WO2022041575A1 - 手持云台 - Google Patents

手持云台 Download PDF

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Publication number
WO2022041575A1
WO2022041575A1 PCT/CN2020/135452 CN2020135452W WO2022041575A1 WO 2022041575 A1 WO2022041575 A1 WO 2022041575A1 CN 2020135452 W CN2020135452 W CN 2020135452W WO 2022041575 A1 WO2022041575 A1 WO 2022041575A1
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WO
WIPO (PCT)
Prior art keywords
shaft
arm
rotating shaft
hall sensor
handheld
Prior art date
Application number
PCT/CN2020/135452
Other languages
English (en)
French (fr)
Inventor
殷汇鹏
谢文麟
龙彪
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
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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
Publication of WO2022041575A1 publication Critical patent/WO2022041575A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • 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
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head

Definitions

  • the present application relates to the technical field of gimbal, and in particular, to a handheld gimbal.
  • the handheld gimbal provides users with stable and smooth image quality, which can meet the needs of daily shooting and film and television production.
  • the handheld pan/tilt adopts a three-axis structure, and each axis structure includes a motor.
  • the motor usually adopts a permanent magnet synchronous motor with a vector control strategy.
  • the vector control of the permanent magnet synchronous motor needs to collect the position information of the rotor in real time, which can be determined by the position sensor. Or the corresponding algorithm to determine the position information of the rotor.
  • the position sensors include switch Hall sensors, linear Hall sensors, magnetic encoders, photoelectric encoders and potentiometers, etc.
  • the linear Hall sensors include single-axis Hall sensors and three-axis Hall sensors. Hall sensor.
  • the position sensor has higher accuracy than the corresponding algorithm, it has problems such as inflexible configuration and easy interference, which will also reduce the accuracy of the rotor position information detection, which will affect the stabilization of the handheld gimbal. Effect.
  • the present application aims to solve at least one of the technical problems existing in the prior art or related technologies.
  • an aspect of the present application proposes a handheld pan/tilt.
  • a hand-held pan-tilt head comprising: a handle, a first shaft assembly, a second shaft assembly, a third shaft assembly and a carrier;
  • the handle has a first end, a second end and a side wall between the first end and the second end;
  • the first shaft assembly includes a first rotating shaft, a first shaft arm and a first hall a sensor, the first shaft is connected with the first end of the handle, and one end of the first shaft arm is fixedly connected with the first shaft;
  • the second shaft assembly includes a second shaft, a second shaft arm and a first shaft Two Hall sensors, the second shaft is fixedly connected with one end of the second shaft arm, and the other end of the second shaft arm is connected with the other end of the first shaft arm;
  • the third shaft assembly includes a third shaft A rotating shaft, a third shaft arm and at least two third Hall sensors, one end of the third shaft arm is rotatably connected to the second rotating shaft, and the other end is fixedly connected to the third rotating shaft;
  • the carrier is connected to the first rotating shaft.
  • the three shafts are rotatably connected to carry the shooting device;
  • the first Hall sensor and the second Hall sensor are triaxial Hall sensors, and the at least two third Hall sensors are uniaxial Hall sensors.
  • the motors of the first rotating shaft, the second rotating shaft and the third rotating shaft include permanent magnet synchronous motors
  • the distance from the installation position of the first Hall sensor to the rotor of the permanent magnet synchronous motor of the first shaft is greater than the distance from the installation position of the third Hall sensor to the rotor of the permanent magnet synchronous motor of the third shaft distance; and/or,
  • the distance from the installation position of the second Hall sensor to the rotor of the permanent magnet synchronous motor of the second shaft is greater than the distance from the installation position of the third Hall sensor to the rotor of the permanent magnet synchronous motor of the third shaft the distance.
  • the installation position of the first Hall sensor is located between the rotor and the magnetic ring of the permanent magnet synchronous motor of the first rotating shaft; and/or, the installation of the second Hall sensor The position is between the rotor and the magnetic ring of the permanent magnet synchronous motor of the second shaft.
  • the magnetic ring of the permanent magnet synchronous motor of the third rotating shaft is located between the third Hall sensor and the rotor of the permanent magnet synchronous motor.
  • the distance d 1 from the first Hall sensor to the rotor of the permanent magnet synchronous motor of the first rotating shaft satisfies the following expression:
  • the distance d 2 from the second Hall sensor to the rotor of the permanent magnet synchronous motor of the second shaft satisfies the following expression:
  • the distance d 3 from the third Hall sensor to the rotor of the permanent magnet synchronous motor of the third rotating shaft satisfies the following expressions respectively:
  • the distances d 1 , d 2 and d 3 are all in millimeters.
  • the distance from the third Hall sensor to the magnetic ring of the permanent magnet synchronous motor of the third rotating shaft is 2.5 mm.
  • the first rotating shaft assembly, the second rotating shaft assembly and the third rotating shaft assembly include a first circuit board, a second circuit board and a third circuit board;
  • the first hall sensor is arranged on the first circuit board
  • the second hall sensor is arranged on the second circuit board
  • the at least two third hall sensors are at a preset angle arranged on the third circuit board.
  • the second shaft assembly includes: a rotating connecting piece, and the other end of the first shaft arm is rotatably connected with the other end of the second shaft arm through the rotating connecting piece, The relative rotation of the first shaft arm and the second shaft arm enables the hand-held pan/tilt to be switched between the storage state and the use state.
  • the hand-held pan/tilt head includes: a limit component, the limit component includes a limit part and a matching part, and one of the limit part and the matching part is provided on the on the third shaft assembly;
  • the first shaft arm and the second shaft arm form a preset angle, and the first shaft, the second shaft and the third shaft can rotate , to control the attitude change of the carrier;
  • the first pivot arm and the second pivot arm are folded along the rotating connecting piece, so that the second pivot arm is accommodated in the first pivot and the second pivot arm.
  • the first shaft arm is at one side away from the first end
  • the third shaft assembly is accommodated on one side of the handle, and the third shaft arm is limited by the limiting assembly and no longer rotates.
  • the limiting portion includes a limiting protrusion
  • the matching portion includes a matching groove
  • One of the limiting protrusion and the matching groove is arranged on the first rotating shaft, and the other is arranged on the third shaft arm;
  • one of the limiting protrusion and the matching groove is provided on the side wall of the handle, and the other is provided on the third shaft arm.
  • one of the limiting protrusion and the matching groove is constructed as an integral structure with the first rotating shaft, and the other is constructed as an integral structure with the third shaft arm .
  • the limiting portion includes a first limiting claw connected to at least one of the handle and the first rotating shaft, and at least a part of the third shaft arm is configured to cooperate with Department;
  • the matching portion is embedded in the first limit claw and is matched with the first limit claw.
  • the limiting portion includes a second limiting claw connected to the third shaft arm, and at least a portion of the handle or at least a portion of the first rotating shaft is configured as the matching portion ;
  • the matching portion is embedded in the second limit claw and is matched with the second limit claw.
  • the third pivot arm has an inflection point, and when the handheld gimbal is switched to the storage state, the shape of the third pivot arm is adapted to the shape of the side wall of the handle to The third axle arm is at least partially abutted against the side wall of the handle.
  • the third shaft arm has an opening, and when the handheld gimbal is switched to the storage state, the opening faces the side wall of the handle.
  • the handheld pan/tilt provided by the embodiment of the present application utilizes the three-axis rotation formed by the first shaft assembly, the second shaft assembly and the third shaft assembly, and the arrangement of the three Hall sensors, which can not only reduce the interference to the Hall sensors, but also The accuracy of rotor position detection is improved to improve the stabilization effect of the handheld gimbal, and can also reduce the cost of the handheld gimbal.
  • FIG. 1 is a schematic structural diagram of a handheld cloud platform provided by an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of another perspective of a handheld gimbal provided by an embodiment of the present application
  • 3 and 4 are respectively a schematic cross-sectional structure diagram of a shaft assembly provided by an embodiment of the present application.
  • FIG. 5 and FIG. 6 are respectively schematic diagrams of the installation relationship of the sensor provided by the embodiment of the present application.
  • FIG. 7 is a front view of the handheld gimbal in a storage state according to an embodiment of the application.
  • FIG. 8 is a partial enlarged view of part A of FIG. 1 according to an embodiment of the application.
  • FIG. 9 is a front partial cross-sectional view of the handheld gimbal in a storage state according to an embodiment of the application.
  • Fig. 10 is a partial enlarged view of Fig. 3 in part B of an embodiment of the application;
  • FIG. 11 is a partial cross-sectional top view of the handheld gimbal in a storage state according to an embodiment of the application;
  • FIG. 12 is a partial enlarged view of part C of FIG. 5 according to an embodiment of the application.
  • the second shaft assembly 301, the second hall sensor; 302, the rotor of the second motor; 303, the magnetic ring of the second motor; 31, the second shaft; 32, the second shaft arm; 321, the locking protrusion 34.
  • FIG. 1 is a schematic structural diagram of a handheld gimbal provided by an embodiment of the application
  • FIG. 2 is a structural schematic diagram of a handheld gimbal provided by an embodiment of the application from another perspective.
  • 3 and FIG. 4 are respectively schematic cross-sectional structural diagrams of the shaft assembly provided by the embodiments of the present application.
  • the handheld pan/tilt head 100 may include a handle 10 , a first shaft assembly 20 , a second shaft assembly 30 , a third shaft assembly 40 and a bearing 50 pieces.
  • the first shaft assembly 20 , the second shaft assembly 30 and the third shaft assembly 40 constitute a stabilization-enhancing pan-tilt mechanism, and the stabilization-enhancing pan-tilt mechanism is connected with the handle 10 .
  • the stabilization gimbal mechanism can not only be detachably connected to the handle 10, but also be detachably connected to other vehicles, such as unmanned aerial vehicles, vehicles, ground remote control vehicles, and the like.
  • the stabilization pan-tilt mechanism can be quickly connected with the above-mentioned vehicle, so that the stabilization pan-tilt mechanism can be replaced between different carriers.
  • the stabilization pan-tilt mechanism can be performed between the unmanned aerial vehicle and the handle 10 .
  • Replacement, or the stabilization gimbal mechanism can be replaced between the ground remote vehicle and the handle 10 .
  • the handle 10 has a first end 11 , a second end 12 and a side wall 13 between the first end 11 and the second end 12 .
  • the first end 11 may also be referred to as the top of the handle 10 from the user's perspective
  • the second end 12 may also be referred to as the lower portion of the handle 10 .
  • the handle 10 is a rod-shaped structure, which can be a non-telescopic rod with a fixed length, or a telescopic rod with a variable length; of course, the handle 10 can also have other shapes, which are not specifically limited in this application.
  • the first shaft assembly 20 includes a first shaft 21 and a first shaft arm 22.
  • the first shaft 21 is connected to the first end portion 11, and one end of the first shaft arm 22 is fixedly connected to the first shaft 21.
  • a rotating shaft 21 and the first shaft arm 22 are constructed as an integral structure.
  • the second shaft assembly 30 includes a second shaft 31 and a second shaft arm 32. One end of the second shaft arm 32 is fixedly connected to the second shaft 31.
  • the second shaft 31 and the second shaft arm 32 are constructed in one piece. structure.
  • the second shaft assembly 30 further includes a rotating connecting member 33 , and the other end of the first shaft arm 22 is rotatably connected with the other end of the second shaft arm 32 through the rotating connecting member 33 .
  • the relative rotation of the first shaft arm 22 and the second shaft arm 32 switches the hand-held pan/tilt between the storage state and the use state.
  • the third shaft assembly 40 includes a third shaft 41 and a third shaft arm 42.
  • One end of the third shaft arm 42 is rotatably connected to the second shaft 31, and the other end is fixedly connected to the third shaft 41.
  • the third shaft 41 The third axle arm 42 is constructed as a one-piece structure.
  • the first axle arm 22 , the second axle arm 32 and the third axle arm 42 may be rod-shaped structures, which may be non-telescopic rods with fixed lengths, or telescopic rods with variable lengths.
  • the first axle arm 22 , the second axle arm 32 and the third axle arm 42 can also be of other shapes, which are not specifically limited in this application.
  • the carrier 50 is rotatably connected to the third shaft 41 .
  • the carrier 50 may carry an imaging lens, and the imaging lens is directly or indirectly rotatably connected to the third rotating shaft 41 .
  • the carrier 50 may further include a carrier portion (eg, a clip structure) for fixing a photographing device, which may be a camera, a smart terminal with a photographing function (such as a mobile phone, a tablet computer, etc.) or other devices with a photographing function.
  • the first shaft assembly 20 includes a first hall sensor
  • the second shaft assembly 30 includes a second hall sensor
  • the third shaft assembly 30 includes a third hall sensor, wherein the first hall sensor and the second hall sensor
  • the Hall sensor is a triaxial Hall sensor
  • the at least two third Hall sensors are uniaxial Hall sensors.
  • the three-axis Hall sensor and the single-axis Hall sensor are both linear Hall sensors.
  • the first shaft assembly 20, the second shaft assembly 30 and the third shaft assembly 40 comprise a first circuit board, a second circuit board and a third circuit board; wherein the first Hall sensor is disposed on The first circuit board and the second hall sensor are arranged on the second circuit board, and the at least two third hall sensors are arranged on the third circuit board at a preset angle.
  • the preset angle includes 90 degrees, and can of course be other values, such as 60 degrees or 120 degrees.
  • the second shaft assembly 30 includes a second circuit board 34 , a second Hall sensor 301 , a rotor 302 of a second motor, and a magnetic ring 303 of the second motor, wherein the second Hall
  • the sensor 301 is a three-axis Hall sensor
  • the rotor 302 of the second motor is the rotor of a permanent magnet synchronous motor
  • the rotor is a permanent magnet.
  • the second hall sensor 301 is mounted on the second circuit board 34 .
  • first circuit board the first Hall sensor, the rotor of the motor and the magnetic ring of the first shaft assembly is similar to that of the second shaft assembly and will not be described in detail here.
  • the third shaft assembly 40 includes a third circuit board 44 , a third Hall sensor 401 , a rotor 402 of a third motor, and a magnetic ring 403 of the third motor, wherein the second Hall
  • the sensor 401 is a uniaxial Hall sensor
  • the rotor 302 of the third motor is the rotor of a permanent magnet synchronous motor
  • the rotor is a permanent magnet.
  • the second hall sensor 301 is mounted on the second circuit board 34 .
  • the first shaft assembly 20 includes a first motor, the stator of the first motor is fixedly connected to the first end 11 , and the rotor of the first motor is fixedly connected to the first rotating shaft 21 ;
  • the second shaft assembly 30 It also includes a second motor, the stator of the second motor is fixedly connected to the second shaft 31, and the rotor of the second motor is fixedly connected to the third shaft arm 42;
  • the third shaft assembly 40 also includes a third motor, the stator of which is connected to the third shaft arm 42.
  • the third rotating shaft 41 is fixedly connected, and the rotor of the third motor is fixedly connected to the bearing member.
  • first shaft assembly 20, the second shaft assembly 30 and the third shaft assembly 40 include a first motor, a second motor and a third motor, using the space between the stator and the rotor of each motor
  • the relative rotation of the shafts can realize the rotational connection of each rotating shaft, and the electric control can be conveniently realized through the electric signal, which improves the control accuracy.
  • stator may be sleeved outside the rotor, or the rotor may be sleeved outside the stator.
  • stator of the first motor can be fixedly connected to the first end 11 of the handle 10
  • first rotating shaft 21 can be sleeved outside the rotor of the first motor, and can be directly used as The rotor casing of the first motor
  • stator of the second motor can be fixedly connected with the second rotating shaft 31
  • the third shaft arm 42 can be sleeved outside the rotor of the second electrode, and further can be directly used as the rotor casing of the second motor
  • the stator of the motor can be fixedly connected to the third rotating shaft 41 , and the bearing member can be fixedly connected to the rotor of the third motor, further sleeved outside the
  • the rotation axis of the first rotation shaft 21 is the yaw axis
  • the rotation axis of the second rotation shaft 31 is the pitch axis
  • the rotation axis of the third rotation shaft 41 is the roll axis.
  • the first rotating shaft 21 is also called a yaw motor or a Yaw (translation) shaft in the art.
  • the second rotating shaft 31 is also called a pitch motor.
  • the rotation of the second rotating shaft 31 can make the camera mounted on the handheld gimbal perform a pitching motion relative to the handle 10 .
  • the third rotating shaft 41 is also called a Roll motor. When the handheld gimbal is in use, the rotation of the third rotating shaft 31 can make the camera mounted on the handheld gimbal roll relative to the handle 10 .
  • the rotation axes of the first rotating shaft 21, the second rotating shaft 31, and the third rotating shaft 41 are the yaw axis, the pitch axis, and the roll axis, respectively. All-round attitude adjustment of the parts, and then realize the stabilization function.
  • the yaw axis is substantially parallel to the vertical direction; optionally, the yaw axis is parallel to the vertical direction.
  • the rotation axes of the first rotation shaft 21 , the second rotation shaft 31 , and the third rotation shaft 41 can also be other ways.
  • the rotation axis of the first rotation shaft 21 is the yaw axis
  • the rotation axis of the second rotation shaft 31 is the roll axis.
  • the rotation axis of the third rotating shaft 41 is the pitch axis.
  • the rotation axis of the first rotation shaft 21 , the rotation axis of the second rotation shaft 31 , and the rotation axis of the third rotation shaft 41 are orthogonal to each other.
  • at least two of the rotation axis of the first rotation shaft 21, the rotation axis of the second rotation shaft 31 and the rotation axis of the third rotation shaft 41 are oblique to each other, which can be determined according to It is necessary to select the intersection method of the three rotation axes when using the handheld gimbal.
  • the above-mentioned embodiment utilizes the three-axis rotation formed by the first shaft assembly, the second shaft assembly and the third shaft assembly, and a three-axis Hall sensor is arranged in the first shaft assembly, and a three-axis Hall sensor is also arranged in the second shaft assembly
  • the sensor and the single-axis Hall sensor are arranged in the third axis assembly, thereby effectively avoiding interference to the Hall sensor, thereby improving the accuracy of the detection of the position information of the rotor, thereby improving the stabilization effect of the hand-held pan/tilt.
  • the three-axis Hall sensor has a digital interface, so the Hall sensor can be configured more flexibly, such as configuring different ranges, enabling internal filters, temperature measurement, and temperature compensation.
  • the cost of the Hall sensor is lower than that of the position sensor such as the magnetic encoder, so the cost of the handheld pan/tilt can also be reduced.
  • the motors of the first rotating shaft 21 , the second rotating shaft 31 and the third rotating shaft 41 are permanent magnet synchronous motors.
  • the distance from the installation position of the first Hall sensor to the rotor of the permanent magnet synchronous motor of the first shaft is greater than the distance from the installation position of the third Hall sensor to the rotor of the permanent magnet synchronous motor of the third shaft; and/or, the first The distance from the installation position of the second hall sensor to the rotor of the permanent magnet synchronous motor of the second shaft is greater than the distance from the installation position of the third hall sensor to the rotor of the permanent magnet synchronous motor of the third shaft. In this way, the interference to the single-axis Hall sensor and the single-axis Hall sensor can be simultaneously reduced, thereby improving the stabilization effect of the handheld gimbal.
  • the installation position of the first Hall sensor is located between the rotor of the permanent magnet synchronous motor and the magnetic ring of the first rotating shaft; and/or the installation position of the second Hall sensor is located on the second rotating shaft.
  • the magnetic ring of the permanent magnet synchronous motor of the third rotating shaft is located between the third Hall sensor and the rotor of the permanent magnet synchronous motor.
  • the installation position of the second Hall sensor 301 in the Y direction is located between the rotor 302 and the magnetic ring 303 of the permanent magnet synchronous motor of the second rotating shaft.
  • the installation position of the first Hall sensor is located between the rotor and the magnetic ring of the permanent magnet synchronous motor of the first rotating shaft, which is similar to or the same as the installation position in FIG. 3 .
  • the magnetic ring 403 of the permanent magnet synchronous motor along the third axis of rotation in the X direction is located between the third Hall sensor 401 and the rotor 402 of the permanent magnet synchronous motor.
  • the distance between the first Hall sensor and the first rotating shaft is further limited.
  • the distance d 3 from the third Hall sensor to the rotor of the permanent magnet synchronous motor of the third rotating shaft is further defined, respectively satisfying The following expression: 4.55 ⁇ d 3 ⁇ 4.65; wherein, the distances d 1 , d 2 and d 3 are all in millimeters, and the distances d 1 , d 2 may specifically be 11.2 mm.
  • the distance from the first Hall sensor to the rotor of the permanent magnet synchronous motor of the first shaft is the distance from the first surface of the first Hall sensor to the first surface of the rotor of the permanent magnet synchronous motor of the first shaft distance
  • the first surface of the first Hall sensor is the surface of the rotor of the permanent magnet synchronous motor facing the first shaft
  • the first surface of the rotor of the permanent magnet synchronous motor of the first shaft is facing the first Hall sensor surface.
  • the distance from the second Hall sensor 301 to the rotor 302 of the first motor is the distance from the first surface of the first Hall sensor 301 to the first motor
  • the distance from the first surface of the rotor 302 to the first surface of the first Hall sensor 301 is the surface facing the rotor 302 of the first motor
  • the first surface of the rotor 302 of the first motor is the surface facing the first Hall sensor 301 surface.
  • the distance from the third hall sensor to the rotor of the permanent magnet synchronous motor of the third shaft is the distance from the first surface of the third hall sensor to the permanent magnet synchronous motor of the third shaft.
  • the distance from the first surface of the rotor, the first surface of the third Hall sensor is the surface of the rotor of the permanent magnet synchronous motor facing the third shaft, and the first surface of the rotor of the permanent magnet synchronous motor of the third shaft is facing the surface of the third Hall sensor.
  • the distance from the third Hall sensor to the magnetic ring of the permanent magnet synchronous motor of the third rotating shaft is defined as 2.5 mm.
  • FIG. 5 shows the installation position relationship of the first Hall sensor or the second Hall sensor
  • FIG. 6 shows the third Hall sensor (linear) installation position relationship.
  • the three-axis Hall sensor may be the first Hall sensor or the second Hall sensor
  • the circuit board (PCB) may be the first circuit board or It is the second circuit board
  • the three-axis Hall sensor is arranged on the circuit board (PCB).
  • R1, r1 and H1 represent the data of the first Hall sensor
  • R2, r2 and H2 represent the data of the second Hall sensor.
  • the distance from the lower surface of the three-axis Hall sensor to the upper surface of the magnetic ring is 2.05mm.
  • the uniaxial Hall sensor (uniaxial Hall) is the third Hall sensor
  • the circuit board (PCB) is the third circuit board
  • the uniaxial Hall sensor is arranged on the circuit board (PCB) superior.
  • R3, r3 and H3 represent the data of the third Hall sensor.
  • the handheld pan/tilt head 100 includes a limit component 60
  • the limit component 60 includes a limit portion (eg, limit protrusion 61 ) and a matching portion (eg, matching groove 62 ) , one of the limiting portion and the matching portion is provided on the third shaft assembly 40 , and the limiting portion is matched with the matching portion.
  • the first axis arm 22 and the second axis arm 32 form a preset angle, and the first rotation axis 21 , the second rotation axis 31 and the third rotation axis 41 can be rotated to control the posture of the carrier Variety.
  • the size of the preset included angle can be set as required.
  • the preset included angle is greater than 90 degrees and less than 180 degrees, such as 120 degrees and 135 degrees.
  • first shaft 21 rotates, it drives its load (including the first shaft arm 22, the second shaft assembly 30, the third shaft assembly 40 and the bearing member 50) to rotate;
  • second shaft 31 rotates, it drives its load (including the first shaft arm 22, the second shaft assembly 30, the third shaft assembly 40 and the bearing member 50) to rotate;
  • It includes the third shaft assembly 40 and the bearing member 50) to rotate;
  • the third rotating shaft 41 rotates, it drives the bearing member 50 to rotate.
  • at least one of the following control strategies can be adopted: controlling the rotation of the first rotating shaft 21 , controlling the rotation of the second rotating shaft 31 , and controlling the rotation of the third rotating shaft 41 .
  • the overall folding effect of the handheld gimbal is shown in Figure 7.
  • the first pivot arm 22 and the second pivot arm 32 are folded along the rotating connector, so that the second pivot arm 32 is stored in the first pivot 21 and the first pivot arm 22 is away from the first end
  • the third shaft assembly 40 is accommodated on one side of the handle 10 , so that the handheld pan/tilt is compactly accommodated.
  • the third axis arm 42 is limited by the position-limiting component 60 and no longer rotates, specifically, does not rotate relative to the second axis arm 32, thereby limiting the rotational freedom of the handheld cloud platform in the folded and stored state, so that the entire handheld cloud platform can be rotated.
  • the table does not rotate freely.
  • the third shaft arm 42 is fixedly connected to the third shaft 41 , one of the limiting portion and the matching portion can be provided on the third shaft arm 42 or on the third shaft 41 . It can be arranged on the third shaft arm 42 and the third rotating shaft 41 at the same time.
  • the handheld gimbal provided in the embodiment of the present application can satisfy the stabilization enhancement function in the use state by using the three-axis rotation formed by the first shaft assembly 20 , the second shaft assembly 30 and the third shaft assembly 40 .
  • the hand-held pan/tilt can be switched to the storage state.
  • two of the three pivot arms These are close to each other and are relatively compact.
  • the third shaft arm 42 can be restricted from rotating no longer. Therefore, the entire handheld gimbal will not be rotated at will, the stability and reliability of the handheld gimbal in the storage state are improved, and the possibility of damage to the handheld gimbal is reduced.
  • the limiting portion includes a limiting protrusion 61
  • the matching portion includes a matching groove 62 ; one of the limiting protrusion 61 and the matching groove 62 is provided on the first One of the rotating shaft 21 and the other on the third shaft arm 42, or, one of the limiting protrusion 61 and the matching groove 62 is set on the side wall 13 of the handle 10, and the other is set on the third shaft arm 42 on.
  • the limiting portion and the matching portion may include a limiting protrusion 61 and a matching groove 62 respectively, and the limit is realized by the matching structure of the limiting protrusion 61 and the matching groove 62 .
  • one of the two can be arranged on the first rotating shaft 21 or the side wall 13 of the handle 10 , and the other can be arranged on the third shaft arm 42 .
  • the third pivot arm 42 When the hand-held pan/tilt head is in use, the third pivot arm 42 is far away from the first rotating shaft 21 and the side wall 13 of the handle 10 , the limiting protrusion 61 and the matching groove 62 are not in contact, and the third pivot arm 42 can be relative to the second pivot arm 42
  • the shaft arm 32 rotates so as to realize the stabilization function by three-axis rotation.
  • the third shaft arm 42 is stored on one side of the handle 10, and will also be close to the first shaft 21 connected to the first end 11 of the handle 10.
  • the limiting protrusion 61 can extend into the matching groove 62, thereby preventing the rotation of the third axle arm 42 relative to the second axle arm 32, effectively limiting the rotational freedom of the handheld pan/tilt in the folded and stored state, so that the entire handheld pan/tilt will not rotate at will.
  • the second rotating shaft 31 gradually approaches the first rotating shaft 21 , so that the limiting protrusion 61 is inserted into the matching groove 62 .
  • the third pivot arm 42 can be rotated to the position shown in FIG. 3 first.
  • the second axle arm 32 gradually approaches the first axle arm 22, and at the same time drives the third axle arm 42 to approach the first rotating shaft 21 and the handle 10, which are respectively set on the first rotating shaft 21 and the third axle arm 42.
  • the protrusion 61 and the matching groove 62 are also close to each other, so that the limiting protrusion 61 is finally embedded in the matching groove 62, the third shaft arm 42 cannot rotate relative to the second shaft arm 32, and can be folded and stored in the hand-held cloud. At the same time, the rotation limit of the third shaft arm 42 is realized, and the operation is convenient.
  • the limiting protrusion 61 is provided on the third shaft arm 42
  • the matching groove 62 is provided on the first rotating shaft 21 .
  • a guide slope can be provided on at least one of the limiting protrusion 61 and the matching groove 62, so that the third axle arm 42 does not need to be precisely aligned to the position shown in FIG. Near this position, the third shaft arm 42 can be fine-tuned by the guiding action of the guiding inclined surface during storage, so that the limiting protrusion 61 gradually slides into the matching groove 62 in the circumferential direction, which can reduce the alignment time and make the Storage operation is more convenient.
  • one of the limiting protrusion 61 and the matching groove 62 is constructed as an integral structure with the first rotating shaft 21 , and the other is constructed as an integral structure with the third shaft arm 42 .
  • the limiting protrusion 61 and the matching groove 62 are each integrally formed with the connected structure, so it is not necessary to process the limiting protrusion 61 and the matching groove 62 separately, which helps to improve production efficiency. product reliability.
  • the axis of the first rotating shaft 21 intersects the axis of the second rotating shaft 31 .
  • the first end 11 of the handle 10 is rotatably connected to the first shaft 21
  • the third shaft arm 42 is rotatably connected to the second shaft 31 .
  • the axis of the first rotating shaft 21 and the axis of the second rotating shaft 31 intersect, so that the third shaft arm 42 can be made to approach the first rotating shaft 21 and the side wall 13 of the handle 10 in the storage state, which is beneficial to the
  • the cooperation of the three-axis arm 42 and the third rotating shaft 41 with the first rotating shaft 21 and the side wall 13 of the handle 10 further improves the limiting effect of the limiting component 60 and the compactness of the handheld gimbal in the stored state.
  • the limiting portion includes a first limiting claw connected to at least one of the handle 10 and the first rotating shaft 21, and at least a part of the third shaft arm 42 is configured as a matching portion; In the state, the matching portion is embedded in the first limit claw and is matched with the first limit claw.
  • the limiting portion may include a first limiting claw, connected to at least one of the handle 10 and the first rotating shaft 21 , and the matching portion is formed by at least a part of the third shaft arm 42 .
  • the third pivot arm 42 is far away from the first rotating shaft 21 and the side wall 13 of the handle 10, the first limit claw and the matching part do not contact, and the third pivot arm 42 can be opposite to the second pivot arm 32 rotation, so as to use the three-axis rotation to realize the stabilization function.
  • the third shaft arm 42 is stored on one side of the handle 10, and will also be close to the first shaft 21 connected to the first end 11 of the handle 10.
  • the third shaft arm 42 is on the
  • the matching part of the first limit claw can be embedded in the first limit claw and matched with the first limit claw, so as to prevent the third shaft arm 42 from rotating relative to the second shaft arm 32, effectively limiting the hand-held head in the folded and stored state. Rotational degrees of freedom, so that the entire handheld gimbal will not rotate at will.
  • the first limiting claw and at least one of the handle 10 and the first rotating shaft 21 are constructed as an integral structure.
  • the first limit claw is connected to at least one of the handle 10 and the first rotating shaft 21.
  • the limiting portion includes a second limiting claw connected to the third shaft arm 42, and at least a portion of the handle 10 or at least a portion of the first rotating shaft 21 is configured as a matching portion; when the handheld pan/tilt head is switched to the storage state , the matching portion is embedded in the second limit claw and matched with the second limit claw.
  • the limiting portion may include a second limiting claw connected to the third shaft arm 42 , and the matching portion is formed by at least a portion of the handle 10 or at least a portion of the first rotating shaft 21 .
  • the third pivot arm 42 is far away from the first rotating shaft 21 and the side wall 13 of the handle 10 , the second limit claw does not contact the matching part, and the third pivot arm 42 can be opposite to the second pivot arm 32 rotation, so as to use the three-axis rotation to realize the stabilization function.
  • the third pivot arm 42 can be rotated to the position where the second limit claw faces the handle 10.
  • the third pivot arm 42 is stored on one side of the handle 10. will also be close to the first rotating shaft 21 connected to the first end 11 of the handle 10 .
  • the second limit claw on the third shaft arm 42 can clamp the matching part, that is, the handle 10 or the first rotating shaft 21 is matched
  • the third axis arm 42 is prevented from rotating relative to the second axis arm 32, and the rotational freedom of the hand-held pan/tilt in the folded and stored state is effectively limited. , so that the entire handheld gimbal will not rotate at will.
  • the second limiting claw and the third axle arm 42 are constructed as an integral structure.
  • the second limit claw and the third shaft arm 42 by integrally molding the second limit claw and the third shaft arm 42, it is unnecessary to process the second limit claw separately, which helps to improve production efficiency, and at the same time, the one-piece structure can enhance the connection strength, Improve product reliability.
  • the third pivot arm 42 has an inflection point 421 .
  • the shape of the third pivot arm 42 is the same as the shape of the side wall 13 of the handle 10 . It is adapted so that the third axle arm 42 at least partially abuts the side wall 13 of the handle 10 .
  • the shape of the side wall 13 of the handle 10 needs to be designed to conform to the user's habit of holding, so the side wall 13 of the handle 10 has a recess 14 .
  • An inflection point 421 is provided on the third axle arm 42 .
  • the inflection point 421 can be made close to the side of the concave portion 14 away from the second end portion 12 , so that the shape of the third axle arm 42 is
  • the shape of the side wall 13 of the handle 10 is adapted to make the third shaft arm 42 at least partially abut the side wall 13 of the handle 10, thereby reducing the gap between the third shaft arm 42 and the side wall 13 of the handle 10, The storage of the handheld pan/tilt is further compacted.
  • the third pivot arm 42 has an opening, and the opening faces the side wall 13 of the handle 10 when the handheld gimbal is switched to the storage state.
  • an opening is provided on the third axle arm 42.
  • the third axle arm 42 can be designed to be substantially V-shaped, that is, the third axle arm 42 has an inflection point 421, so that the structure is formed at the inflection point 421.
  • an opening is formed on the rod-shaped third shaft arm 42 .
  • the opening can be made to face the side wall 13 of the handle 10, and specifically to the side of the recess 14 away from the second end 12, so that the handle The portion of the recessed portion 14 away from the second end portion 12 can be inserted into the opening, which helps to reduce the gap between the third shaft arm 42 and the side wall 13 of the handle 10 , so that the storage of the handheld pan/tilt head is further compact.
  • a step portion 422 is formed at the connection between the third shaft arm 42 and the second rotating shaft 31 ; when the handheld pan/tilt head is switched to the storage state, the step portion 422 is away from the handle 10 .
  • the side wall 13 is provided.
  • the third shaft arm 42 forms a step portion 422 where it is connected with the second shaft 31 .
  • the step portion 422 is away from the side wall 13 of the handle 10 .
  • the gap between the third shaft arm 42 and the side wall 13 of the handle 10 can be reduced, so that the storage of the handheld gimbal is further compact.
  • the carrier when the handheld gimbal is switched to the storage state, the carrier is located on the side of the third rotating shaft 41 away from the side wall 13 of the handle 10 .
  • the bearing member in the storage state on the side of the third rotating shaft 41 away from the side wall 13 of the handle 10 , the bearing member will not be located between the third rotating shaft 41 and the side wall 13 of the handle 10 . Therefore, on the one hand, the gap between the third pivot arm 42 and the side wall 13 of the handle 10 can be reduced, and on the other hand, the carrier can still be used when the handheld pan/tilt head is in the stowed state. For example, if the carrier includes an imaging lens, the imaging lens can continue to be used for shooting when the handheld gimbal is stored.
  • the difference between shooting with the imaging lens when the handheld gimbal is in use is that when the handheld gimbal is in the stored state
  • the posture of the imaging lens cannot be switched based on the first rotating shaft 21 and the second rotating shaft 31, but the third rotating shaft 41 can be controlled to switch the posture of the imaging lens.
  • the carrier since the carrier is located on the open side of the third axis arm 42 after being stored, it will not be restricted by the narrow space, so the size and shape of the carrier will not be limited by space, and can be selected and replaced according to the user's shooting needs.
  • a circular imaging lens can be selected
  • a square imaging lens can be selected, and of course, imaging lenses of other sizes or shapes can also be selected in other cases, which is not limited here. .
  • the bearing member 50 includes a bearing portion for fixing the photographing device; when the handheld gimbal is switched to the storage state, the bearing portion is located on the side of the third shaft 41 away from the side wall 13 of the handle 10 .
  • the bearing member 50 may include a bearing portion for fixing the photographing device, and the bearing portion is located on the side of the third shaft 41 away from the side wall 13 of the handle 10 .
  • the third shaft arm 42 can be reduced in size.
  • the gap between the handle 10 and the side wall 13 of the handle 10 on the other hand, the camera can continue to be used for shooting when the handheld gimbal is in the stowed state, and the camera can be operated such as video playback, and the camera can also be Collect together.
  • the difference between using the photographing device for shooting when the handheld gimbal is in a stored state and using the shooting device when the handheld gimbal is in use is that: using the shooting device for shooting when the handheld gimbal is in a stored state
  • the posture of the photographing device cannot be switched based on the first rotating shaft 21 and the second rotating shaft 31 , but the third rotating shaft 41 can be controlled to switch the posture of the photographing device.
  • the photographing device needs to be removed from the bearing portion to complete the storage.
  • the gimbal can store the shooting device and the hand-held gimbal together, without the need for separate storage, which saves storage space and is more convenient for users to use when going out.
  • the carrying portion is a clipping structure; when the handheld gimbal is switched to the storage state, the opening of the clipping structure is disposed away from the third rotating shaft 41 .
  • the bearing portion is designed as a sandwich structure, and when the handheld gimbal is switched to the storage state, the opening of the sandwich structure is set away from the third rotating shaft 41, which can ensure that when the handheld gimbal is stored, shooting The device faces the outside, which is convenient for users to use the camera.
  • the clamping structure has a locked state and an unlocked state.
  • the photographing device can be clamped and fixed, and the third rotating shaft 41 can be rotated; when the clamping structure is in the locked state, the clamping structure is locked. On the third shaft arm 42, the rotation of the third shaft 41 is restricted.
  • the clipping structure is automatically switched to the locked state; optionally, when the handheld pan/tilt is switched to the storage state, the clipping structure is still in the unlocked state, requiring the user to manually operate. way to switch the clamping structure to the locked state.
  • the clipping structure when the clipping structure is in the locked state, the clipping structure can be switched from the locked state to the unlocked state based on automatic unlocking (key/button unlocking) or manual unlocking.
  • the structure for locking the clamping structure and the third axle arm 42 can be a conventional structure, which is not described in this embodiment.
  • the first end 11 is provided with a first groove (not shown in the figure)
  • the first rotating shaft 21 is provided with a second groove 211
  • the second groove 211 is provided with a second groove 211 .
  • the first groove is aligned with the second groove 211, which is used to indicate that the handheld pan/tilt can be switched to the storage state;
  • the second groove 211 is aligned, the second shaft arm 32 is triggered to rotate along the rotating connector toward the first shaft arm 22, so that the locking protrusion 321 extends into the second groove 211, and the locking protrusion 321 can trigger the second groove
  • the locking piece 212 in the groove 211 moves toward the first groove, so that a part of the locking piece 212 enters the first groove and cooperates with the first groove to prevent the first shaft assembly 20 and the second shaft assembly 30 from opposing the handle 10Turn to keep the handheld gimbal in the retracted state.
  • the shaft arm 32 is provided with a locking protrusion 321.
  • the alignment of the first groove and the second groove 211 can be used to indicate that the handheld pan/tilt can be switched to the storage state, which is convenient for user operation; on the other hand, in the first groove
  • the groove When the groove is aligned with the second groove 211, fold the first shaft arm 22 and the second shaft arm 32 along the rotating connecting piece, so that the locking protrusion 321 on the second shaft arm 32 extends into the first rotating shaft
  • interference fit between the locking member 212 and the first groove, and between the locking protrusion 321 and the second groove 211 may be selected to achieve fixation, or other matching manners may be selected to achieve fixation.
  • the second rotating shaft 31 is rotated to a preset position to indicate that the handheld gimbal can be switched to the storage state.
  • the user can be reminded to rotate the second rotating shaft 31 to the preset position before storing the handheld gimbal, and the third shaft assembly 40 will also rotate to the preset position.
  • the corresponding position has a clear indication function, which can avoid the situation that the second rotating shaft 31 and/or the third shaft assembly 40 cannot be folded in place when the second rotating shaft 31 is not rotated to the preset position, so that the handheld gimbal can be smoothly switched from the use state. to the receiving state.
  • the preset position is the limit position of the second rotating shaft 31 .
  • the preset position of the second shaft 31 can be its limit position, that is, the limit component 60 limits the third shaft arm 42 to no longer rotate relative to the second shaft arm 32 .
  • the position ensures the consistency of the storage of each axis assembly, so that the handheld gimbal can be smoothly switched from the use state to the storage state.
  • alignment marks are respectively provided on the second rotating shaft 31 and the third shaft arm 42, which can further clearly indicate the limit position of the second rotating shaft 31 for the user to check.
  • the operation process of switching the handheld gimbal from the use state to the storage state may include: controlling the first rotating shaft 21 to rotate relative to the handle 10 so that the first groove and the second groove 211 are aligned, and controlling the second rotating shaft 31 Rotating to the limit position, these two steps can be performed synchronously or sequentially; after that, operate the first pivot arm 22 and the second pivot arm 32 to fold along the rotating connecting piece, so that the locking protrusion 321 extends into the second pivot arm 32.
  • the side wall 13 of the handle 10 is provided with an unlocking portion, and the unlocking portion can cooperate with the locking member 212 ; by operating the unlocking portion, the locking member 212 can move toward a position away from the first groove under the action of the pressing force of the unlocking portion.
  • the direction moves to separate from the first groove, when the locking member 212 pushes the locking protrusion 321 out of the second groove 211 , the handheld pan/tilt can be switched from the storage state to the use state.
  • the unlocking portion can be used to push the locking member 212 out of the first groove, and the locking member 212 entering the second groove 211 can lock the locking member 212 again.
  • the protrusion 321 protrudes out of the second groove 211 , so as to conveniently switch the handheld gimbal from the storage state to the use state.
  • the unlocking portion can be operated by pressing, pulling, jacking or other operating methods.
  • the unlocking portion can be an electronic unlocking structure or a mechanical unlocking structure, and the type of the unlocking portion can be selected according to specific needs.
  • the term “plurality” refers to two or more, unless expressly defined otherwise.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense.
  • “connected” can be a fixed connection, a detachable connection, or an integral connection;
  • “connected” can be It is directly connected or indirectly connected through an intermediary.
  • the specific meanings of the above terms in this application can be understood according to specific situations.

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Abstract

一种手持云台（100），包括手柄（10）、第一轴组件（20）、第二轴组件（30）、第三轴组件（40）和承载件（50），手柄（10）具有第一端部（11）、第二端部（12）和侧壁（13）；第一轴组件（20）包括第一转轴（21）、第一轴臂（22）和第一霍尔传感器，第一转轴（21）与第一端部（11）连接，第一轴臂（22）的一端与第一转轴（21）固定连接；第二轴组件（30）包括第二转轴（31）、第二轴臂（32）和第二霍尔传感器（301），第二转轴（31）与第二轴臂（32）的一端固定连接，第二轴臂（32）的另一端与第一轴臂（22）的另一端连接；第三轴组件（40）包括第三转轴（41）、第三轴臂（42）和至少两个第三霍尔传感器（401），第三轴臂（42）的一端与第二转轴（31）转动连接，另一端与第三转轴（41）固定连接；承载件（50）与第三转轴（41）转动连接；第一霍尔传感器和第二霍尔传感器（301）为三轴霍尔传感器，第三霍尔传感器（401）为单轴霍尔传感器。提高云台的增稳效果。

Description

手持云台 技术领域
本申请涉及云台技术领域，尤其涉及一种手持云台。
背景技术
手持云台作为安装、固定拍摄装置的支撑设备，为用户提供了稳定流畅的影像画质，可满足日常拍摄和影视制作需求。手持云台是采用三轴结构，每一个轴结构均包括电机，该电机通常采用矢量控制策略的永磁同步电机，永磁同步电机的矢量控制需要实时采集转子的位置信息，具体可以通过位置传感器或相应的算法确定转子的位置信息，位置传感器包括开关霍尔传感器、线性霍尔传感器、磁编码器、光电编码器和电位器等，其中，线性霍尔传感器包括单轴霍尔传感器和三轴霍尔传感器。
虽然，位置传感器相对相应的算法具较高的准确性，但是存在配置不够灵活且容易受到干扰等问题，由此也会降低转子的位置信息检测的准确性，进而会影响手持云台的增稳效果。
发明内容
本申请旨在至少解决现有技术或相关技术中存在的技术问题之一。
为此，本申请的一个方面提出了一种手持云台。
有鉴于此，根据本申请的一个方面，提供了一种手持云台，所述手持云台包括：手柄、第一轴组件、第二轴组件、第三轴组件和承载件；
手柄具有第一端部、第二端部和位于所述第一端部和所述第二端部之间的侧壁；第一轴组件包括第一转轴、第一轴臂和第一霍尔传感器，所述第一转轴与所述手柄的第一端部连接，所述第一轴臂的一端与所述第一转轴固定连接；第二轴组件包括第二转轴、第二轴臂和第二霍尔传感器，所述第二转轴与所述第二轴臂的一端固定连接，所述第二轴臂的另一端与所 述第一轴臂的另一端连接；第三轴组件包括第三转轴、第三轴臂和至少两个第三霍尔传感器，所述第三轴臂的一端与所述第二转轴转动连接，另一端与所述第三转轴固定连接；承载件与所述第三转轴转动连接，用于承载拍摄装置；
其中，所述第一霍尔传感器和第二霍尔传感器为三轴霍尔传感器，所述至少两个第三霍尔传感器为单轴霍尔传感器。
在本申请的手持云台中，所述第一转轴、第二转轴和第三转轴的电机包括永磁同步电机；
所述第一霍尔传感器的安装位置至所述第一转轴的永磁同步电机的转子的距离，大于所述第三霍尔传感器的安装位置至所述第三转轴的永磁同步电机的转子的距离；和/或，
所述第二霍尔传感器的安装位置至所述第二转轴的永磁同步电机的转子的距离，大于所述第三霍尔传感器的安装位置至所述第三转轴的永磁同步电机的转子的距离。
在本申请的手持云台中，所述第一霍尔传感器的安装位置位于所述第一转轴的永磁同步电机的转子和磁环之间；和/或，所述第二霍尔传感器的安装位置位于所述第二转轴的永磁同步电机的转子和磁环之间。
在本申请的手持云台中，所述第三转轴的永磁同步电机的磁环位于所述第三霍尔传感器和所述永磁同步电机的转子之间。
在本申请的手持云台中，所述第一霍尔传感器至所述第一转轴的永磁同步电机的转子的距离d 1，满足以下表达式：
11.00≤d 1≤11.50；
和/或，所述第二霍尔传感器至所述第二转轴的永磁同步电机的转子的距离d 2，满足以下表达式：
11.00≤d 2≤11.50；
和/或，所述第三霍尔传感器至所述第三转轴的永磁同步电机的转子的距离d 3，分别满足以下表达式：
4.55≤d 3≤4.65；
其中，距离d 1、d 2和d 3单位均为毫米。
在本申请的手持云台中，所述第三霍尔传感器至所述第三转轴的永磁同步电机的磁环的距离为2.5毫米。
在本申请的手持云台中，所述第一转轴组件、第二转轴组件和第三转轴组件包括第一电路板、第二电路板和第三电路板；
其中，所述第一霍尔传感器设置在所述第一电路板上、所述第二霍尔传感器设置在所述第二电路板上，所述至少两个第三霍尔传感器呈预设角度设置在所述第三电路板上。
在本申请的手持云台中，所述第二轴组件包括：转动连接件，所述第一轴臂的另一端通过所述转动连接件与所述第二轴臂的另一端转动连接，随所述第一轴臂与所述第二轴臂的相对转动，能够使得所述手持云台在收纳状态和使用状态之间切换。
在本申请的手持云台中，所述手持云台包括：限位组件，所述限位组件包括限位部和配合部，所述限位部和所述配合部的其中之一设于所述第三轴组件上；
当手持云台切换至所述使用状态时，所述第一轴臂与所述第二轴臂成预设夹角，所述第一转轴、所述第二转轴及所述第三转轴能够转动，以控制所述承载件的姿态变化；
当手持云台切换至所述收纳状态时，所述第一轴臂与所述第二轴臂沿所述转动连接件处折叠，使得所述第二轴臂收纳于所述第一转轴和所述第一轴臂远离所述第一端部的一侧，所述第三轴组件收纳于所述手柄的一侧，所述第三轴臂受所述限位组件限位而不再转动。
在本申请的手持云台中，所述限位部包括限位凸起，所述配合部包括配合凹槽；
所述限位凸起和所述配合凹槽的其中之一设置在所述第一转轴上，另一设置在所述第三轴臂上；
或，所述限位凸起和所述配合凹槽的其中之一设置在所述手柄的侧壁上，另一设置在所述第三轴臂上。
在本申请的手持云台中，所述限位凸起和所述配合凹槽的其中之一与所述第一转轴构造为一体式结构，另一与所述第三轴臂构造为一体式结构。
在本申请的手持云台中，所述限位部包括与所述手柄和所述第一转轴中的至少一个连接的第一限位爪，所述第三轴臂的至少一部分构造为所述配合部；
当所述手持云台切换至所述收纳状态时，所述配合部嵌入所述第一限位爪内并与所述第一限位爪相适配。
在本申请的手持云台中，所述限位部包括与所述第三轴臂连接的第二限位爪，所述手柄的至少一部分或所述第一转轴的至少一部分构造为所述配合部；
当所述手持云台切换至所述收纳状态时，所述配合部嵌入所述第二限位爪内并与所述第二限位爪相适配。
在本申请的手持云台中，所述第三轴臂具有拐点，当手持云台切换至所述收纳状态时，所述第三轴臂的形状与所述手柄的侧壁的形状相适配以使所述第三轴臂至少部分抵接所述手柄的侧壁。
在本申请的手持云台中，所述第三轴臂具有开口，当手持云台切换至所述收纳状态时，所述开口朝向所述手柄的侧壁。
本申请实施例提供的手持云台，利用第一轴组件、第二轴组件和第三轴组件形成的三轴转动，以及三个霍尔传感器的设置，不仅可以降低对霍尔传感器的干扰，提高转子位置检测的准确率，以提高手持云台的增稳效果，还可以降低手持云台的成本。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请的实施例提供的一种手持云台的结构示意图；
图2为本申请的实施例提供的一种手持云台另一视角的结构示意图；
图3和图4分别是本申请的实施例提供的轴组件的剖面结构示意图；
图5和图6分别是本申请的实施例提供的传感器的安装关系示意图；
图7为本申请的一个实施例的收纳状态下的手持云台的主视图；
图8为本申请的一个实施例的图1在A部的局部放大图；
图9为本申请的一个实施例的收纳状态下的手持云台的主视局部剖视图；
图10为本申请的一个实施例的图3在B部的局部放大图；
图11为本申请的一个实施例的收纳状态下的手持云台的俯视局部剖视图；
图12为本申请的一个实施例的图5在C部的局部放大图。
主要元件及符号说明：
100、手持云台；10、手柄；11、第一端部；12、第二端部；13、侧壁；14、凹陷部；
20、第一轴组件；21、第一转轴；211、第二凹槽；212、锁定件；22第一轴臂；
30、第二轴组件；301、第二霍尔传感器；302、第二电机的转子；303、第二电机的磁环；31、第二转轴；32、第二轴臂；321、锁定凸起；34、第二电路板；
40、第三轴组件；401、第三霍尔传感器；402、第三电机的转子；403、第三电机的磁环；41、第三转轴；42、第三轴臂；421、拐点；422、台阶部；44、第三电路板；
50、承载件；
60、限位组件；61、限位凸起；62、配合凹槽。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
还应当理解，在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。
还应当进一步理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
请参阅图1至图4，图1为本申请的实施例提供的一种手持云台的结构示意图，图2为本申请的实施例提供的一种手持云台另一视角的结构示意图，图3和图4分别是本申请的实施例提供的轴组件的剖面结构示意图。
如图1至图4所示，本申请实施例提供了一种手持云台，该手持云台100可包括手柄10、第一轴组件20、第二轴组件30、第三轴组件40和承载件50。其中，第一轴组件20、第二轴组件30和第三轴组件40组成增稳云台机构，该增稳云台机构与手柄10连接。
可以理解的是，该增稳云台机构不仅能够与手柄10可拆卸连接，还可以与其它载具可拆卸连接，例如，无人飞行器、车辆、地面遥控载具等等。该增稳云台机构可以与上述载具快速连接，使得该增稳云台机构能够在不同的载具间进行更换，例如，该增稳云台机构可以在无人飞行器与手柄10之间进行更换，或者该增稳云台机构可以在地面遥控载具与手柄10之间进行更换。
其中，手柄10具有第一端部11、第二端部12以及位于第一端部11和第二端部12之间的侧壁13。若用户握持该手柄10时，从用户的角度第一端部11也可以称为手柄10的顶部，第二端部12也可以称为手柄10的低部。可选地，手柄10为杆状结构，可为长度固定不变的非伸缩杆，也可为长度可变的可伸缩杆；当然，手柄10也可为其他形状，在本申请不作具体限定。
第一轴组件20包括第一转轴21和第一轴臂22，第一转轴21与第一 端部11相连接，第一轴臂22的一端与第一转轴21固定连接，可选地，第一转轴21与第一轴臂22构造为一体式结构。
第二轴组件30包括第二转轴31和第二轴臂32，第二轴臂32的一端与第二转轴31固定连接，可选地，第二转轴31与第二轴臂32构造为一体式结构。
在一些实施例中，如图2所示，第二轴组件30还包括转动连接件33，第一轴臂22的另一端通过转动连接件33与第二轴臂32的另一端转动连接，随第一轴臂22与第二轴臂32的相对转动，手持云台在收纳状态和使用状态之间切换。
第三轴组件40包括第三转轴41和第三轴臂42，第三轴臂42的一端与第二转轴31转动连接，另一端与第三转轴41固定连接，可选地，第三转轴41与第三轴臂42构造为一体式结构。可选地，第一轴臂22、第二轴臂32和第三轴臂42可为杆状结构，可为长度固定不变的非伸缩杆，也可为长度可变的可伸缩杆。当然，第一轴臂22、第二轴臂32和第三轴臂42也可为其他形状，本申请不作具体限定。
承载件50与第三转轴41转动连接。可选地，承载件50可以承载成像镜头，该成像镜头直接或间接与第三转轴41转动连接。承载件50还可以包括用于固定拍摄装置的承载部(例如夹设结构)，该拍摄装置可为相机、具有拍摄功能的智能终端(如手机、平板电脑等)或其他具有拍摄功能的装置。
其中，第一轴组件20包括第一霍尔传感器，第二轴组件30包括第二霍尔传感器，第三轴组件30包括第三霍尔传感器，其中，所述第一霍尔传感器和第二霍尔传感器为三轴霍尔传感器，所述至少两个第三霍尔传感器为单轴霍尔传感器。其中，三轴霍尔传感器和单轴霍尔传感器均为线性霍尔传感器。
在一些实施例中，第一轴组件20、第二轴组件30和第三轴组件40包括第一电路板、第二电路板和第三电路板；其中，所述第一霍尔传感器设置在所述第一电路板上、所述第二霍尔传感器设置在所述第二电路板上，所述至少两个第三霍尔传感器呈预设角度设置在所述第三电路板上。其中 预设角度包括90度，当然可以为其他值，比如为60度或120度。
示例性的，如图3所示，第二轴组件30包括第二电路板34、第二霍尔传感器301、第二电机的转子302和第二电机的磁环303，其中，第二霍尔传感器301为三轴霍尔传感器，第二电机的转子302为永磁同步电机的转子，该转子为永磁体。第二霍尔传感器301安装在第二电路板34上。
需要说明的是，第一轴组件的第一电路板、第一霍尔传感器、电机的转子和磁环设置方式，与第二轴组件类似，在此不做详细介绍。
示例性的，如图4所示，第三轴组件40包括第三电路板44、第三霍尔传感器401、第三电机的转子402和第三电机的磁环403，其中，第二霍尔传感器401为单轴霍尔传感器，第三电机的转子302为永磁同步电机的转子，该转子为永磁体。第二霍尔传感器301安装在第二电路板34上。
在本申请的实施例中，第一轴组件20包括第一电机，第一电机的定子与第一端部11固定连接，第一电机的转子与第一转轴21固定连接；第二轴组件30还包括第二电机，第二电机的定子与第二转轴31固定连接，第二电机的转子与第三轴臂42固定连接；第三轴组件40还包括第三电机，第三电机的定子与第三转轴41固定连接，第三电机的转子与承载件固定连接。
在本申请的实施例中，进一步限定了第一轴组件20、第二轴组件30和第三轴组件40包括第一电机、第二电机和第三电机，利用各个电机的定子和转子之间的相对转动，可实现各个转轴的转动连接，并且可通过电信号方便地实现电动控制，提高了控制的精确度。
需要说明的是，对于电机中定子和转子的位置关系也不作具体要求，可以是定子套设在转子外部，也可以是转子套设在定子外部。以转子套设在定子外部的情况为例，则第一电机的定子可与手柄10的第一端部11固定连接，第一转轴21可套设在第一电机的转子外，进一步可直接作为第一电机的转子外壳；第二电机的定子可与第二转轴31固定连接，第三轴臂42可套设在第二电极的转子外，进一步可直接作为第二电机的转子外壳；第三电机的定子可与第三转轴41固定连接，承载件可与第三电机的转子固定连接，进一步可套设在第三电机的转子外，更进一步可直接作为第三电 机的转子外壳。
在一些实施例中，第一转轴21的旋转轴为偏航轴，第二转轴31的旋转轴为俯仰轴，第三转轴41的旋转轴为横滚轴。
具体地，第一转轴21在本领域又称为航向电机或Yaw(平移)轴。当手持云台处于使用状态时，第一转轴21转动能使得手持云台搭载的拍摄装置在垂直于手柄10的轴线的同一个平面内移动。第二转轴31又称为Pitch(俯仰)电机，当手持云台处于使用状态时，第二转轴31转动能使得手持云台搭载的拍摄装置相对手柄10作俯仰运动。第三转轴41又称为Roll(横滚)电机，当手持云台处于使用状态时，第三转轴31转动能使得手持云台搭载的拍摄装置相对手柄10作横滚运动。
在本申请的实施例中，第一转轴21、第二转轴31、第三转轴41的旋转轴分别为偏航轴、俯仰轴、横滚轴，在手持云台处于使用状态时，可实现承载件的全方位姿态调整，进而实现增稳功能。其中，当手持云台处于使用状态时，偏航轴与竖直方向大致平行；可选地，偏航轴与竖直方向相平行。当然，第一转轴21、第二转轴31、第三转轴41的旋转轴也可为其他方式，例如，第一转轴21的旋转轴为偏航轴，第二转轴31的旋转轴为横滚轴、第三转轴41的旋转轴为俯仰轴。
在一些实施例中，当手持云台处于使用状态时，第一转轴21的旋转轴、第二转轴31的旋转轴以及第三转轴41的旋转轴两两正交。在另一些实施例中，当手持云台处于使用状态时，第一转轴21的旋转轴、第二转轴31的旋转轴以及第三转轴41的旋转轴中至少两个轴相互斜交，可根据需要选择手持云台使用时的三个旋转轴的相交方式。
上述实施例利用第一轴组件、第二轴组件和第三轴组件形成的三轴转动，并且在第一轴组件中设置三轴霍尔传感器，在第二轴组件中也设置三轴霍尔传感器以及在第三轴组件中设置单轴霍尔传感器，进而可以有效地避免对霍尔传感器的干扰，由此提高转子的位置信息检测的准确度，进而提高了手持云台的增稳效果。
此外，三轴霍尔传感器具有数字接口，因此可以更为灵活地配置该霍尔传感器，比如配置不同的量程、使能内部滤波器、温度测量和温度补偿 等。同时霍尔传感器的成本低于磁编码器等位置传感器，因此还可以降低手持云台的成本。
在一些实施例中，第一转轴21、第二转轴31和第三转轴41的电机为永磁同步电机。第一霍尔传感器的安装位置至第一转轴的永磁同步电机的转子的距离，大于第三霍尔传感器的安装位置至第三转轴的永磁同步电机的转子的距离；和/或，第二霍尔传感器的安装位置至所述第二转轴的永磁同步电机的转子的距离，大于第三霍尔传感器的安装位置至所述第三转轴的永磁同步电机的转子的距离。由此可以同时降低对单轴霍尔传感器和单轴霍尔传感器的干扰，进而提高手持云台的增稳效果。
在一些实施例中，第一霍尔传感器的安装位置位于第一转轴的永磁同步电机的转子和磁环之间；和/或，第二霍尔传感器的安装位置位于所述第二转轴的永磁同步电机的转子和磁环之间。所述第三转轴的永磁同步电机的磁环位于所述第三霍尔传感器和所述永磁同步电机的转子之间。通过该具体的安装位置，可以进一步地减少对霍尔传感器的干扰，由此提高了手持云台的增稳效果。
示例性的，如图3所示，沿Y方向上第二霍尔传感器301的安装位置位于第二转轴的永磁同步电机的转子302和磁环303之间。需要说明的是，第一霍尔传感器的安装位置位于第一转轴的永磁同步电机的转子和磁环之间，与图3中的安装位置相似或相同。
示例性的，如图4所示，沿X方向上第三转轴的永磁同步电机的磁环403位于第三霍尔传感器401和永磁同步电机的转子402之间。
在一些实施例中，为了优化第一霍尔传感器(三轴霍尔传感器)和第二霍尔传感器(三轴霍尔传感器)的精度，进而限定第一霍尔传感器至所述第一转轴的永磁同步电机的转子的距离d 1，和/或，所述第二霍尔传感器至所述第二转轴的永磁同步电机的转子的距离d 2，分别满足以下表达式：
11.00≤d 1≤11.50；11.00≤d 2≤11.50；
在一些实施例中，为了优化第三霍尔传感器(单轴霍尔传感器)的精度，进而限定第三霍尔传感器至所述第三转轴的永磁同步电机的转子的距离d 3，分别满足以下表达式：4.55≤d 3≤4.65；其中，距离d 1、d 2和d 3单位均 为毫米，距离d 1、d 2具体可以为11.2mm。
具体地，第一霍尔传感器至所述第一转轴的永磁同步电机的转子的距离，为第一霍尔传感器的第一表面至第一转轴的永磁同步电机的转子的第一表面的距离，第一霍尔传感器的第一表面为面向所述第一转轴的永磁同步电机的转子的表面，第一转轴的永磁同步电机的转子的第一表面为面向所述第一霍尔传感器的表面。
具体地，如图3所示，第二霍尔传感器301至第一电机(第一转轴的永磁同步电机)的转子302的距离，为第一霍尔传感器301的第一表面至第一电机的转子302的第一表面的距离，第一霍尔传感器301的第一表面为面向第一电机的转子302的表面，第一电机的转子302的第一表面为面向第一霍尔传感器301的表面。
具体地，如图4所示，第三霍尔传感器至所述第三转轴的永磁同步电机的转子的距离，为第三霍尔传感器的第一表面至第三转轴的永磁同步电机的转子的第一表面的距离，第三霍尔传感器的第一表面为面向所述第三转轴的永磁同步电机的转子的表面，第三转轴的永磁同步电机的转子的第一表面为面向所述第三霍尔传感器的表面。
在一些实施例中，为了提高转子位置信息检测的准确性，限定第三霍尔传感器至第三转轴的永磁同步电机的磁环的距离为2.5毫米。
在一些实施例中，具体如图5和图6所示，图5示出了第一霍尔传感器或第二霍尔传感器的安装位置关系，图6示出了第三霍尔传感器(线性)的安装位置关系。采用该安装位置关系，可以有效地降低对霍尔传感器的干扰，由此提高了电机转子的位置信息检测的精度，进而提高了手持云台的增稳效果。
具体地，如图5所示，三轴霍尔传感器(3D霍尔)可以是第一霍尔传感器，也可以是第二霍尔传感器，电路板(PCB)可以是第一电路板，也可以是第二电路板，三轴霍尔传感器设置在电路板(PCB)上。其中，R1、r1和H1表示为第一霍尔传感器的数据，R2、r2和H2表示为第二霍尔传感器的数据。在图5中，三轴霍尔传感器的下表面至磁环的上表面间距为2.05mm。
具体地，如图6所示，单轴霍尔传感器(单轴霍尔)为第三霍尔传感器，电路板(PCB)为第三电路板，单轴霍尔传感器设置在电路板(PCB)上。其中，R3、r3和H3表示为第三霍尔传感器的数据。
在一些实施例中，请参阅图7至图12，手持云台100包括限位组件60，限位组件60包括限位部(例如限位凸起61)和配合部(例如配合凹槽62)，限位部和配合部的其中之一设于第三轴组件40上，限位部与配合部相适配。
当手持云台切换至使用状态时，第一轴臂22与第二轴臂32成预设夹角，第一转轴21、第二转轴31及第三转轴41能够转动，以控制承载件的姿态变化。预设夹角的大小可根据需要设定，可选地，预设夹角大于90度，并小于180度，如为120度、135度。
具体地，第一转轴21转动时，带动其负载(包括第一轴臂22、第二轴组件30、第三轴组件40和承载件50)转动；第二转轴31转动时，带动其负载(包括第三轴组件40和承载件50)转动；第三转轴41转动时，带动承载件50转动。为实现承载件的姿态变化，可采用以下控制策略中的至少一种：控制第一转轴21转动、控制第二转轴31转动、控制第三转轴41转动。
手持云台的整体折叠效果如图7所示。当手持云台切换至收纳状态时，第一轴臂22与第二轴臂32沿转动连接件处折叠，使得第二轴臂32收纳于第一转轴21和第一轴臂22远离第一端部11的一侧，第三轴组件40收纳于手柄10的一侧，使得手持云台收纳紧凑。
需要说明的是，本申请实施例中，在第一轴臂22与第二轴臂32沿转动连接件处折叠后，手持云台100的其他结构之间自动配合而形成折叠形态。第三轴臂42则受限位组件60限位而不再转动，具体为不相对于第二轴臂32转动，从而限定了手持云台在折叠收纳状态下的转动自由度，使整个手持云台不会随意转动。可选地，由于第三轴臂42与第三转轴41固定连接，因此限位部和配合部的其中之一可设于第三轴臂42上，也可设于第三转轴41上，还可同时设置在第三轴臂42和第三转轴41上。
本申请实施例提供的手持云台，利用第一轴组件20、第二轴组件30 和第三轴组件40形成的三轴转动可以满足其使用状态下的增稳功能。当第二轴臂32折叠至第一转轴21和第一轴臂22远离手柄10的第一端部11的一侧时，手持云台可切换至收纳状态，此时三个轴臂中的两个彼此靠近而相对紧凑，对于剩下的收纳于手柄10一侧的第三轴臂42，通过设置与第三轴组件40相连的限位组件60，可限制第三轴臂42不再转动，从而使整个手持云台不会随意转动，提高了手持云台在收纳状态下的稳定性和可靠性，降低了手持云台损坏的可能。
如图8至图12所示，在一些实施例中，限位部包括限位凸起61，配合部包括配合凹槽62；限位凸起61和配合凹槽62的其中之一设置在第一转轴21上，另一设置在第三轴臂42上，或，限位凸起61和配合凹槽62的其中之一设置在手柄10的侧壁13上，另一设置在第三轴臂42上。
在本申请的实施例中，具体限定了限位部和配合部分别可包括限位凸起61和配合凹槽62，利用限位凸起61和配合凹槽62的配合结构实现限位。具体而言，可将二者其中之一设置在第一转轴21或手柄10的侧壁13上，另一设置在第三轴臂42上。当手持云台处于使用状态时，第三轴臂42远离第一转轴21和手柄10的侧壁13，限位凸起61和配合凹槽62不接触，第三轴臂42可以相对于第二轴臂32转动，从而利用三轴转动实现增稳功能。当手持云台切换至收纳状态时，第三轴臂42收纳于手柄10的一侧，也会靠近连接在手柄10的第一端部11的第一转轴21，此时限位凸起61可伸入配合凹槽62内，从而防止第三轴臂42相对于第二轴臂32转动，有效限定了手持云台在折叠收纳状态下的转动自由度，使整个手持云台不会随意转动。
在一些实施例中，基于限位凸起61和配合凹槽62的其中之一设置在第一转轴21上，另一设置在第三轴臂42上的情况，在手持云台从使用状态切换至收纳状态的过程中，第二转轴31逐渐向第一转轴21靠近，使限位凸起61嵌入配合凹槽62中。
在本申请的实施例中，进一步以限位凸起61和配合凹槽62的其中之一设置在第一转轴21上，另一设置在第三轴臂42上的情况为例，限定了限位凸起61和配合凹槽62的配合过程。收纳手持云台时可先将第三轴臂42转动至图3中所示的位置，如图9和图11所示，随着第一轴臂22与第二 轴臂32沿转动连接件处折叠，第二轴臂32逐渐向第一轴臂22靠近，同时带动第三轴臂42向第一转轴21和手柄10靠近，分别设置在第一转轴21和第三轴臂42上的限位凸起61和配合凹槽62也随之彼此接近，使得限位凸起61最终嵌入配合凹槽62内，第三轴臂42便不能相对于第二轴臂32转动，可在折叠收纳手持云台的同时实现对第三轴臂42的转动限位，操作便捷。可选地，如图4和图6所示，限位凸起61设置在第三轴臂42上，配合凹槽62设置在第一转轴21上。
进一步地，可在限位凸起61和配合凹槽62的其中至少之一上设置导向斜面，使得收纳前第三轴臂42不必精确对位至图3中所示的位置，只需转动至该位置附近，就可在收纳时借助导向斜面的导向作用对第三轴臂42进行微调，令限位凸起61在周向上逐步滑入配合凹槽62内，能够减少对准的时间，使收纳操作更为便捷。
在一些实施例中，限位凸起61和配合凹槽62的其中之一与第一转轴21构造为一体式结构，另一与第三轴臂42构造为一体式结构。
在本申请的实施例中，进一步以限位凸起61和配合凹槽62的其中之一设置在第一转轴21上，另一设置在第三轴臂42上的情况为例，限定了限位凸起61和配合凹槽62各自与所连结构一体成型，则不必单独加工限位凸起61和配合凹槽62，有助于提高生产效率，同时一体式的结构可增强连接强度，提高产品的可靠性。
如图7和图9所示，在一些实施例中，当手持云台切换至收纳状态时，第一转轴21的轴线与第二转轴31的轴线相交。
在本申请的实施例中，手柄10的第一端部11与第一转轴21转动连接，第三轴臂42与第二转轴31转动连接。通过限定在收纳状态下，第一转轴21的轴线与第二转轴31的轴线相交，可令第三轴臂42在收纳状态下向第一转轴21及手柄10的侧壁13靠近，有利于第三轴臂42、第三转轴41与第一转轴21及手柄10的侧壁13的配合，进一步提升了限位组件60的限位效果以及手持云台在收纳状态下的紧凑度。
在一些实施例中，限位部包括与手柄10和第一转轴21中的至少一个连接的第一限位爪，第三轴臂42的至少一部分构造为配合部；当手持云台切 换至收纳状态时，配合部嵌入第一限位爪内并与第一限位爪相适配。
在本申请的实施例中，限位部可包括第一限位爪，连接在手柄10和第一转轴21中的至少一个上，配合部则由第三轴臂42的至少一部分构造而成。当手持云台处于使用状态时，第三轴臂42远离第一转轴21和手柄10的侧壁13，第一限位爪和配合部不接触，第三轴臂42可以相对于第二轴臂32转动，从而利用三轴转动实现增稳功能。当手持云台切换至收纳状态时，第三轴臂42收纳于手柄10的一侧，也会靠近连接在手柄10的第一端部11的第一转轴21，此时第三轴臂42上的配合部可嵌入第一限位爪内并与第一限位爪相适配，从而防止第三轴臂42相对于第二轴臂32转动，有效限定了手持云台在折叠收纳状态下的转动自由度，使整个手持云台不会随意转动。
在一些实施例中，第一限位爪与手柄10和第一转轴21中的至少一个构造为一体式结构。
在本申请的实施例中，第一限位爪与手柄10和第一转轴21中的至少一个相连接，通过将相连接的结构一体成型，可不必单独加工第一限位爪，有助于提供生产效率，同时一体式结构可增强连接强度，提高产品的可靠性。
在一些实施例中，限位部包括与第三轴臂42连接的第二限位爪，手柄10的至少一部分或第一转轴21的至少一部分构造为配合部；当手持云台切换至收纳状态时，配合部嵌入第二限位爪内并与第二限位爪相适配。
在本申请的实施例中，限位部可包括第二限位爪，连接在第三轴臂42上，配合部则由手柄10的至少一部分或第一转轴21的至少一部分构造而成。当手持云台处于使用状态时，第三轴臂42远离第一转轴21和手柄10的侧壁13，第二限位爪和配合部不接触，第三轴臂42可以相对于第二轴臂32转动，从而利用三轴转动实现增稳功能。收纳手持云台时可先将第三轴臂42转动至令第二限位爪朝向手柄10的位置，当手持云台切换至收纳状态时，第三轴臂42收纳于手柄10的一侧，也会靠近连接在手柄10的第一端部11的第一转轴21，此时第三轴臂42上的第二限位爪可夹持配合部，即令手柄10或第一转轴21上的配合部嵌入第二限位爪内并与第二限位爪相适配，从而防止第三轴臂42相对于第二轴臂32转动，有效限定了手持云台在折叠收纳状态下的转动自由度，使整个手持云台不会随意转动。
在一些实施例中，第二限位爪与第三轴臂42构造为一体式结构。
在本申请的实施例中，通过将第二限位爪与第三轴臂42一体成型，可不必单独加工第二限位爪，有助于提供生产效率，同时一体式结构可增强连接强度，提高产品的可靠性。
如图7和图9所示，在一些实施例中，第三轴臂42具有拐点421，当手持云台切换至收纳状态时，第三轴臂42的形状与手柄10的侧壁13的形状相适配以使第三轴臂42至少部分抵接手柄10的侧壁13。
在本申请的实施例中，通常，手柄10的侧壁13的形状需要设计成符合用户手持习惯的形状，故手柄10的侧壁13具有凹陷部14。在第三轴臂42上设置拐点421，具体地，当手持云台切换至收纳状态时，可令拐点421靠近凹陷部14远离第二端部12的一侧，使得第三轴臂42的形状与手柄10的侧壁13的形状相适配以使第三轴臂42至少部分抵接手柄10的侧壁13，从而减小第三轴臂42与手柄10的侧壁13之间的间隙，使得手持云台的收纳进一步紧凑化。
在一些实施例中，第三轴臂42具有开口，当手持云台切换至收纳状态时，开口朝向手柄10的侧壁13。
在本申请的实施例中，在第三轴臂42上设置开口，例如可将第三轴臂42设计为大致呈V形，即第三轴臂42具有一个拐点421，从而在拐点421处构造出开口，又如在杆状的第三轴臂42上开设开口。同时协调限位组件60和开口的位置，当手持云台切换至收纳状态时，可令开口朝向手柄10的侧壁13，并具体靠近凹陷部14远离第二端部12的一侧，使得手柄10在凹陷部14远离第二端部12的部分可嵌入开口中，有助于减小第三轴臂42与手柄10的侧壁13之间的间隙，使得手持云台的收纳进一步紧凑化。
如图7和图9所示，在一些实施例中，第三轴臂42与第二转轴31的连接处形成一台阶部422；当手持云台切换至收纳状态时，台阶部422背离手柄10的侧壁13设置。
在本申请的实施例中，第三轴臂42在与第二转轴31相连接之处形成一台阶部422，当手持云台切换至收纳状态时，台阶部422背离手柄10的侧壁13，可减小第三轴臂42与手柄10的侧壁13之间的间隙，使得手持云台收纳 进一步紧凑化。
在一些实施例中，当手持云台切换至收纳状态时，承载件位于第三转轴41远离手柄10的侧壁13的一侧。
在本申请的实施例中，通过令收纳状态下的承载件位于第三转轴41远离手柄10的侧壁13的一侧，则承载件不会位于第三转轴41和手柄10的侧壁13之间，故而一方面可减小第三轴臂42与手柄10的侧壁13之间的间隙，另一方面，在手持云台处于收纳状态时仍然可以使用承载件。例如，若承载件包括成像镜头，在手持云台收纳时，可继续使用该成像镜头进行拍摄，与手持云台处于使用状态下使用该成像镜头进行拍摄的区别在于：在手持云台处于收纳状态下使用该成像镜头进行拍摄时，不能基于第一转轴21、第二转轴31对该成像镜头进行姿态切换，但可以控制第三转轴41对该成像镜头进行姿态切换。同时，由于承载件收纳后处于第三轴臂42开放的一侧，不会因空间狭小受到限制，因此承载件的大小和形状不会受到空间限制，可以根据用户拍摄需要进行选择和更换。例如，在一种情况下，可以选用圆形成像镜头，在另一种情况下，可以选用方形成像镜头，当然在其他情况下还可以选用其它大小或形状的成像镜头，在此不做限制。
在一些实施例中，承载件50包括承载部，承载部用于固定拍摄装置；当手持云台切换至收纳状态时，承载部位于第三转轴41远离手柄10的侧壁13的一侧。
在本申请的实施例中，承载件50可包括用于固定拍摄装置的承载部，承载部位于第三转轴41远离手柄10的侧壁13的一侧，一方面可减小第三轴臂42与手柄10的侧壁13之间的间隙，另一方面，可在手持云台处于收纳状态下继续使用该拍摄装置进行拍摄，且可对该拍摄装置进行视频回放等操作，还可将拍摄装置一并收纳。相应地，在手持云台处于收纳状态下使用该拍摄装置进行拍摄，与手持云台处于使用状态下使用该拍摄装置进行拍摄的区别在于：在手持云台处于收纳状态下使用该拍摄装置进行拍摄时，不能基于第一转轴21、第二转轴31对该拍摄装置进行姿态切换，但可以控制第三转轴41对该拍摄装置进行姿态切换。在对拍摄装置进行收纳时，不同于现有的承载部位于第三转轴41和手柄10之间时，需将拍摄装置从承载部上取下才能完成收纳 的情况，本申请实施例提供的手持云台，可以将拍摄装置与手持云台一并进行收纳，不需再分开收纳，节省了收纳空间，更便于用户外出使用。
在一些实施例中，承载部为夹设结构；当手持云台切换至收纳状态时，夹设结构的开口背离第三转轴41设置。
在本申请的实施例中，将承载部设计为夹设结构，并且在手持云台切换至收纳状态时，令夹设结构的开口背离第三转轴41设置，能够确保手持云台收纳时，拍摄装置朝向外侧，方便用户使用拍摄装置。
进一步地，夹设结构具有锁定状态和解锁状态，当夹设结构处于解锁状态时，能够夹持固定拍摄装置，且第三转轴41可转动；当夹设结构处于锁定状态时，夹设结构锁定在第三轴臂42上，限制第三转轴41转动。可选地，当手持云台切换至收纳状态时，夹设结构自动切换至锁定状态；可选地，当手持云台切换至收纳状态时，夹设结构仍然处于解锁状态，需要用户通过手动操作方式将夹设结构切换至锁定状态。此外，当夹设结构处于锁定状态时，可基于自动解锁(按键/按钮解锁)或手动解锁方式将夹设结构由锁定状态切换至解锁状态。其中，夹设结构与第三轴臂42实现锁定的结构可选择常规结构，本实施例对此不作介绍。
如图10所示，在一些实施例中，第一端部11设有第一凹槽(图中未示出)，第一转轴21设有第二凹槽211，第二凹槽211内设有锁定件212，第二轴臂32上设有锁定凸起321；第一凹槽与第二凹槽211对准，用于指示能够将手持云台切换至收纳状态；在第一凹槽与第二凹槽211对准时，触发第二轴臂32沿转动连接件处朝向第一轴臂22转动，使得锁定凸起321伸入第二凹槽211内，锁定凸起321能够触发第二凹槽211内的锁定件212朝向第一凹槽移动，使得锁定件212的一部分进入第一凹槽内而与第一凹槽相配合，以防止第一轴组件20和第二轴组件30相对手柄10转动，将手持云台维持在收纳状态。
在本申请的实施例中，通过在第一端部11和第一转轴21上分别设置第一凹槽和第二凹槽211，并在第二凹槽211内设置锁定件212，在第二轴臂32上设置锁定凸起321，一方面可借助第一凹槽和第二凹槽211的对位来指示能够将手持云台切换至收纳状态，便于用户操作；另一方面，在第一凹槽与第二 凹槽211对准的情况下，将第一轴臂22与第二轴臂32沿转动连接件处折叠，使得第二轴臂32上的锁定凸起321伸入第一转轴21上的第二凹槽211，进而触发第二凹槽211内的锁定件212部分伸入手柄10的第一端部11上的第一凹槽内，可基于锁定件212与第一凹槽的配合实现第一轴组件20和第二轴组件30相对于手柄10的转动限位，将手持云台维持在收纳状态。可选地，锁定件212与第一凹槽之间、锁定凸起321与第二凹槽211之间可选择过盈配合实现固定，也可选择其他配合方式实现固定。
在一些实施例中，第二转轴31转动至预设位置，用于指示能够将手持云台切换至收纳状态。
在本申请的实施例中，通过设定第二转轴31的预设位置，可提醒用户在收纳手持云台前将第二转轴31转动至预设位置，第三轴组件40也随之转动至相应位置，具有明确的指示作用，可避免第二转轴31未转动至预设位置时第二转轴31和/或第三轴组件40无法折叠到位的情况发生，使得手持云台可由使用状态顺利切换至收纳状态。
在一些实施例中，预设位置为第二转轴31的限位位置。
在本申请的实施例中，具体限定了第二转轴31的预设位置可为其限位位置，也就是限位组件60限定第三轴臂42不再相对于第二轴臂32转动时的位置，确保了各个轴组件收纳上的一致性，使得手持云台可由使用状态顺利切换至收纳状态。可选地，在第二转轴31和第三轴臂42上分别设置对准标记，可进一步明确指示出第二转轴31的限位位置，以便用户查看。
此时，手持云台由使用状态切换至收纳状态的操作过程可包括：控制第一转轴21相对手柄10转动，以使得第一凹槽与第二凹槽211相对准，并控制第二转轴31转动至限位位置，这两个步骤可同步执行，也可先后执行；此后，操作第一轴臂22和第二轴臂32沿着转动连接件处折叠，使得锁定凸起321伸入第二凹槽211；在锁定凸起321伸入第二凹槽211的过程中，锁定凸起321会向下挤压第二凹槽211内的锁定件212，使得锁定件212朝向第一凹槽移动，当锁定件212的一部分进入第一凹槽内而与第一凹槽相配合时，就实现了第一轴组件20和第二轴组件30相对于手柄10的转动限位，与此同时，限位组件60的限位部和配合部相配合，实现了第三轴组件40相对于第二轴臂32的转 动限位，手持云台由使用状态切换至收纳状态，并能够维持在收纳状态。
在一些实施例中，手柄10的侧壁13设有解锁部，解锁部能够与锁定件212配合；操作解锁部，锁定件212能够在解锁部的顶持力作用下朝向远离第一凹槽的方向移动至与第一凹槽分离，在锁定件212将锁定凸起321顶出第二凹槽211时，手持云台能够由收纳状态切换至使用状态。
在本申请的实施例中，通过在手柄10的侧壁13上设置解锁部，可利用解锁部将锁定件212顶出第一凹槽，进入第二凹槽211的锁定件212又可将锁定凸起321顶出第二凹槽211，从而便捷地将手持云台由收纳状态切换至使用状态。可选地，可以通过按压方式、拉拔方式、顶持方式或其他操作方式操作解锁部。解锁部可以为电子解锁结构，也可为机械解锁结构，可具体根据需要选择解锁部的类型。
在本申请中，术语“多个”则指两个或两个以上，除非另有明确的限定。术语“安装”、“相连”、“连接”、“固定”等术语均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；“相连”可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本说明书的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (15)

  1. 一种手持云台，其特征在于，所述手持云台包括：
    手柄，具有第一端部、第二端部和位于所述第一端部和所述第二端部之间的侧壁；
    第一轴组件，包括第一转轴、第一轴臂和第一霍尔传感器，所述第一转轴与所述手柄的第一端部连接，所述第一轴臂的一端与所述第一转轴固定连接；
    第二轴组件，包括第二转轴、第二轴臂和第二霍尔传感器，所述第二转轴与所述第二轴臂的一端固定连接，所述第二轴臂的另一端与所述第一轴臂的另一端连接；
    第三轴组件，包括第三转轴、第三轴臂和至少两个第三霍尔传感器，所述第三轴臂的一端与所述第二转轴转动连接，另一端与所述第三转轴固定连接；
    承载件，与所述第三转轴转动连接，用于承载拍摄装置；
    其中，所述第一霍尔传感器和第二霍尔传感器为三轴霍尔传感器，所述至少两个第三霍尔传感器为单轴霍尔传感器。
  2. 根据权利要求1所述的手持云台，其特征在于，所述第一转轴、第二转轴和第三转轴的电机包括永磁同步电机；
    所述第一霍尔传感器的安装位置至所述第一转轴的永磁同步电机的转子的距离，大于所述第三霍尔传感器的安装位置至所述第三转轴的永磁同步电机的转子的距离；和/或，
    所述第二霍尔传感器的安装位置至所述第二转轴的永磁同步电机的转子的距离，大于所述第三霍尔传感器的安装位置至所述第三转轴的永磁同步电机的转子的距离。
  3. 根据权利要求1所述的手持云台，其特征在于，所述第一霍尔传感器的安装位置位于所述第一转轴的永磁同步电机的转子和磁环之间；和/或，所述第二霍尔传感器的安装位置位于所述第二转轴的永磁同步电机的转子和磁环之间。
  4. 根据权利要求1所述的手持云台，其特征在于，所述第三转轴的永磁同步电机的磁环位于所述第三霍尔传感器和所述永磁同步电机的转子之间。
  5. 根据权利要求1所述的手持云台，其特征在于，所述第一霍尔传感器至所述第一转轴的永磁同步电机的转子的距离d 1，满足以下表达式：
    11.00≤d 1≤11.50；
    和/或，所述第二霍尔传感器至所述第二转轴的永磁同步电机的转子的距离d 2，满足以下表达式：
    11.00≤d 2≤11.50；
    和/或，所述第三霍尔传感器至所述第三转轴的永磁同步电机的转子的距离d 3，分别满足以下表达式：
    4.55≤d 3≤4.65；
    其中，距离d 1、d 2和d 3单位均为毫米。
  6. 根据权利要求1所述的手持云台，其特征在于，所述第三霍尔传感器至所述第三转轴的永磁同步电机的磁环的距离为2.5毫米。
  7. 根据权利要求1至6任一项所述的手持云台，其特征在于，所述第一转轴组件、第二转轴组件和第三转轴组件包括第一电路板、第二电路板和第三电路板；
    其中，所述第一霍尔传感器设置在所述第一电路板上、所述第二霍尔传感器设置在所述第二电路板上，所述至少两个第三霍尔传感器呈预设角度设置在所述第三电路板上。
  8. 根据权利要求7所述的手持云台，其特征在于，所述第二轴组件包括：
    转动连接件，所述第一轴臂的另一端通过所述转动连接件与所述第二轴臂的另一端转动连接，随所述第一轴臂与所述第二轴臂的相对转动，能够使得所述手持云台在收纳状态和使用状态之间切换。
  9. 根据权利要求8所述的手持云台，其特征在于，所述手持云台包括：
    限位组件，所述限位组件包括限位部和配合部，所述限位部和所述配合部的其中之一设于所述第三轴组件上；
    当手持云台切换至所述使用状态时，所述第一轴臂与所述第二轴臂成预设夹角，所述第一转轴、所述第二转轴及所述第三转轴能够转动，以控制所述承载件的姿态变化；
    当手持云台切换至所述收纳状态时，所述第一轴臂与所述第二轴臂沿所述转动连接件处折叠，使得所述第二轴臂收纳于所述第一转轴和所述第一轴臂远离所述第一端部的一侧，所述第三轴组件收纳于所述手柄的一侧，所述第三轴臂受所述限位组件限位而不再转动。
  10. 根据权利要求9所述的手持云台，其特征在于，所述限位部包括限位凸起，所述配合部包括配合凹槽；
    所述限位凸起和所述配合凹槽的其中之一设置在所述第一转轴上，另一设置在所述第三轴臂上；
    或，所述限位凸起和所述配合凹槽的其中之一设置在所述手柄的侧壁上，另一设置在所述第三轴臂上。
  11. 根据权利要求10所述的手持云台，其特征在于，所述限位凸起和所述配合凹槽的其中之一与所述第一转轴构造为一体式结构，另一与所述第三轴臂构造为一体式结构。
  12. 根据权利要求9所述的手持云台，其特征在于，所述限位部包括与所述手柄和所述第一转轴中的至少一个连接的第一限位爪，所述第三轴臂的至少一部分构造为所述配合部；
    当所述手持云台切换至所述收纳状态时，所述配合部嵌入所述第一限位爪内并与所述第一限位爪相适配。
  13. 根据权利要求9所述的手持云台，其特征在于，所述限位部包括与所述第三轴臂连接的第二限位爪，所述手柄的至少一部分或所述第一转轴的至少一部分构造为所述配合部；
    当所述手持云台切换至所述收纳状态时，所述配合部嵌入所述第二限位爪内并与所述第二限位爪相适配。
  14. 根据权利要求9所述的手持云台，其特征在于，所述第三轴臂具有拐点，当手持云台切换至所述收纳状态时，所述第三轴臂的形状与所述手柄的侧壁的形状相适配以使所述第三轴臂至少部分抵接所述手柄的侧 壁。
  15. 根据权利要求9所述的手持云台，其特征在于，所述第三轴臂具有开口，当手持云台切换至所述收纳状态时，所述开口朝向所述手柄的侧壁。
PCT/CN2020/135452 2020-08-26 2020-12-10 手持云台 WO2022041575A1 (zh)

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