有连接该曲面的一个后部开口端的连接面2231，比如一个平面，对第二旋转部22的后端进行封盖。相对于相关技术，本方案相当于将现有第二旋转部22的后端面的外周区域改为倾斜的曲面。
根据本申请的一些实施例，避让表面与纵截面的交线包括至少一条直线段2225，如图14至图16所示。其中，纵截面为与第一轴线L1共面且与避让表面222相交的任意平面。
当避让表面222与纵截面的交线包括至少一条直线段2225时，相较于曲线段2221，直线段2225更加易于加工，因而有利于降低避让表面222的加工难度。
在一些实施例中，直线段2225与第一轴线L1之间的夹角γ在30°至75°的范围内。
由于不同拍摄设备4的摄像头41的视场角不尽相同，同一拍摄设备4的不同摄像头41的视场角也不尽相同，不同拍摄设备4的尺寸也不尽相同。通过将该直线段2225与第一轴线L1之间的夹角限定在30°至75°的范围内，有利于满足不同拍摄设备4的使用需求，尽量降低云台在夹持不同拍摄设备4时的入画风险，从而提高云台的通用性。
进一步地，直线段2225与第一轴线L1之间的夹角γ大于或等于拍摄设备4的最大视场角α的一半。
只要保证直线段2225不与第二射线43重合且不在第一射线42与第二射线43之间的范围内，且直线段2225与第一轴线L1之间的夹角大于或等于拍摄设备4的最大视场角的一半，则无论直线段2225与第二射线43之间的距离有多小，也无论直线段2225的轴向长度有多大，均可保证直线段2225不会与第二射线43重合或进入第一射线42与第二射线43之间的范围内。
而直线段2225的轴向长度影响着第一轴组件2在前后方向上的堆叠厚度。因此，该方案有利于降低对第一轴组件2在前后方向上的堆叠厚度的要求，即第一轴组件2在前后方向上的堆叠厚度可以根据需要设计得略厚。而提供驱动 力来源的电机部24是影响第一轴组件2在前后方向上的堆叠厚度的重要因素，因而本方案有利于降低对第一轴组件2的电机部24的要求，从而有利于降低第一轴组件2的成本。
在本申请的一些实施例中，直线段2225的数量为两条，如图15和图16所示。两条直线段2225分别为第一直线段2226和第二直线段2227，第一直线段2226和第二直线段2227分居第一轴线L1的两侧。
这种情况下，避让表面222为曲面，且曲面为一直线段绕第一轴线L1旋转预设角度形成，且该预设角度大于等于180°，否则避让表面222的纵截面与参考面的交线不可能具有两条直线段2225。其中，预设角度是根据云台使用时拍摄设备4可以相对于第二旋转部22旋转的角度范围确定的。定义第一轴线L1和最大视场角的中心轴线L4所在的平面为参考面。在云台的使用过程中，拍摄设备4相对于第二旋转部22的旋转存在两个极限位置，这两个极限位置可以是由实际需要确定的，也可以是由限位结构确定的。随着拍摄设备4相对于第二旋转部22的旋转，参考面也会相应地绕着第一轴线L1旋转。两个极限位置处的参考面之间的夹角不小于预设角度，这样可以保证云台承载拍摄设备4时，无论拍摄设备4旋转到任何需要的角度，都可以实现避免产生云台入画的问题。
因此，当直线段2225的数量为两条时，保证了预设角度大于180°，进而允许拍摄设备4旋转的角度范围也比较大，这样可以在比较大的角度范围内解决电机入画的问题。
另外，由于第二旋转部22一般呈圆柱形或大致呈圆柱形。因此，本方案有利于提高避让表面222的结构规整性，使避让部221和避让表面222与第二旋转部22的常规形状匹配，从而降低避让表面222的加工难度，也尽可能减少甚至避免对第二旋转部22内的其他结构进行改进。
当然，直线段2225的数量也可以为一条，如图14所示。
在本申请的一个实施例中，第一直线段2226和第二直线段2227相连，且连接点位于第一轴线L1上，如图16所示。
第一直线段2226和第二直线段2227相连，且连接点位于第一轴线L1上，则避让表面222形成一段或一个完整的朝向前方开口的锥面。相对于相关技 术，本方案相当于将现有第二旋转部22的后端面由平面整体改为锥面(当第一直线段2226和第二直线段2227的长度相等时)或基本呈锥面(当第一直线段2226和第二直线段2227的长度不相等时)。
在本申请的另一个实施例中，第一直线段2226和第二直线段2227间隔设置，如图15所示。
第一直线段2226和第二直线段2227间隔设置，则避让表面222形成一段或一个完整的前后方向两端开口的环形锥面。该方案中，第二旋转部22还具有连接该环形锥面的后部开口端的连接面2231，比如一个平面，对第二旋转部22的后端进行封盖。相对于相关技术，本方案相当于将现有第二旋转部22的后端面的外周区域改为倾斜面，在加工时通过加工倒角即可形成。
当然，避让表面222与纵截面的交线也可以包括至少一条曲线段2221和至少一条直线段2225，曲线段2221和直线段2225可以相连，也可以分开设置。
在本申请的一些实施例中，第二旋转部22还包括端盖223，如图4和图6所示。端盖223盖设在第二旋转部22远离第一旋转部21的一端。避让部221至少部分设在端盖223上。
本方案将端盖223设计为一个单独的零件，有利于简化端盖223的形状，便于根据需要加工所需形状和尺寸的避让部221，从而降低第二旋转部22的加工难度。
其中，在图4和图6中，避让部221的一部分设在端盖223上，另一部分设在第二旋转部22的主体上(即与侧壁225相接的部位)。当然，避让部221也可以完全设在端盖223上，或者完全设在第二旋转部22的主体上。
在本申请的一些实施例中，在上述任一实施例的基础上，进一步地，第一轴组件2还包括电机部24，如图7所示。电机部24设在第一旋转部21和/或第二旋转部22内。电机部24包括转子241、定子242和电路板243，第一旋转部21和第二旋转部22中的一者与转子241与固定连接，第一旋转部21和第二旋转部22中的另一者与定子242固定连接。
云台还包括霍尔组件3，霍尔组件3包括磁性件31和与磁性件31相配合的霍尔传感器32，霍尔传感器32设在电路板243上，如图6所示。磁性件31 和电路板243中的一个与第一旋转部21固定连接，另一个与第二旋转部22固定连接，电路板243与磁性件31沿转子241的径向排布。
电机部24为第一轴组件2的动力来源。当电机部24运行时，电路板243产生控制信号，使得转子241与定子242发生相对转动，进而带动第一旋转部21相对第二旋转部22转动，从而实现对承载件1的驱动，实现带动拍摄设备4转动的功能。
其中，磁性件31和电路板243中的一个与转子241固定连接，另一个与定子242固定连接，且霍尔传感器32设在电路板243上，则第一旋转部21与第二旋转部22发生相对转动时，磁性件31与霍尔传感器32也发生相对转动，霍尔传感器32检测到的磁性件31的磁场也相应发生变化。因此，通过霍尔传感器32对磁性件31的检测，可实现霍尔组件3对转子241的转动信息的检测，如转动角度、转动速度等。
至于固定连接的方式，可以通过螺纹连接、卡合连接、磁吸连接等方式实现可拆卸连接，也可以通过一体注塑、焊接、粘接等方式实现不可拆卸连接。
其中，电机部24可以完全设在第一旋转部21内，也可以完全设在第二旋转部22内，也可以部分设在第一旋转部21内，部分设在第二旋转部22内。霍尔传感器32的数量可以为一个，也可以为多个；磁性件31的数量可以为一个，也可以为多个。
值得说明的是，相关技术中，霍尔传感器31’设在电路板24’上，电路板24’与磁性件32’沿转子的轴向(即沿第一轴线L1的延伸方向)排布，如图2所示。而本方案中，电路板243与磁性件31沿转子241的径向排布，这样有利于降低电机部24的轴向厚度。而转子241的轴向与第一轴线L1的延伸方向一致，因此本方案有利于在前后方向(即云台在第一轴线L1方向)上进一步压缩第一轴组件2的空间，对第一轴组件2在前后方向上的堆叠厚度进行减薄，也能够对拍摄设备4的视野进行避让，从而进一步降低云台入画的风险。
换言之，本方案中，磁性件31和电路板243采用尽量共面的方式，来降低对轴向空间的占用，使得电机部在前后方向上的尺寸得到进一步压缩。
进一步地，霍尔传感器32与电路板243沿转子241的轴向排布，如图5所示。
霍尔传感器32与电路板243沿转子241的轴向排布，能够合理利用电路板243板面上的位置，便于根据需要合理布置霍尔传感器32的位置，以提高霍尔传感器32的检测精度。同时，相较于霍尔传感器32与电路板243沿转子241的径向排布，本方案有利于避免电机部24的径向尺寸过大，因而有利于避免云台的第一轴组件2与摄像头41之间的距离过小，保证第一轴组件2与摄像头41之间的距离相对较大，从而降低云台入画的风险。
进一步地，霍尔传感器32设在电路板243背向承载件1的一侧，如图5所示。
由于拍摄设备4内可能也存在磁性结构，如果拍摄设备4与霍尔传感器32之间的距离过近，可能会对霍尔传感器32产生干扰。因此，将霍尔传感器32设在电路板243背向承载件1的一侧，有利于增加霍尔传感器32与拍摄设备4之间的距离，从而降低霍尔传感器32受到干扰的风险，提高霍尔传感器32的检测准确性。
进一步地，电路板243朝向承载件1的板面与承载件1之间的轴向距离为第一距离。磁性件31朝向承载件1的表面与承载件1之间的轴向距离为第二距离。第一距离大于第二距离。
第一距离大于第二距离，也有利于增加霍尔传感器32与拍摄设备4之间的距离，从而降低霍尔传感器32受到干扰的风险，提高霍尔传感器32的检测准确性。
在本申请的一个实施例中，具体地，如图5所示，磁性件31设在第一旋转部21内并与第二旋转部22固定连接。霍尔传感器32和电路板243设在第一旋转部21内，并与第一旋转部21固定连接。
磁性件31设在第一旋转部21内并与第二旋转部22固定连接，保证了磁性件31能够相对第一旋转部21转动。霍尔传感器32和电路板243设在第一旋转部21内，并与第一旋转部21固定连接，保证了霍尔传感器32能够相对第二旋转部22转动，从而实现磁性件31与霍尔传感器32的相对转动。如此，磁性件31、霍尔传感器32和电路板243均位于第一旋转部21内，有利于减小磁性件31与霍尔传感器32之间的距离，从而提高霍尔传感器32的检测精度。
进一步地，定子242和转子241设在第二旋转部22内，这样合理利用了第一旋转部21和第二旋转部22的内部空间，保证了电机部24的合理布置。其中，第二旋转部22具有定位柱224，如图7所示。第一旋转部21具有空心轴211，如图5所示。空心轴211套设在定位柱224外侧。电机部24还包括轴承25，如图5和图7所示。轴承25套设在定位柱224上，并位于定位柱224与空心轴211之间。轴承25的内壁面与定位柱224固定在一起，轴承25的外壁面与空心轴211固定在一起。转子241套设在空心轴211外侧，并与空心轴211固定在一起。定子242与转子241配合，且定子242与第二旋转部22固定在一起。
这样，当转子241相对定子242绕第一轴线L1发生相对转动时，转子241可带动空心轴211同步相对定位柱224绕第一轴线L1发生相对转动，则空心轴211带动第一旋转部21同步相对第二旋转部22绕第一轴线L1发生相对转动，进一步带动承载件1和拍摄设备4转动。电机部24还包括固定件26，如图5所示，固定件26固定于定位柱224的顶端，可以防止空心轴211脱出定位柱224，保证将第一旋转部21限位于第二旋转部22。固定件26可采用固定螺母，通过螺纹连接固定于定位柱224。磁性件31可采用粘接的方式固定于固定件26。
需要说明的是，转子241和定子242是电机部24中能够相对转动的两个部件，它们的名称可以互换。换言之，在其他一些实施例中，转子241可以命名为电机的定子，定子242可以命名为电机的转子。
在本申请的一个实施例中，磁性件31为磁铁。
磁性件31采用磁铁，磁铁磁性高，与霍尔传感器32配合效果好，且便于根据需要选择所需尺寸，便于批量化生产。
当然，也可以采用其他具有磁性的零件作为磁性件31。
根据本申请的一个实施例，磁铁为环形磁铁，如图6和图7所示。
磁铁采用环形磁铁，环形磁铁的N极和S极沿其周向排布，这样当磁铁与霍尔传感器32发生相对转动时，霍尔传感器32检测到的磁场会发生变化，从而实现检测功能。
当然，磁铁并不局限于环形磁铁，也可以采用一个或多个条形磁铁。
进一步地，环形磁铁的中心轴线与第一轴线L1共线。
环形磁铁的中心轴线与第一轴线L1共线，则环形磁铁的不同磁极与霍尔传感器32之间的径向距离相等，使得霍尔组件3的结构排布规整，且有利于提高霍尔传感器32的检测准确性。
在本申请的一个实施例中，电路板243的中部具有圆形孔2431，如图5和图6所示。至少部分磁性件31收容于圆形孔2431内，如图5所示。
本方案一方面有利于进一步减小磁性件31与霍尔传感器32之间的距离，从而进一步提高霍尔传感器32的检测精度，另一方面也有利于减小磁性件31和电路板243所占的径向空间，有利于减小电机部24的径向尺寸，并且还有利于减小磁性件31和电路板243轴向上的堆叠厚度，从而减小第一轴组件2在轴向上的厚度，以进一步避免电机入画的问题。
进一步地，电路板243的形状为环形，如图6所示。电路板243的中心轴线与第一轴线L1共线。
本方案便于磁性件31的不同磁极与霍尔传感器32之间保持相等的径向距离，使得霍尔组件3的结构排布规整，且有利于提高霍尔传感器32的检测准确性。
在本申请的一个实施例中，第一轴组件2还包括与第二旋转部22固定连接的连接臂23。云台还包括：第二轴组件5，如图8、图9和图10所示。第二轴组件5与连接臂23可转动连接，用于带动连接臂23绕第二轴线L2转动。
相较于单独的一个第一轴组件2，第二轴组件5的设置，增加了云台的自由度，从而增加了拍摄设备4的转动自由度，增强了云台对拍摄设备4的增稳效果。其中，第二轴组件5具体也包括旋转部和电机部24。连接臂23与第二旋转部22的固定连接方式，可采用螺纹连接、卡合连接、磁吸连接等方式实现可拆卸连接，也可以通过一体注塑、焊接、粘接等方式实现不可拆卸连接。
进一步地，云台还包括：第三轴组件6，如图8、图9和图10所示。第三轴组件6与第二轴组件5可转动连接，用于带动第二轴组件5绕第三轴线L3转动。
相较于仅设置第一轴组件2和第二轴组件5，第三轴组件6的设置，进一步增加了云台的自由度，从而增加了拍摄设备4的转动自由度，增强了云台对 拍摄设备4的增稳效果。其中，第三轴组件6具体也包括旋转部和电机部24。
具体地，在一些实施例中，第一轴线L1为横滚轴(Roll轴)，第二轴线L2为俯仰轴(Pitch轴)，第三轴线L3为平移轴(Yaw轴)。其中，第一轴线L1、第二轴线L2、第三轴线L3可以相互垂直，呈正交关系，也可以并非相互垂直，具体可以根据需求进行合理设计。
在本申请的一些实施例中，承载件1通过磁吸的方式可拆卸地连接于第一旋转部21。
承载件1可拆卸地连接于第一旋转部21，则当承载件1或者第一轴组件2中的一个需要更换时，只需更换其中一者，而无需整体更换，更换方便快捷。并且磁吸的方式使用户使用云台时先将拍摄设备4固定在承载件1上再将承载件1固定在云台上，使用更方便，提高了用户体验。
当然，承载件1也可以通过螺纹连接、卡合连接等方式可拆卸地连接于第一旋转部21。或者，承载件1也可以通过一体注塑成型、焊接、粘接等方式不可拆卸地连接于第一旋转部21。
本申请第二方面的一个实施例提供的云台，包括：承载件1和第一轴组件2。
具体地，承载件1用于承载拍摄设备4。第一轴组件2包括电机部24。电机部24包括转子241、定子242和电路板243。定子242和转子241中的一者与承载件1与固定连接，用于带动承载件1相对于定子242和转子241中的另一者绕第一轴线L1转动。霍尔组件3包括磁性件31和与磁性件31相配合的霍尔传感器32，霍尔传感器32设在电路板243上。磁性件31和电路板243中的一个与定子242固定连接，另一个与转子241固定连接，电路板243与磁性件31沿转子241的径向排布。
本申请第二方面的实施例提供的云台，对电路板243与磁性件31的位置进行了改进，降低了云台在第一轴线L1方向上的堆叠厚度，便于对拍摄设备4的视野进行避让，从而改善云台入画的问题，提高拍摄设备4的画面拍摄效果。
具体而言，云台包括承载件1、第一轴组件2和霍尔组件3。承载件1与拍摄设备4相配合，一般通过夹持固定、磁吸固定等方式实现云台对拍摄设备 4的承载。第一轴组件2与承载件1相连，用于带动承载件1绕第一轴线L1(例如，横滚轴，或者叫Roll轴)转动，使得承载件1能够带动拍摄设备4同步转动。第一轴组件2包括电机部24，电机部24包括转子241、定子242和电路板243，定子242和转子241中的一者与承载件1固定连接，用于带动承载件1相对于定子242和转子241中的另一者绕第一轴线L1转动。霍尔组件3包括磁性件31和与磁性件31相配合的霍尔传感器32，霍尔传感器设在电路板243上。磁性件31和电路板243中的一个与定子242固定连接，另一个与转子241固定连接，电路板243与磁性件31沿转子241的径向排布。
电机部24为第一轴组件2的动力来源。当电机部24运行时，电路板243产生控制信号，使得转子241与定子242发生相对转动，进而带动第一旋转部21相对第二旋转部22转动，从而实现对承载件1的驱动，实现带动拍摄设备4转动的功能。
其中，磁性件31和电路板243中的一个与转子241固定连接，另一个与定子242固定连接，且霍尔传感器32设在电路板243上，则第一旋转部21与第二旋转部22发生相对转动时，磁性件31与霍尔传感器32也发生相对转动，霍尔传感器32检测到的磁性件31的磁场也相应发生变化。因此，通过霍尔传感器32对磁性件31的检测，可实现霍尔组件3对转子241的转动信息的检测，如转动角度、转动速度等。
至于固定连接的方式，可以通过螺纹连接、卡合连接、磁吸连接等方式实现可拆卸连接，也可以通过一体注塑、焊接、粘接等方式实现不可拆卸连接。
其中，霍尔传感器32的数量可以为一个，也可以为多个(如图6所示)。磁性件31的数量可以为一个(如图6所示)，也可以为多个。
值得说明的是，相关技术中，霍尔传感器31’设在电路板24’上，电路板24’与磁性件32’沿转子的轴向(即沿第一轴线L1的延伸方向)排布，如图2所示。而本方案中，电路板243与磁性件31沿转子241的径向排布，这样有利于降低电机部24的轴向厚度。而转子241的轴向与第一轴线L1的延伸方向一致，因此本方案有利于在前后方向(即云台在第一轴线L1方向)上进一步压缩第一轴组件2的空间，对第一轴组件2在前后方向上的堆叠厚度进行减薄，从而对拍摄设备4的视野进行避让，解决云台入画的问题。
换言之，本方案中，磁性件31和电路板243采用尽量共面的方式，来降低对轴向空间的占用，使得电机部在前后方向上的尺寸得到进一步压缩。
在本申请的一个实施例中，霍尔传感器32与电路板243沿转子241的轴向排布，如图5所示。
霍尔传感器32与电路板243沿转子241的轴向排布，能够合理利用电路板243板面上的位置，便于根据需要合理布置霍尔传感器32的位置，以提高霍尔传感器32的检测精度。同时，相较于霍尔传感器32与电路板243沿转子241的径向排布，本方案有利于避免电机部24的径向尺寸过大，因而有利于避免云台的第一轴组件2与摄像头41之间的距离过小，保证第一轴组件2与摄像头41之间的距离相对较大，从而降低云台入画的风险。
在一个实施例中，进一步地，霍尔传感器32设在电路板243背向承载件1的一侧，如图5所示。
由于拍摄设备4内可能也存在磁性结构，如果拍摄设备4与霍尔传感器32之间的距离过近，可能会对霍尔传感器32产生干扰。因此，将霍尔传感器32设在电路板243背向承载件1的一侧，有利于增加霍尔传感器32与拍摄设备4之间的距离，从而降低霍尔传感器32受到干扰的风险，提高霍尔传感器32的检测准确性。
在一个实施例中，进一步地，电路板243朝向承载件1的板面与承载件1之间的轴向距离为第一距离。磁性件31朝向承载件1的表面与承载件1之间的轴向距离为第二距离。第一距离大于第二距离。
第一距离大于第二距离，也有利于增加霍尔传感器32与拍摄设备4之间的距离，从而降低霍尔传感器32受到干扰的风险，提高霍尔传感器32的检测准确性。
在本申请的一个实施例中，具体地，第一轴组件2还包括第一旋转部21和第二旋转部22。定子242和转子241中的一者与第一旋转部21固定连接，另一者与第二旋转部22固定连接；第一旋转部21与承载件1固定连接并用于带动承载件1相对第二旋转部22绕第一轴线L1转动。第一旋转部21夹设在承载件1与第二旋转部22之间。
其中，磁性件31设在第一旋转部21内，并与第二旋转部固定连接，保证 了磁性件31能够相对第一旋转部21转动。霍尔传感器32和电路板243设在第一旋转部21内，并与第一旋转部21固定连接，保证了霍尔传感器32能够相对第二旋转部22转动，从而实现磁性件31与霍尔传感器32的相对转动。
如此，磁性件31、霍尔传感器32和电路板243均位于第一旋转部21内，有利于减小磁性件31与霍尔传感器32之间的距离，从而提高霍尔传感器32的检测精度。
进一步地，定子242和转子241设在第二旋转部22内，这样合理利用了第一旋转部21和第二旋转部22的内部空间，保证了电机部24的合理布置。其中，第二旋转部22具有定位柱224，如图7所示。第一旋转部21具有空心轴211，如图5所示。空心轴211套设在定位柱224外侧。电机部24还包括轴承25，如图5和图7所示。轴承25套设在定位柱224上，并位于定位柱224与空心轴211之间。轴承25的内壁面与定位柱224固定在一起，轴承25的外壁面与空心轴211固定在一起。转子241套设在空心轴211外侧，并与空心轴211固定在一起。定子242与转子241配合，且定子242与第二旋转部22固定在一起。
这样，当转子241相对定子242绕第一轴线L1发生相对转动时，转子241可带动空心轴211同步相对定位柱224绕第一轴线L1发生相对转动，则空心轴211带动第一旋转部21同步相对第二旋转部22绕第一轴线L1发生相对转动，进一步带动承载件1和拍摄设备4转动。电机部24还包括固定件26，如图5所示。固定件26固定于定位柱224的顶端，可以防止空心轴211脱出定位柱224，保证将第一旋转部21限位于第二旋转部22。固定件26可采用固定螺母，通过螺纹连接固定于定位柱224。磁性件31可采用粘接的方式固定于固定件26。
当然，磁性件31和电路板243的设置位置不局限于上述方式，比如也可以设在第二旋转部22内，或者部分设在第一旋转部21内，部分设在第二旋转部22内。
在一个实施例中，磁性件31为磁铁。
磁性件31采用磁铁，磁铁磁性高，与霍尔传感器32配合效果好，且便于根据需要选择所需尺寸，便于批量化生产。
当然，也可以采用其他具有磁性的零件作为磁性件31。
具体地，磁铁可以为环形磁铁，如图6和图7所示。
磁铁采用环形磁铁，环形磁铁的N极和S极沿其周向排布，这样当磁铁与霍尔传感器32发生相对转动时，霍尔传感器32检测到的磁场会发生变化，从而实现检测功能。
当然，磁铁并不局限于环形磁铁，也可以采用一个或多个条形磁铁。
进一步地，环形磁铁的中心轴线与第一轴线L1共线。
环形磁铁的中心轴线与第一轴线L1共线，则环形磁铁的不同磁极与霍尔传感器32之间的径向距离相等，使得霍尔组件3的结构排布规整，且有利于提高霍尔传感器32的检测准确性。
在本申请的一个实施例中，电路板243中部具有圆形孔2431，如图5和图6所示。至少部分磁性件31收容于圆形孔2431内，如图5所示。
本方案一方面有利于进一步减小磁性件31与霍尔传感器32之间的距离，从而进一步提高霍尔传感器32的检测精度，另一方面也有利于减小磁性件31和电路板243所占的径向空间，有利于减小电机部24的径向尺寸，并且还有利于减小磁性件31和电路板243轴向上的堆叠厚度，从而减小第一轴组件2在轴向上的厚度，以进一步避免电机入画的问题。
进一步地，电路板243的形状为环形，如图6所示。电路板243的中心轴线与第一轴线L1共线。
本方案便于磁性件31的不同磁极与霍尔传感器32之间保持相等的径向距离，使得霍尔组件3的结构排布规整，且有利于提高霍尔传感器32的检测准确性。
在本申请的一个实施例中，进一步地，云台还包括：第二轴组件5，如图8、图9和图10所示。第二轴组件5与第一轴组件2可转动连接，用于带动第一轴组件2绕第二轴线L2转动。
相较于单独的一个第一轴组件2，第二轴组件5的设置，增加了云台的自由度，从而增加了拍摄设备4的转动自由度，增强了云台对拍摄设备4的增稳效果。其中，第二轴组件5具体也包括旋转部和电机部24，电机部24能够驱动旋转部相对第一轴组件2绕第二轴线L2转动，至于电机部24的具体结构 以及工作原理可参照第一轴组件2，在此不再赘述。第一轴组件2还包括连接臂23，第二轴组件5与第一轴组件2的连接臂23可转动连接。
至于连接臂23与第二旋转部22的固定连接方式，可采用螺纹连接、卡合连接、磁吸连接等方式实现可拆卸连接，也可以通过一体注塑、焊接、粘接等方式实现不可拆卸连接。
进一步地，云台还包括：第三轴组件6，如图8、图9和图10所示。第三轴组件6与第二轴组件5可转动连接，用于带动第二轴组件5绕第三轴线L3转动。
相较于仅设置第一轴组件2和第二轴组件5，第三轴组件6的设置，进一步增加了云台的自由度，从而增加了拍摄设备4的转动自由度，增强了云台对拍摄设备4的增稳效果。其中，第三轴组件6具体也包括旋转部和电机部24，电机部24能够驱动旋转部相对第二轴组件5绕第三轴线L3转动，至于电机部24的具体结构以及工作原理可参照第一轴组件2，在此不再赘述。
具体地，在一些实施例中，第一轴线L1为横滚轴(Roll轴)，第二轴线L2为俯仰轴(Pitch轴)，第三轴线L3为平移轴(Yaw轴)。其中，第一轴线L1、第二轴线L2、第三轴线L3可以相互垂直，呈正交关系，也可以并非相互垂直，具体可以根据需求进行合理设计。
在本申请的一个实施例中，承载件1通过磁吸的方式可拆卸地连接于第一轴组件2。
承载件1可拆卸地连接于第一轴组件2，则当承载件1或者第一轴组件2中的一个需要更换时，只需更换其中一者，而无需整体更换，更换方便快捷。并且磁吸的方式使用户使用云台时先将拍摄设备4固定在承载件1上再将承载件1固定在云台上，使用更方便，提高了用户体验。
当然，承载件1也可以通过螺纹连接、卡合连接等方式可拆卸地连接于第一轴组件2。或者，承载件1也可以通过一体注塑成型、焊接、粘接等方式不可拆卸地连接于第一轴组件2。
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 (44)

  1. 一种云台，其中，包括：
    承载件，用于承载拍摄设备；
    第一轴组件，所述第一轴组件包括第一旋转部和第二旋转部，所述第一旋转部与所述承载件固定连接并用于带动所述承载件相对所述第二旋转部绕第一轴线转动，所述第一旋转部夹设在所述承载件与所述第二旋转部之间；
    其中，所述第二旋转部远离所述第一旋转部的一端具有避让部，用于在所述承载件承载所述拍摄设备时使所述第一轴组件位于所述拍摄设备的视野范围之外；所述避让部具有相对于所述第一轴线倾斜设置的避让表面，且沿着由所述承载件指向所述第二旋转部的方向，所述避让表面向靠近所述第一轴线的方向倾斜延伸。
  2. 根据权利要求1所述的云台，其中，
    所述第二旋转部具有侧壁，所述避让表面靠近所述承载件的边缘与所述侧壁的边缘相接。
  3. 根据权利要求1所述的云台，其中，
    所述避让表面为曲面，所述曲面为一线条绕所述第一轴线旋转预设角度形成的。
  4. 根据权利要求3所述的云台，其中，
    所述线条包括至少一条曲线段，沿着由所述承载件指向所述第二旋转部的方向，所述曲线段的切线与所述第一轴线之间的夹角逐渐增大。
  5. 根据权利要求3所述的云台，其中，
    所述线条包括至少一条曲线段，所述曲线段靠近所述第一轴线的一端与所述承载件之间的轴向距离大于所述曲线段远离所述第一轴线的一端与所述承载件之间的轴向距离。
  6. 根据权利要求3所述的云台，其中，
    所述线条包括至少一条直线段，所述直线段靠近所述第一轴线的一端与所述承载件之间的轴向距离大于所述直线段远离所述第一轴线的一端与所述承 载件之间的轴向距离。
  7. 根据权利要求3所述的云台，其中，
    所述预设角度在90°至360°范围内。
  8. 根据权利要求1所述的云台，其中，
    所述避让表面与纵截面的交线包括至少一条曲线段，其中，所述纵截面为与所述第一轴线共面且与所述避让表面相交的任意平面。
  9. 根据权利要求8所述的云台，其中，
    沿着由所述承载件指向所述第二旋转部的方向，所述曲线段的切线与所述第一轴线之间的夹角逐渐增大。
  10. 根据权利要求9所述的云台，其中，
    所述曲线段靠近所述承载件的一端的端点为临界点，所述曲线段在所述临界点的切线与所述第一轴线之间的夹角在30°至75°的范围内。
  11. 根据权利要求9所述的云台，其中，
    所述曲线段靠近所述承载件的一端的端点为临界点，所述曲线段在所述临界点的切线与所述第一轴线之间的夹角大于或等于所述拍摄设备的最大视场角的一半。
  12. 根据权利要求8所述的云台，其中，
    所述曲线段的数量为两条，两条所述曲线段分别为第一曲线段和第二曲线段，所述第一曲线段和所述第二曲线段分居所述第一轴线的两侧。
  13. 根据权利要求12所述的云台，其中，
    所述第一曲线段和所述第二曲线段相连，且连接点位于所述第一轴线上；或者
    所述第一曲线段和所述第二曲线段间隔设置。
  14. 根据权利要求1所述的云台，其中，
    所述避让表面与纵截面的交线包括至少一条直线段，其中，所述纵截面为与所述第一轴线共面且与所述避让表面相交的任意平面。
  15. 根据权利要求14所述的云台，其中，
    所述直线段与所述第一轴线之间的夹角在30°至75°的范围内。
  16. 根据权利要求14所述的云台，其中，
    所述直线段的数量为两条，两条所述直线段分别为第一直线段和第二直线段，所述第一直线段和所述第二直线段分居所述第一轴线的两侧。
  17. 根据权利要求16所述的云台，其中，
    所述第一直线段和所述第二直线段相连，且连接点位于所述第一轴线上；或者
    所述第一直线段和所述第二直线段间隔设置。
  18. 根据权利要求1至17中任一项所述的云台，其中，
    所述第二旋转部还包括端盖，所述端盖盖设在所述第二旋转部远离所述第一旋转部的一端，所述避让部至少部分设在所述端盖上。
  19. 根据权利要求1至17中任一项所述的云台，其中，
    所述第一轴组件还包括电机部，所述电机部设在所述第一旋转部和/或所述第二旋转部内，所述电机部包括转子、定子和电路板，所述第一旋转部和所述第二旋转部中的一者与所述转子固定连接，所述第一旋转部和所述第二旋转部中的另一者与所述定子固定连接；
    所述云台还包括霍尔组件，所述霍尔组件包括磁性件和与所述磁性件相配合的霍尔传感器，所述霍尔传感器设在所述电路板上；所述磁性件和所述电路板中的一个与所述第一旋转部固定连接，另一个与所述第二旋转部固定连接，所述电路板与所述磁性件沿所述转子的径向排布。
  20. 根据权利要求19所述的云台，其中，
    所述霍尔传感器与所述电路板沿所述转子的轴向排布。
  21. 根据权利要求20所述的云台，其中，
    所述霍尔传感器设在所述电路板背向所述承载件的一侧。
  22. 根据权利要求19所述的云台，其中，
    所述电路板朝向所述承载件的板面与所述承载件之间的轴向距离为第一距离；
    所述磁性件朝向所述承载件的表面与所述承载件之间的轴向距离为第二距离；
    所述第一距离大于所述第二距离。
  23. 根据权利要求19所述的云台，其中，
    所述磁性件设在所述第一旋转部内并与所述第二旋转部固定连接；
    所述霍尔传感器和所述电路板设在所述第一旋转部内，并与所述第一旋转部固定连接。
  24. 根据权利要求19所述的云台，其中，
    所述磁性件为磁铁。
  25. 根据权利要求24所述的云台，其中，
    所述磁铁为环形磁铁。
  26. 根据权利要求25所述的云台，其中，
    所述环形磁铁的中心轴线与所述第一轴线共线。
  27. 根据权利要求19所述的云台，其中，
    所述电路板的中部具有圆形孔，至少部分所述磁性件收容于所述圆形孔内。
  28. 根据权利要求27所述的云台，其中，
    所述电路板的形状为环形，所述电路板的中心轴线与所述第一轴线共线。
  29. 根据权利要求1至17中任一项所述的云台，其中，所述第一轴组件还包括与所述第二旋转部固定连接的连接臂，所述云台还包括：
    第二轴组件，所述第二轴组件与所述连接臂可转动连接，用于带动所述连接臂绕第二轴线转动。
  30. 根据权利要求29所述的云台，其中，还包括：
    第三轴组件，所述第三轴组件与所述第二轴组件可转动连接，用于带动所述第二轴组件绕第三轴线转动。
  31. 根据权利要求1所述的云台，其中，
    所述承载件通过磁吸的方式可拆卸地连接于所述第一旋转部。
  32. 一种云台，其中，包括：
    承载件，用于承载拍摄设备；
    第一轴组件，所述第一轴组件包括电机部，所述电机部包括转子、定子和电路板，所述定子和所述转子中的一者与所述承载件固定连接，用于带动所述承载件相对于所述定子和所述转子中的另一者绕第一轴线转动；
    霍尔组件，所述霍尔组件包括磁性件和与所述磁性件相配合的霍尔传感 器，所述霍尔传感器设在所述电路板上；所述磁性件和所述电路板中的一个与所述定子固定连接，另一个与所述转子固定连接，所述电路板与所述磁性件沿所述转子的径向排布。
  33. 根据权利要求32所述的云台，其中，
    所述霍尔传感器与所述电路板沿所述转子的轴向排布。
  34. 根据权利要求33所述的云台，其中，
    所述霍尔传感器设在所述电路板背向所述承载件的一侧。
  35. 根据权利要求32至34中任一项所述的云台，其中，
    所述电路板朝向所述承载件的板面与所述承载件之间的轴向距离为第一距离；
    所述磁性件朝向所述承载件的表面与所述承载件之间的轴向距离为第二距离；
    所述第一距离大于所述第二距离。
  36. 根据权利要求32至34中任一项所述的云台，其中，
    所述第一轴组件还包括第一旋转部和第二旋转部，所述定子和所述转子中的一者与所述第一旋转部固定连接，另一者与所述第二旋转部固定连接；所述第一旋转部与所述承载件固定连接并用于带动所述承载件相对所述第二旋转部绕所述第一轴线转动；
    所述磁性件设在所述第一旋转部内，并与所述第二旋转部固定连接；
    所述霍尔传感器和所述电路板设在所述第一旋转部内，并与所述第一旋转部固定连接。
  37. 根据权利要求32至34中任一项所述的云台，其中，
    所述磁性件为磁铁。
  38. 根据权利要求37所述的云台，其中，
    所述磁铁为环形磁铁。
  39. 根据权利要求38所述的云台，其中，
    所述环形磁铁的中心轴线与所述第一轴线共线。
  40. 根据权利要求32所述的云台，其中，
    所述电路板的中部具有圆形孔，至少部分所述磁性件收容于所述圆形孔 内。
  41. 根据权利要求40所述的云台，其中，
    所述电路板的形状为环形，所述电路板的中心轴线与所述第一轴线共线。
  42. 根据权利要求32所述的云台，其中，还包括：
    第二轴组件，所述第二轴组件与所述第一轴组件可转动连接，用于带动所述第一轴组件绕第二轴线转动。
  43. 根据权利要求42所述的云台，其中，还包括：
    第三轴组件，所述第三轴组件与所述第二轴组件可转动连接，用于带动所述第二轴组件绕第三轴线转动。
  44. 根据权利要求32所述的云台，其中，
    所述承载件通过磁吸的方式可拆卸地连接于所述第一轴组件。
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CN111306408A (zh) * 2020-02-28 2020-06-19 深圳市固胜智能科技有限公司 一种手持稳定器
CN211976489U (zh) * 2020-03-10 2020-11-20 桂林飞宇科技股份有限公司 手持折叠稳定器

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