WO2022062204A1 - 云台组件 - Google Patents

云台组件 Download PDF

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Publication number
WO2022062204A1
WO2022062204A1 PCT/CN2020/135464 CN2020135464W WO2022062204A1 WO 2022062204 A1 WO2022062204 A1 WO 2022062204A1 CN 2020135464 W CN2020135464 W CN 2020135464W WO 2022062204 A1 WO2022062204 A1 WO 2022062204A1
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WO
WIPO (PCT)
Prior art keywords
pan
antenna
tilt assembly
shaft arm
motor
Prior art date
Application number
PCT/CN2020/135464
Other languages
English (en)
French (fr)
Inventor
房牧
马超
田川
刘芳
李栋
Original Assignee
深圳市大疆创新科技有限公司
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Publication of WO2022062204A1 publication Critical patent/WO2022062204A1/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
    • 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
    • F16M11/04—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

Definitions

  • the present application relates to the technical field of handheld gimbal, and in particular, to a gimbal assembly.
  • Handheld gimbal is widely used in entertainment and model aircraft photography, etc. It can control the rotation of the camera and other lenses and the execution of directional movements such as pitching through multiple buttons, so as to take excellent photos and/or videos in various directions.
  • various types of existing handheld PTZ devices can only be controlled by buttons, and the user needs to hold the control, but cannot achieve remote control, so it cannot meet the shooting of some wide-angle scenes or large-angle scenes.
  • the present application provides a pan-tilt assembly, which can satisfy the remote control and solve the above technical problems.
  • a pan/tilt assembly includes a load mount for assembling a load, a first axle arm connected with the load mount, and a first axle arm for driving the first axle arm
  • any one of the load mount, the first axle arm, the second axle arm and the third axle arm is provided with wireless communication means for communicating with terminal equipment.
  • a further improvement of the pan-tilt assembly of the present application is that the wireless communication device is assembled on the first shaft arm, the first shaft arm includes a mounting housing with an accommodating cavity, and the wireless communication device includes a circuit board and a connection with the first shaft arm.
  • the circuit board is electrically connected to the antenna, the circuit board is assembled in the accommodating cavity, and the antenna is installed outside the installation casing; in the installation casing, at least between the circuit board and the antenna
  • the sidewalls are metal sidewalls.
  • a further improvement of the pan-tilt assembly of the present application is that the antenna and the circuit board are connected by a coaxial feeder, a wire hole is provided on the metal side wall between the circuit board and the antenna, and the coaxial feeder passes through the threading hole.
  • a further improvement of the pan/tilt assembly of the present application is that the antenna is installed on a side of the installation housing away from the load.
  • a further improvement of the pan/tilt assembly of the present application is that a recessed portion is provided on the outer surface of the mounting housing, and each wall surface constituting the recessed portion is a metal wall surface.
  • a further improvement of the pan/tilt assembly of the present application is that the mounting shell is a metal shell.
  • a further improvement of the pan/tilt assembly of the present application lies in that the first axle arm further comprises a housing assembled to the recessed portion, the middle part of the housing protrudes from the mounting shell relative to the side edges of the housing, the The antenna is arranged in the same shape as the inner cavity of the casing, and the antenna is mounted on the inner surface of the casing.
  • a further improvement of the pan/tilt assembly of the present application is that a wireless communication module electrically connected to the antenna is provided on the circuit board, and the wireless communication module converts the signal received by the antenna and outputs the corresponding electrical signal, so The electrical signal is transmitted to the controller of the hand-held part through the wiring inside the pan/tilt assembly.
  • a further improvement of the pan/tilt assembly of the present application is that the first motor is used to drive the first shaft arm to rotate in the pitch direction, and the second motor is used to drive the second shaft arm to rotate in the roll direction, so The third motor is used to drive the third shaft arm to rotate in the yaw direction.
  • a further improvement of the pan-tilt assembly of the present application is that the payload is a third-party camera, and the handheld part is provided with a display device, and the display device can display images collected by the third-party camera in real time.
  • the pan/tilt assembly of the present application can be used in any of the load mounting frame, the first axle arm, the second axle arm and the third axle arm.
  • One is provided with a wireless communication device, so that the pan-tilt assembly can communicate with the terminal device through the wireless communication device, so that the pan-tilt assembly can meet the remote control and more shooting requirements.
  • FIG. 1 is a schematic structural diagram of a pan/tilt assembly shown in an exemplary embodiment of the present application
  • FIG. 2 is a partially exploded schematic diagram of a pan/tilt assembly shown in an exemplary embodiment of the present application
  • FIG. 3 is a partially exploded schematic diagram of a pan/tilt assembly shown in another exemplary embodiment of the present application
  • FIG. 4 is a result diagram of an antenna standing wave ratio of a wireless communication device in a pan-tilt assembly shown in an exemplary embodiment of the present application;
  • FIG. 5 is a directional diagram of an antenna of a wireless communication device in a pan-tilt assembly according to an exemplary embodiment of the present application
  • Fig. 6 is a directional diagram of an antenna of a wireless communication device in a pan-tilt assembly according to another exemplary embodiment of the present application.
  • the pan-tilt assembly 10 of the embodiment of the present application includes a load mounting bracket 21 for assembling the load 2 , a first axle arm 11 connected to the load mounting bracket 21 , and driving the first axle arm 11
  • the first motor 110 is installed, the second shaft arm 12 of the first motor 110 is installed, the second motor 120 of the second shaft arm 12 is driven, the third shaft arm 13 of the second motor 120 is installed, and the third shaft arm 13 is driven.
  • the hand-held portion 101 is a grip handle.
  • the end of the hand-held portion 101 away from the third motor 130 can be installed with a pan-tilt support 102 , so that the pan-tilt assembly 10 can be supported without the user holding it, thereby releasing both hands.
  • the pan/tilt support 102 may be a support structure such as a tripod, a disc seat, or the like.
  • the first motor 110 is used to drive the first shaft arm 11 to rotate in the pitch direction, so as to control the load 2 to rotate in the pitch direction.
  • the second motor 120 is used to drive the second axle arm 12 to rotate in the roll direction, so as to control the first axle arm 11 and the load 2 to rotate in the roll direction as a whole.
  • the roll direction may be an orthogonal roll direction or an oblique roll direction.
  • the second motor 120 drives the second shaft arm 12 to rotate in an upwardly inclined roll direction.
  • the third motor 130 is used to drive the third axle arm 13 to rotate in the yaw direction, so as to control the second axle arm 12 , the first axle arm 11 and the load 2 to rotate in the yaw direction as a whole.
  • the pan/tilt assembly 10 of this embodiment is a three-axis pan/tilt.
  • the pan/tilt assembly 10 may also be a single-axis pan/tilt or a dual-axis pan/tilt.
  • the first axle arm 11 is disposed adjacent to and opposite to the load 2 , and the first axle arm 11 is extended toward the hand-held portion 101 , so that the first axle arm 11 can utilize the space reasonably and will not hinder the Operation of load 2.
  • Both the second axle arm 12 and the third axle arm 13 are bent and arranged so as to connect two different axial directions, so as to satisfy the rotation of the pan/tilt assembly 10 in three different axial directions.
  • the load 2 may be a third-party camera, such as a mobile phone, a camera, a video camera, and other electronic devices with a shooting function.
  • the load mounting bracket 21 is used for clamping or connecting the load 2 , so that the load 2 can be fixed on the load mounting bracket 21 .
  • the handheld part 101 is provided with a display device 103, and the display device 103 can display images captured by a third-party camera in real time.
  • the digital video signal output by the third-party camera will be converted into an analog video signal, which is routed through the internal wiring of the gimbal assembly 10 (the analog video signal requires fewer cables, which is convenient to pass through the internal space of the gimbal, thereby It is not easily affected by the rotation of the PTZ) and is transmitted to the handheld part 101 , and then the real-time image transmission picture is displayed on the display device 103 of the handheld part 101 .
  • the display device 103 supports analog signal display, so signal conversion is not required. In another embodiment, if the display device 103 does not support analog signal display, it can convert back to digital signal for display.
  • the pan-tilt assembly 10 of the present application further includes a wireless communication device 3 for communicating with the terminal device, so that the pan-tilt assembly 10 can be remotely controlled, which brings more convenience to the user.
  • the wireless communication device 3 can be installed in any one of the load mounting frame 21 , the first axis arm 11 , the second axis arm 12 and the third axis arm 13 , and the wireless communication device 3 is used to communicate with the terminal device. Specifically, according to the available space of the load mounting frame 21 , the first axle arm 11 , the second axle arm 12 and the third axle arm 13 , to install the wireless communication device 3 in one of them, the wireless communication can be avoided. Device 3 takes up additional space.
  • the wireless communication device 3 is assembled on the first axle arm 11 , and the first axle arm 11 includes an installation housing 111 with an accommodating cavity.
  • the wireless communication device 3 includes a circuit board 31 and an antenna 32 electrically connected to the circuit board 31 .
  • the circuit board 31 is assembled in the accommodating cavity, and the antenna 32 is installed outside the mounting housing 111 .
  • the design freedom of the appearance of the pan-tilt assembly 10 is achieved, and the layout of the antenna 32 is more favorable for the radiation of the antenna 32 .
  • the circuit board 31 of the present application is provided with a wireless communication module that is electrically connected to the antenna 32 .
  • the wireless communication module converts the signal received by the antenna 32 and outputs the corresponding electrical signal.
  • the electrical signal is transmitted to the The controller of the hand-held part 101 , and then the controller performs processing according to the electrical signal to realize the control of the load 2 .
  • the wireless communication device 3 includes a bluetooth antenna, the bluetooth antenna is arranged on the first shaft arm 11, works in the bluetooth frequency band, the bluetooth function module is arranged on the circuit board 31, and communicates with the terminal device through the antenna 32. Wireless communication.
  • the antenna 32 and the circuit board 31 are connected by a coaxial feeder 33 , a metal side wall between the circuit board 31 and the antenna 32 is provided with a wire hole 112 , and the coaxial feeder 33 penetrates through the wire hole 112 .
  • This arrangement not only satisfies the electrical connection between the circuit board 31 and the antenna 32, but also separates the circuit board 31 and the antenna 32 with a metal plate, which reduces the mutual interference between the circuit board 31 and the antenna 32, thereby improving the the overall performance of Bluetooth.
  • the antenna 32 is mounted on the side of the mounting housing 111 away from the load 2 .
  • a recessed portion 113 is provided on the outer surface of the mounting housing 111 , and the antenna 32 is assembled in the recessed portion 113 .
  • each wall surface constituting the concave portion 113 is a metal wall surface, such that through the concave metal structure, the installation of the shielding cover can be omitted, and the interference of other signals to the antenna 32 can be avoided.
  • the mounting shell 111 is a metal shell, that is, by using the characteristics of all metal, a small hole is opened on the metal shell to connect the circuit board 31 with the Bluetooth function to the antenna 32, thereby reducing the size of the antenna 32 Mutual interference with the circuit board 31 and cost savings.
  • the first axle arm 11 further includes a housing 114 mounted on the recessed portion 113 , the middle part of the housing 114 protrudes from the side of the housing 114 and the mounting housing 111 , the antenna 32 and the
  • the inner cavity of the casing 114 is formed in the same shape, and the casing 114 is made of non-metallic material.
  • Antenna 32 may be mounted on the inner surface of housing 114 .
  • the antenna 32 may be mounted on the inner surface of the housing 114 by means of gluing or screwing.
  • the present application adopts the design of the conformal antenna 32 , which can significantly improve the space utilization rate and improve the design freedom of the overall appearance of the pan-tilt assembly 10 .
  • the antenna 32 is an FPC (Flexible Printed Circuit, flexible circuit board) antenna, so that the antenna 32 and the inner cavity of the housing 114 are arranged in the same shape. Under this layout, the standing wave ratio of the antenna 32 is shown in FIG. 4 , and the directional diagram of the antenna 32 is shown in FIGS. 5 and 6 . It can be seen that the center f_m of the bluetooth frequency band and the boundaries f_l and f_h of the bluetooth frequency band can be better. It can realize the signal transmission in the bluetooth frequency band. In FIG.
  • FPC Flexible Printed Circuit, flexible circuit board
  • the energy of the pattern in the direction of 180° is very low, the energy of the antenna 32 is effectively reflected by the metal plate in the direction toward the circuit board 31 , and the pattern of the antenna 32 outside the first axis arm 11 has a good radiation effect, which ensures the use of A good experience for the terminal device to wirelessly control the pan-tilt assembly 10 via Bluetooth.
  • the pan/tilt assembly 10 of the present application is provided with a wireless communication device 3 on any one of the load mounting frame 21 , the first axle arm 11 , the second axle arm 12 and the third axle arm 13 , so as to
  • the pan-tilt assembly 10 is made to communicate with the terminal device through the wireless communication device 3, so that the pan-tilt assembly 10 can satisfy the remote control and meet more shooting requirements.
  • the wireless communication device 3 is a Bluetooth antenna, which works in the blue-colored frequency band.
  • the antenna 32 and the circuit board 31 are separated by metal materials, which reduces the mutual influence between the circuit board 31 and the antenna 32, thereby improving the Bluetooth performance. overall performance.
  • the design scheme of the conformal antenna 32 is adopted, which can significantly improve the space utilization rate and improve the design freedom of the overall appearance of the pan-tilt assembly 10 .

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

一种云台组件（10），该云台组件（10）包括用于装配负载（2）的负载安装架（21）、与所述负载安装架（21）连接的第一轴臂（11）、驱动所述第一轴臂（11）的第一电机（110）、安装所述第一电机（110）的第二轴臂（12）、驱动所述第二轴臂（12）的第二电机（120）、安装所述第二电机（120）的第三轴臂（13）、驱动所述第三轴臂（13）的第三电机（130）和安装所述第三电机（130）的手持部（101）；所述负载安装架（21）、第一轴臂（11）、第二轴臂（12）和第三轴臂（13）中的任一者设有无线通信装置（3），所述无线通信装置（3）用于与终端设备通信。云台组件（10）在满足结构空间的前提下，在负载安装架（21）、第一轴臂（11）、第二轴臂（12）和第三轴臂（13）中的任一者设有无线通信装置（3），以使云台组件（10）通过无线通信装置（3）与终端设备通信，从而以使云台组件（10）可以满足远程控制，满足更多的拍摄需求。

Description

云台组件 技术领域
本申请涉及手持云台技术领域，尤其涉及一种云台组件。
背景技术
手持云台广泛应用于休闲娱乐和航模摄像等，其可通过多个按键，控制相机等镜头的旋转以及俯仰等方向动作的执行，以拍摄出各种方向的优秀相片和/或视频。然而，现有各类手持云台设备仅可以通过操控按键的方式，用户需要手持操控，无法实现远程操控，从而无法满足一些广角场景或者大视角场景等的拍摄。
发明内容
本申请提供了一种云台组件，可满足远程控制以解决上述技术问题。
根据本申请的实施例，提供了一种云台组件，所述云台组件包括用于装配负载的负载安装架、与所述负载安装架连接的第一轴臂、驱动所述第一轴臂的第一电机、安装所述第一电机的第二轴臂、驱动所述第二轴臂的第二电机、安装所述第二电机的第三轴臂、驱动所述第三轴臂的第三电机和安装所述第三电机的手持部；
所述负载安装架、第一轴臂、第二轴臂和第三轴臂中的任一者设有无线通信装置，所述无线通信装置用于与终端设备通信。
本申请云台组件的进一步改进在于，所述无线通信装置装配于所述第一轴臂，所述第一轴臂包括具有容纳腔的安装壳体，所述无线通信装置包括电路板以及与所述电路板电连接的天线，所述电路板装配于所述容纳腔内，所述天线安装于所述安装壳体外；在所述安装壳体中，至少所述电路板与所述天线之间的侧壁为金属侧壁。
本申请云台组件的进一步改进在于，所述天线与所述电路板通过同轴馈线连接，所述电路板与所述天线之间的金属侧壁上设有穿线孔，所述同轴馈线贯穿所述穿线孔。
本申请云台组件的进一步改进在于，所述天线安装于所述安装壳体的远离所述负载的一侧。
本申请云台组件的进一步改进在于，所述安装壳体的外表面设有凹陷部，构成所述凹陷部的各个壁面均为金属壁面。
本申请云台组件的进一步改进在于，所述安装壳体为金属壳体。
本申请云台组件的进一步改进在于，所述第一轴臂还包括装配于所述凹陷部的外壳，所述外壳的中间部分相对所述外壳的侧边凸出所述安装壳体，所述天线与所述外壳的内腔体同形设置，所述天线安装于所述外壳的内表面。
本申请云台组件的进一步改进在于，所述电路板上设有与所述天线电连接的无线通讯模块，所述无线通讯模块对所述天线接收的信号进行转换并输出相应的电信号，所述电信号经由所述云台组件内部的走线传输至所述手持部的控制器。
本申请云台组件的进一步改进在于，所述第一电机用于驱动所述第一轴臂沿俯仰方向转动，所述第二电机用于驱动所述第二轴臂沿横滚方向转动，所述第三电机用于驱动所述第三轴臂在偏航方向转动。
本申请云台组件的进一步改进在于，所述负载为第三方相机，所述手持部设有显示设备，所述显示设备能够显示所述第三方相机实时采集的图像。
本申请的实施例提供的技术方案可以包括以下有益效果：本申请云台组件在满足结构空间的前提下，在负载安装架、第一轴臂、第二轴臂和第三轴臂中的任一者设有无线通信装置，以使云台组件通过无线通信装置与终端设备通信，从而以使云台组件可以满足远程控制，满足更多的拍摄需求。
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
图1是本申请一示例性实施例示出的一种云台组件的结构示意图；
图2是本申请一示例性实施例示出的一种云台组件的部分分解示意图；
图3是本申请又一示例性实施例示出的一种云台组件的部分分解示意图；
图4是本申请一示例性实施例示出的一种云台组件中无线通信装置的天线驻波比结果图；
图5是本申请一示例性实施例示出的一种云台组件中无线通信装置的天线的方向图；
图6是本申请又一示例性实施例示出的一种云台组件中无线通信装置的天线的方 向图。
具体实施方式
以下将结合附图所示的具体实施方式对本申请进行详细描述。但这些实施方式并不限制本申请，本领域的普通技术人员根据这些实施方式所做出的结构、方法、或功能上的变换均包含在本申请的保护范围内。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
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。
如图1至图3所示，本申请的实施例的云台组件10包括用于装配负载2的负载安装架21，与负载安装架21连接的第一轴臂11，驱动第一轴臂11的第一电机110，安装第一电机110的第二轴臂12，驱动第二轴臂12的第二电机120、安装第二电机120的第三轴臂13、驱动第三轴臂13的第三电机130和安装第三电机130的手持部101。该手持部101为握持手柄。此外，该手持部101远离第三电机130的一端可以安装云台支座102，如此可以支撑云台组件10，无需用户握持，从而释放双手。其中，该云台支座102可以为三脚架、圆盘座等支撑结构。
该第一电机110用于驱动第一轴臂11沿俯仰方向转动，从而控制负载2沿俯仰方向转动。第二电机120用于驱动第二轴臂12沿横滚方向转动，从而控制第一轴臂11和负载2整体上沿横滚方向转动。该横滚方向可以为正交横滚方向或者倾斜横滚方向，本实施例中，第二电机120驱动第二轴臂12沿向上倾斜的横滚方向转动。第三电机130用于驱动第三轴臂13在偏航方向转动，从而控制第二轴臂12、第一轴臂11和负载2整体上沿偏航方向转动。即本实施例的云台组件10为三轴云台。当然，在其他实施例中，该云台组件10也可以为单轴云台或者双轴云台。
该实施例中，该第一轴臂11邻近且与负载2相对设置，第一轴臂11朝向手持部101延伸设置，如此以使第一轴臂11合理的利用空间，且并不会妨碍对负载2的操作。第二轴臂12和第三轴臂13均弯折设置，如此以衔接两个不同的轴向，从而满足云台组 件10在三个不同轴向的转动。
其中，负载2可以为第三方相机，如：手机、照相机、摄像机等具有拍摄功能的电子设备。该负载安装架21用于夹持或者连接负载2，以使负载2可以稳固在该负载安装架21上。进一步地，该手持部101设有显示设备103，显示设备103能够显示第三方相机实时采集的图像。该实施例中，第三方相机输出的数字视频信号会转换为模拟视频信号，通过云台组件10的内部走线(模拟视频信号需要的线缆比较少，便于穿过云台的内部空间，从而不易受到云台转动的影响)传输到手持部101，进而在手持部101的显示设备103上显示实时图传画面。在一种实施例中，显示设备103支持模拟信号显示，则无需进行信号转换。在另一种实施例中，显示设备103不支持模拟信号显示，则可以转换回数字信号进行显示。
本申请的云台组件10还包括用于与终端设备通信的无线通信装置3，如此以满足可以对云台组件10进行远程操控，给用户的使用带来更多的便利性。该无线通信装置3可以设置于负载安装架21、第一轴臂11、第二轴臂12和第三轴臂13中的任一者，无线通信装置3用于与终端设备通信。具体地，根据负载安装架21、第一轴臂11、第二轴臂12和第三轴臂13的可利用空间，以将无线通信装置3设置于其中之一者，从而可以避免该无线通信装置3占用额外空间。
在本申请的实施例中，该无线通信装置3装配于第一轴臂11，第一轴臂11包括具有容纳腔的安装壳体111。无线通信装置3包括电路板31以及与电路板31电连接的天线32。该电路板31装配于容纳腔内，天线32安装于安装壳体111外。该实施例中，通过将无线通信装置3设置在第一轴臂11侧面的位置，实现了云台组件10外观的设计自由度，并且天线32布局的位置比较利于天线32辐射。
本申请的电路板31上设有与天线32电连接的无线通讯模块，无线通讯模块对天线32接收的信号进行转换并输出相应的电信号，电信号经由云台组件10内部的走线传输至手持部101的控制器，而后该控制器根据电信号进行处理进而实现对负载2的控制。
其中，在安装壳体111中，至少电路板31与天线32之间的侧壁为金属侧壁。本申请将天线32和电路板31通过金属侧壁隔开，减小了电路板31与天线32之间的相互影响。在一实施例中，该无线通信装置3包括蓝牙天线，该蓝牙天线设置在第一轴臂11上，工作在蓝牙频段，蓝牙功能模块设置在电路板31上，并通过天线32与终端设备进行无线通信。
该天线32与电路板31通过同轴馈线33连接，电路板31与天线32之间的金属侧壁上设有穿线孔112，同轴馈线33贯穿穿线孔112。如此设置既满足了电路板31与天线32之间的电连接，同时又使电路板31与天线32之间用金属板隔开，起到了减少电路板31和天线32间的相互干扰，从而提升了蓝牙的整体性能。
该天线32安装于安装壳体111的远离负载2的一侧。在一实施例中，该安装壳体111的外表面设有凹陷部113，天线32装配于凹陷部113内。其中，构成凹陷部113的各个壁面均为金属壁面，如此通过内凹的金属结构，可以省去了屏蔽罩的设置，可以避免其他信号对天线32的干扰。本申请的实施例中，该安装壳体111为金属壳体，即利用全金属的特性，在金属壳体上开设小孔以使具有蓝牙功能的电路板31与天线32连接，降低了天线32与电路板31之间的相互干扰且节约了成本。
进一步地，如图2至图4所示，该第一轴臂11还包括装配于凹陷部113的外壳114，外壳114的中间部分相对外壳114的侧边凸出安装壳体111，天线32与外壳114的内腔体同形设置，外壳114为非金属材质。天线32可以安装在外壳114的内表面。例如，天线32可以通过粘贴或者螺丝锁紧等方式安装在外壳114的内表面。本申请采用了共形天线32设计，可以显著地提高空间利用率并提高云台组件10整体外观的设计自由度。其中，该天线32为FPC(Flexible Printed Circuit，柔性电路板)天线，如此由于天线32与外壳114的内腔体同形设置。在该布局下，天线32的驻波比如图4所示，天线32的方向图如图5和图6所示，可以看到，在蓝牙频段中心f_m以及蓝牙频段边界f_l和f_h都能较好地实现蓝牙频段的信号发射。在图6中，180deg方向的方向图能量很低，天线32的能量在朝向电路板31的方向被金属板有效地反射，第一轴臂11外侧的天线32方向图辐射效果良好，保证了使用终端设备通过蓝牙无线控制云台组件10工作的良好体验。
本申请云台组件10在满足结构空间的前提下，在负载安装架21、第一轴臂11、第二轴臂12和第三轴臂13中的任一者设有无线通信装置3，以使云台组件10通过无线通信装置3与终端设备通信，从而以使云台组件10可以满足远程控制，满足更多的拍摄需求。该无线通信装置3为蓝牙天线，工作在蓝颜频段，本申请将天线32和电路板31通过金属材质隔开，减小了电路板31和天线32之间的相互影响，从而提升了蓝牙的整体性能。并采用了共形天线32设计方案，可以显著地提高空间利用率并提高云台组件10整体外观的设计自由度。
本领域技术人员在考虑说明书及实践这里公开的申请后，将容易想到本申请的其 它实施方案。本申请旨在涵盖本申请的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本申请的一般性原理并包括本申请未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本申请的真正范围和精神由本申请的权利要求指出。
应当理解的是，本申请并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本申请的范围仅由所附的权利要求来限制。

Claims (10)

  1. 一种云台组件(10)，其特征在于，所述云台组件(10)包括用于装配负载(2)的负载安装架(21)、与所述负载安装架(21)连接的第一轴臂(11)、驱动所述第一轴臂(11)的第一电机(110)、安装所述第一电机(110)的第二轴臂(12)、驱动所述第二轴臂(12)的第二电机(120)、安装所述第二电机(120)的第三轴臂(13)、驱动所述第三轴臂(13)的第三电机(130)和安装所述第三电机(130)的手持部(101)；
    所述负载安装架(21)、第一轴臂(11)、第二轴臂(12)和第三轴臂(13)中的任一者设有无线通信装置(3)，所述无线通信装置(3)用于与终端设备通信。
  2. 根据权利要求1所述的云台组件(10)，其特征在于，所述无线通信装置(3)装配于所述第一轴臂(11)，所述第一轴臂(11)包括具有容纳腔的安装壳体(111)，所述无线通信装置(3)包括电路板(31)以及与所述电路板(31)电连接的天线(32)，所述电路板(31)装配于所述容纳腔内，所述天线(32)安装于所述安装壳体(111)外；在所述安装壳体(111)中，至少所述电路板(31)与所述天线(32)之间的侧壁为金属侧壁。
  3. 根据权利要求2所述的云台组件(10)，其特征在于，所述天线(32)与所述电路板(31)通过同轴馈线(33)连接，所述电路板(31)与所述天线(32)之间的金属侧壁上设有穿线孔(112)，所述同轴馈线(33)贯穿所述穿线孔(112)。
  4. 根据权利要求2所述的云台组件(10)，其特征在于，所述天线(32)安装于所述安装壳体(111)的远离所述负载(4)的一侧。
  5. 根据权利要求2所述的云台组件(10)，其特征在于，所述安装壳体(111)的外表面设有凹陷部(113)，构成所述凹陷部(113)的各个壁面均为金属壁面。
  6. 根据权利要求5所述的云台组件(10)，其特征在于，所述安装壳体(111)为金属壳体。
  7. 根据权利要求5所述的云台组件(10)，其特征在于，所述第一轴臂(11)还包括装配于所述凹陷部(113)的外壳(114)，所述外壳(114)的中间部分相对所述外壳(114)的侧边凸出所述安装壳体(111)，所述天线(32)与所述外壳(114)的内腔体同形设置，所述天线(32)安装于所述外壳(114)的内表面。
  8. 根据权利要求2所述的云台组件(10)，其特征在于，所述电路板(31)上设有与所述天线(32)电连接的无线通讯模块(3)，所述无线通讯模块(3)对所述天线(32)接收的信号进行转换并输出相应的电信号，所述电信号经由所述云台组件(10)内部的走线传输至所述手持部(101)的控制器。
  9. 根据权利要求1所述的云台组件(10)，其特征在于，所述第一电机(110)用于驱动所述第一轴臂(11)沿俯仰方向转动，所述第二电机(120)用于驱动所述第二轴臂(12)沿横滚方向转动，所述第三电机(130)用于驱动所述第三轴臂(13)在偏航方向转动。
  10. 根据权利要求1所述的云台组件(10)，其特征在于，所述负载(2)为第三方相机，所述手持部(101)设有显示设备(103)，所述显示设备(103)能够显示所述第三方相机实时采集的图像。
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