WO2022068049A1 - 云台稳定器及用于稳定器本体的收纳盒 - Google Patents

云台稳定器及用于稳定器本体的收纳盒 Download PDF

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Publication number
WO2022068049A1
WO2022068049A1 PCT/CN2020/134377 CN2020134377W WO2022068049A1 WO 2022068049 A1 WO2022068049 A1 WO 2022068049A1 CN 2020134377 W CN2020134377 W CN 2020134377W WO 2022068049 A1 WO2022068049 A1 WO 2022068049A1
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WO
WIPO (PCT)
Prior art keywords
stabilizer
arm
gimbal
handle
battery
Prior art date
Application number
PCT/CN2020/134377
Other languages
English (en)
French (fr)
Inventor
郑卫锋
段瑞刚
陈立业
Original Assignee
苏州臻迪智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202011049263.3A external-priority patent/CN113007545A/zh
Priority claimed from CN202022184787.5U external-priority patent/CN214947779U/zh
Priority claimed from CN202011052164.0A external-priority patent/CN113007510A/zh
Priority claimed from CN202022184804.5U external-priority patent/CN214699835U/zh
Application filed by 苏州臻迪智能科技有限公司 filed Critical 苏州臻迪智能科技有限公司
Publication of WO2022068049A1 publication Critical patent/WO2022068049A1/zh

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

Definitions

  • the present disclosure generally relates to the technical field of gimbal, and in particular, to a gimbal stabilizer and a storage box for a stabilizer body.
  • the gimbal stabilizer As an auxiliary tool for daily shooting, for holding mobile phones, PADs, cameras or other electronic devices.
  • stabilizers on the market are generally bulky, inconvenient to carry, and have a single function, which have become the major pain points for people to use stabilizers.
  • the embodiments of the present disclosure overcome the defects of the prior art such as large size and single function of the gimbal stabilizer by providing a gimbal stabilizer.
  • a gimbal stabilizer including:
  • the handle has an accommodating space, and the handle includes a first battery;
  • a first charging interface connected to the first battery so that a load coupled to the first charging interface can be charged.
  • the first charging interface includes a wireless charging module configured to wirelessly charge a load placed thereon
  • the stabilizer body includes a second battery, and the second battery is used to drive the stabilizer body to move.
  • the handle includes a second charging interface located in the accommodating space, the second charging interface is connected to the first battery, and when the stabilizer body is placed in the accommodating space When placed in the storage space, the second battery is electrically connected to the first battery through the second charging interface, so that the first battery can charge the second battery.
  • the handle includes a second charging interface located in the accommodating space, the second charging interface is connected to the first battery, and when the stabilizer body is placed in the accommodating space When placed in the storage space, the first battery is electrically connected to the second battery through the second charging interface, so that the load coupled to the first charging interface can be jointly charged.
  • the wireless charging module includes a transmitting coil and a transmitting circuit board
  • the gimbal stabilizer further includes a charging switch disposed on the handle, the charging switch is configured to be turned on or off The first battery charges the load.
  • the gimbal stabilizer has an extended state and a stowed state, and in the extended state, the stabilizer body is at least partially located outside the handle and connected to the handle; in the stowed state In the state, the stabilizer body is accommodated in the accommodating space.
  • the stabilizer body includes a base and an arm portion pivotally mounted on the base by a first rotating motor.
  • the arm portion includes a first arm and a second arm
  • one end of the first arm is pivotably mounted on the base by the first rotating motor
  • the table stabilizer further includes a second rotating motor and a third rotating motor, wherein the second rotating motor is connected to the other end of the first arm through a hinge shaft, and one end of the second arm is connected to the first arm.
  • the second rotary motor can be driven to rotate by the second rotary motor
  • the third rotary motor is connected to the other end of the second arm.
  • the rotation axis of the first arm is perpendicular to the hinge axis
  • the hinge axis is perpendicular to the rotation axis of the second rotary electric machine
  • the rotation axis of the second rotary electric machine is perpendicular to the The rotating shaft of the third rotating electrical machine
  • the first battery is used for supplying power to the first rotating electrical machine
  • the gimbal stabilizer further includes a controller
  • the control The controller is configured to control the first rotating electrical machine, the second rotating electrical machine and the third rotating electrical machine.
  • the first arm is substantially L-shaped
  • the second arm is rotatable around the hinge shaft so as to be received in the vacant portion of the first arm.
  • the base is slidable in the accommodating space between a first position and a second position, wherein when the base is in the first position, the gimbal stabilizer in an extended state; when the base is in the second position, the gimbal stabilizer is in a retracted state, wherein the handle has a first locking portion and a second locking portion, wherein the first locking portion is configured to The base is locked in the first position, and the second locking portion is configured to lock the base in the second position.
  • the first locking portion and the second locking portion comprise a snap or snap hole; the base is provided with a snap hole corresponding to the first locking portion and the second locking portion or snaps.
  • an operation unit is further included, and the operation unit is configured to control the actions of the first rotating electrical machine, the second rotating electrical machine, and the third rotating electrical machine through the controller.
  • the operation unit is a remote control
  • the remote control is detachably connected to the handle.
  • the remote controller when the gimbal stabilizer is in a stowed state, the remote controller can close the open end of the accommodating space.
  • a fixed foot pad and a movable foot pad are further included, and the fixed foot pad and the movable foot pad are arranged on the bottom of the handle to support the gimbal stabilizer.
  • the gimbal stabilizer further includes a terminal protection case, the terminal protection case is used for installing a terminal, the stabilizer body is provided with a first quick-release fixing structure, and the terminal protection case A second quick-release fixing structure for connecting with the first quick-release fixing structure is arranged thereon.
  • the handle is provided with a third quick-release fixing structure
  • the terminal protective shell is further provided with a fourth quick-release fixing structure for connecting with the third quick-release fixing structure.
  • the terminal protection case includes a case and a support frame
  • the second quick release fixing structure is provided on the back of the case
  • the support frame is rotatably connected to the case
  • the back of the support frame has an unfolded state and a retracted state.
  • the support frame forms an angle with the shell; when the support frame is retracted, the support frame is attached to the on the back of the housing.
  • the second quick release fixing structure is an annular boss
  • the support frame is an annular structure
  • the support frame is sleeved on the annular boss on the periphery of the table.
  • the first quick release fixing structure includes a first magnet
  • the second quick release fixing structure includes a second magnet
  • the present disclosure also relates to a storage box for a stabilizer body, comprising a housing having an internal accommodating space, the housing comprising a first battery and a first charging interface, and the first charging interface is connected to to the first battery so that a load coupled to the first charging interface can be charged.
  • the embodiment of the present disclosure proposes a gimbal stabilizer, which reduces the storage space volume of the gimbal stabilizer, improves the portability, ease of use and practicability of the gimbal stabilizer, and makes its functions more diverse. For example, it can be used as a power bank, which is more widely used.
  • FIG. 1A shows an exploded view of a gimbal stabilizer according to an embodiment of the present disclosure
  • FIG. 1B shows a schematic diagram of a first charging interface according to an embodiment of the present disclosure
  • FIG. 2 shows a schematic diagram of an extended state of a gimbal stabilizer according to an embodiment of the present disclosure
  • FIG. 3 shows a schematic diagram of a storage state of a gimbal stabilizer according to an embodiment of the present disclosure
  • Figure 4 shows a cross-sectional view of a handle according to one embodiment of the present disclosure
  • FIG. 5 shows a schematic diagram of a gimbal stabilizer according to an embodiment of the present disclosure
  • FIG. 6 shows a schematic diagram of a storage state of a stabilizer body according to an embodiment of the present disclosure
  • FIG. 7 shows a schematic diagram of a base according to an embodiment of the present disclosure
  • FIG. 8 shows a schematic diagram of the internal structure of a handle according to an embodiment of the present disclosure
  • FIG. 9 shows a schematic structural diagram of a handle according to an embodiment of the present disclosure.
  • FIG. 10 shows a schematic diagram of a handheld usage scenario of a gimbal stabilizer according to an embodiment of the present disclosure
  • FIG. 11 shows a schematic diagram of a load protection case according to an embodiment of the present disclosure
  • FIG. 12 shows a schematic diagram of a usage scenario of a handle and a load protection case according to an embodiment of the present disclosure
  • FIG. 13 shows a schematic diagram of the deployed position of the gimbal stabilizer according to an embodiment of the present disclosure
  • FIG. 14A shows an exploded view of a gimbal stabilizer according to an embodiment of the present disclosure
  • FIG. 14B shows an exploded view of a gimbal stabilizer according to an embodiment of the present disclosure
  • FIG. 15 shows a schematic diagram of the folding position of the gimbal stabilizer according to an embodiment of the present disclosure
  • FIG. 16 shows a schematic diagram of an operation unit according to an embodiment of the present disclosure
  • FIG. 17 shows a schematic diagram of a third rotating electrical machine according to an embodiment of the present disclosure.
  • FIG. 18 shows a schematic diagram of a load protection case according to an embodiment of the present disclosure
  • 19A and 19B illustrate schematic diagrams of a load protection case according to another embodiment of the present disclosure.
  • FIG. 20 shows a schematic diagram of the connection between the load protection shell and the gimbal stabilizer according to another embodiment of the present disclosure.
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection: it can be a mechanical connection, an electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relation.
  • installed should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection: it can be a mechanical connection, an electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relation.
  • a first feature "on” or “under” a second feature may include the first and second features in direct contact, or may include the first and second features Not directly but through additional features between them.
  • the first feature being “above”, “over” and “above” the second feature includes that the first feature is directly above and diagonally above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature “below”, “below” and “beneath” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature has a lower level than the second feature.
  • FIG. 1A shows an exploded view of a gimbal stabilizer according to one embodiment of the first aspect of the present disclosure.
  • the gimbal stabilizer 100 includes a handle 10 , a stabilizer body 20 and a first charging interface.
  • the inside of the handle 10 has an accommodating space
  • the handle 10 includes a first battery 18
  • the first battery 18 can be integrated into the side wall or the bottom of the handle 10 .
  • the stabilizer body 20 can be placed into the accommodation space of the handle 10 (or can be at least partially placed into the accommodation space of the handle 10 as described in the second aspect of the present disclosure), the stabilizer body 20 A load 60 (as shown in FIG.
  • the first charging interface is connected to the first battery 18 so that a load 60 coupled to the first charging interface can be charged.
  • the first charging port includes a wireless charging module 14 configured to wirelessly charge the load 60 placed on the handle 10 .
  • the wireless charging module 14 includes a transmitting coil 146 and a transmitting circuit board 145 .
  • the transmitting circuit board 145 is electrically connected to the first battery 18, and the transmitting circuit board 145 includes control circuits and chips required for wireless charging.
  • the transmitting coil 146 is, for example, disposed on the transmitting circuit board 145 or is electrically connected to the transmitting circuit board 145 , so that when the load 60 is close to the wireless charging module 14 , the transmitting circuit board 145 of the wireless charging module 14 receives from the first battery 18 The electrical energy is converted into alternating current, and the alternating current is input into the transmitting coil 146 . After the alternating current is supplied to the transmitting coil 146 , a changing magnetic field will be generated, and the coil in the load 60 will induce the change of the magnetic field to generate an induced current, thereby realizing the charging of the load 60 .
  • the present disclosure is not limited to this, and the first charging port may also include a wired charging solution, for example, a charging stand is provided on the outer surface of the handle 10 , and the charging The socket has a charging connector corresponding to the charging port of the load. When the two are docked, the load is charged, which is within the protection scope of the present disclosure.
  • the load is charged by the battery integrated in the handle of the gimbal stabilizer, especially by wireless charging, which can provide great convenience to the user. Users do not need to carry a separate charging device or power bank when they go out to take pictures with their mobile phones or other electronic devices.
  • the gimbal stabilizer 100 further includes a charging switch 19 (as shown in FIG. 2 ) disposed on the handle 10 , and the charging switch 19 is configured to turn on or off the Charging of the load 60 by the first battery 18 .
  • the stabilizer body 20 further includes a second battery 33 for driving the stabilizer body 20 to move.
  • the handle 10 further includes a second charging port (not shown in the figure) located in the accommodating space, the second charging port is connected to the first battery 33, and when When the stabilizer body 20 is put into the accommodating space, the second battery 33 is electrically connected to the first battery 18 through the second charging interface, so that the first battery 18 The second battery 33 is charged.
  • the first battery 18 is electrically connected to the second battery 33 through the second charging interface, so that the load 60 coupled to the first charging interface can be charged together.
  • the second charging interface may be a wired charging interface or a wireless charging interface, preferably a wired charging interface.
  • the gimbal stabilizer 100 has an extended state and a retracted state.
  • the stabilizer body 20 is at least partially located outside the handle 10 and connected to the handle 10 .
  • the load 60 can be connected to and stably supported by the stabilizer body 20 , and the gimbal stabilizer 100 works in the extended state.
  • the accommodating state as shown in FIG. 3 , the stabilizer body 20 is accommodated in the accommodating space, and the gimbal stabilizer 100 is in a non-working state at this time.
  • the volume of the gimbal stabilizer 100 is reduced, which is convenient to carry.
  • the gimbal stabilizer 100 can be freely switched between the extended state and the stored state by whether the stabilizer body 20 is stored or not according to the needs of work and use. Specifically, when the gimbal stabilizer 100 needs to be used, the stabilizer body 20 is opened from the accommodating space, so that the stabilizer body 20 is outside the handle 10 and connected with the handle 10 to connect and support the load 60; When the stabilizer 100 is placed, the stabilizer body 20 is accommodated back into the accommodating space.
  • the handle 10 is a hollow structure, and the hollow part is the accommodating space.
  • the upper end of the handle 10 is an open end 11 , so that the stabilizer body 20 can enter the interior of the handle 10 from the open end 11 .
  • the lower end of the handle 10 is provided with an end cover 12 , the end cover 12 blocks the opening of the lower end of the handle 10 and is fixedly connected with the handle 10 so that the lower end of the handle 10 is a closed end.
  • the gimbal stabilizer 100 is in an extended state, as shown in FIG. 2 , the stabilizer body 20 is connected to the open end 11 of the handle 10 .
  • the open end 11 may also be located at the lower end of the handle 10 , so that the stabilizer body 20 is connected to the upper end of the handle 10 . In this case, when the gimbal stabilizer 100 is in an extended state, the stabilizer body 20 is connected to the upper end of the handle 10 .
  • FIG. 5 shows a schematic diagram of a gimbal stabilizer according to an embodiment of the present disclosure.
  • the stabilizer body 20 includes a base 30 and an arm portion 21 , wherein the base 30 forms a sliding fit with the inner wall of the handle 10 in the interior of the accommodating space, and can be positioned at any location.
  • the accommodating space slides between a first position and a second position along the direction of the handle 10 , and the arm portion 21 is pivotally mounted on the base 30 through the first rotating motor 22 .
  • the cross-sectional shape of the base 30 may be substantially matched with or the same as the cross-sectional shape of the accommodating space, as shown in FIGS. 1-5 , both are rectangular shapes with rounded corners.
  • the stabilizer body 20 protrudes outward from the open end 11 of the handle 10, and the gimbal stabilizer 100 is in an extended state to connect to the load 60;
  • the stabilizer body 20 is retracted into the accommodating space of the handle 10 , and the gimbal stabilizer 100 is in the accommodating state.
  • the arrangement of the base 30 facilitates the assembly of the stabilizer body 20 and the handle 10 , and improves the assembly flexibility of the stabilizer body 20 and the handle 10 .
  • the arm portion 21 further includes a first arm 211 and a second arm 212 , and one end (the lower end portion in FIG. 1 ) of the first arm 211 is pivotally mounted by the first rotating motor 22
  • the first rotary motor 22 is used to drive the first arm 211 to rotate relative to the base 30 around a first rotation axis O1
  • the axis O1 is, for example, parallel to the longitudinal direction of the handle 10 , parallel to the sliding direction of the base 30 .
  • FIG. 6 is a schematic diagram illustrating the transition of the stabilizer body to the storage state according to an embodiment of the present disclosure. Referring to FIGS.
  • the gimbal stabilizer 100 further includes a second rotating motor 23 and a third rotating motor 24 , wherein the second rotating motor 23 is connected to the first arm through a hinge shaft 217 At the other end of the second arm 211 (the upper end in FIG. 1 ), one end of the second arm 212 is connected to the second rotating electrical machine 23 so as to be driven and rotated by the second rotating electrical machine 23 around the second rotation axis O2 .
  • the third rotating motor 24 is connected to the other end of the second arm 212, and this end is used for connecting with the load 60, and can drive the load 60 to rotate around the third rotation axis O3.
  • the arm portion 21 can be folded and unfolded.
  • the first arm 211 and the second arm 212 are folded, so that the stabilizer body 20 can be accommodated in the handle 10, and the gimbal stabilizer 100 In the storage state, the overall occupied space is reduced; when the arm portion 21 is unfolded, the first arm 211 and the second arm 212 cooperate with each other, so that the stabilizer body 20 can be adjusted in various degrees of freedom so as to be connected to the stabilizer
  • the load 60 of the device body 20 realizes the adjustment of multiple degrees of freedom, for example, the heading angle, pitch angle and roll angle of the load 60 can be freely adjusted (each rotating motor can correspond to one of the heading angle, pitch angle, and roll angle) .
  • the rotation axis (ie, the first rotation axis O1 ) of the first arm 211 is perpendicular to the hinge shaft 217
  • the hinge shaft 217 is perpendicular to the
  • the rotation axis of the second rotating electrical machine 23 is perpendicular to the rotation axis of the third rotating electrical machine 24 (ie the third rotation axis O3 ).
  • the first battery 18 is used to supply power to the first rotating electrical machine 22 , the second rotating electrical machine 23 and the third rotating electrical machine 24 .
  • a controller 34 can also be arranged in the base 30 , and the second battery 33 and the controller 34 are both integrated into the base 30 , so that the base 30 has a compact structure and is convenient for installation. space.
  • the controller 34 is configured to control the actions of the first rotating electrical machine 22 , the second rotating electrical machine 23 and the third rotating electrical machine 24 .
  • the controller 34 is electrically connected to the first rotating electrical machine 22 , the second rotating electrical machine 23 and the third rotating electrical machine 24 , and is used to control the movement of the stabilizer body 20 .
  • the controller 34 is, for example, a PCB circuit board, on which a corresponding chip or circuit is integrated, and is electrically connected to the second battery 33 , the first rotating electrical machine 22 , the second rotating electrical machine 23 and the third rotating electrical machine 24 .
  • the first arm 211 is substantially L-shaped, and the second arm 212 is rotatable around the hinge shaft 217 so as to be accommodated in the first arm 211 (as shown more clearly in FIG. 6 ), so that the arm portion 21 can be folded into a very compact shape for easy storage.
  • the first arm 211 includes a transverse section 2111 and a vertical section 2112, the transverse section 2111 is arranged in the transverse direction, and the vertical section 2112 is arranged in the vertical direction (ie, the longitudinal direction of the handle 10).
  • the angle between the segment 2111 and the longitudinal segment 2112 is 80° to 100°, preferably 90°.
  • the length of the longitudinal section 2112 is greater than the length of the transverse section 2111, so that the first arm 211 is substantially L-shaped.
  • the first rotating electrical machine 22 is mounted on the lateral section 2111 , the output shaft of the first rotating electrical machine 22 is arranged vertically, and the housing thereof is fixed to the lateral section 2111 .
  • the output shaft of the first rotary motor 22 is fixedly connected to the base 30 , and the first rotary motor 22 drives the first arm 211 to rotate relative to the handle 10 around the first rotation axis O1 (the first rotation axis and the length direction of the handle 10 or longitudinal direction parallel).
  • the vertical section 2112 is connected to the pitch bracket 213 through the hinge shaft 217 , so that the pitch frame 213 can rotate relative to the first arm 211 around the hinge shaft 217 .
  • the second arm 212 includes a roll support 214, one end of the pitch support 213 is connected with the vertical section 2112 through a hinge shaft 217, and the other end of the pitch support 213 is fixedly connected with the housing of the second rotating motor 23, the second rotating motor
  • the output shaft of 23 is fixedly connected to the roll bracket 214 .
  • the second rotating motor 23 is used to drive the roll support 214 to rotate relative to the pitch support 213 around a second rotation axis O2 , wherein the second rotation axis O2 is perpendicular to the hinge shaft 217 .
  • the roll bracket 214 is fixedly connected to the housing of the third rotating electrical machine 24 , the output shaft of the third rotating electrical machine 24 is fixedly connected to the load connecting frame 215 , and the third rotating motor 24 is used to drive the load connecting frame 215 Relative to the roll bracket 214, the rotation axis rotates around the third rotation axis O3, wherein there is an included angle between the third rotation axis O3 and the second rotation axis.
  • the load connecting frame 215 is used for connecting the load 60 .
  • the structure shown in FIG. 1 includes a first arm, a second arm, a first rotating electric machine, a second rotating electric machine, and a third rotating electric machine.
  • the present disclosure is not limited thereto, and may include more or less arms and Spin the motor.
  • the handle 10 has a first locking portion and a second locking portion, wherein the first locking portion is configured to lock the base 30 in the first position, and the first locking portion is configured to lock the base 30 in the first position.
  • the two locking portions are configured to lock the base 30 in the second position.
  • the first locking portion can cooperate to lock the base 30 in the first position; when the base 30 moves relative to the handle 10 to the first locking portion
  • the second locking part can cooperate to lock the base 30 in the second position.
  • the arrangement of the first locking portion and the second locking portion enables the base 30 to be selectively held in the first position or the second position.
  • Figure 7 shows a schematic diagram of a base according to one embodiment of the present disclosure.
  • the first locking portion and the second locking portion include buckles or locking holes
  • the base 30 is provided with locking holes or holes corresponding to the first locking portion and the second locking portion.
  • Buckle 31 the first locking portion has a locking hole 141 matching with the buckle 31
  • the second locking portion has a locking hole 142 matching with the buckle 31
  • the two locking holes 141 and 142 are respectively Corresponds to the first position and the second position.
  • the snap holes 141 and 142 are opened on the side wall of the handle 10 .
  • the snap 31 When the snap 31 is matched with the snap hole 141 , the snap 31 can be engaged in the snap hole 141 and form a lock at the first position; When matched with the locking hole 142 , the locking buckle 31 can be engaged in the locking hole 142 and locked in the second position.
  • the buckle 31 When the base 30 needs to be unlocked from the first position or the second position, the buckle 31 can be pressed. Specifically, when the base 30 slides inside the handle 10 , the buckle 31 abuts against the inner wall of the handle 10 , and the buckle 31 is elastically deformed by the inner wall of the handle 10 . When the base 30 moves to the first position, the buckle 31 pops out and forms a limit with the peripheral wall of the locking hole 141 in the first position, so as to lock the base 30 in the first position.
  • the base 30 can continue to move relative to the inner wall of the handle 10 .
  • the buckle 31 enters the hole 142 in the second position, and the buckle 31 and the peripheral wall of the hole 142 in the second position form a limit to lock the base 30 in the second position.
  • the buckle 31 in order to facilitate the contact and locking of the buckle 31 and the clamping holes 141 and 142 , the buckle 31 is an elastic structure, and the clamping holes 141 and 142 are through holes.
  • the buckle 31 moves inside the handle 10 , the buckle 31 is in a squeezed state.
  • the clip 31 moves to the position of the clip hole 141 or the clip hole 142 , the clip 31 is reset and engaged in the clip hole 141 or the clip hole 142 under the action of the elastic force, so that the base 30 and the handle 10 are locked.
  • the buckle 31 When the base 30 needs to be moved, the buckle 31 is pressed, and the buckle 31 is squeezed to exit the hole 141 or the hole 142 , that is, the locking of the buckle 31 and the hole 141 or the hole 142 is released.
  • the cooperation between the snap 31 and the snap holes 141 and 142 facilitates the locking or unlocking of the base 30 and the handle 10 , the operation is flexible, and the use is convenient.
  • the positions of the clips and the clip holes can be interchanged, that is, when the first locking portion and the second locking portion are respectively provided with clips, the base 30 is provided with corresponding clips.
  • the hole is formed, the above locking and unlocking cooperation can also be realized, which will not be repeated here.
  • spring balls can also be provided on the base 30 to replace the buckle, and the first locking portion and the second locking portion are also the structure of the locking holes.
  • the clamping hole may be a blind hole, and the clamping hole is opened on the inner wall of the handle 10 . After the spring ball on the base 30 moves to the clamping hole, the base 30 and the handle 10 can be locked.
  • one of the base 30 and the handle 10 is provided with a guide rail, and the other is provided with a sliding table matched with the guide rail, wherein the guide rail is arranged along the handle 10 extends lengthwise.
  • the arrangement of the sliding table and the guide rails play a guiding role for the sliding of the base 30 to ensure that the movement of the base 30 relative to the handle 10 is stable and flexible.
  • 8 shows a schematic diagram of the internal structure of the handle according to an embodiment of the present disclosure. As shown in FIG. 8 , a guide rail 15 is provided on the inner wall of the handle 10 , and as shown in FIG. 7 , on the side wall of the base 30 A sliding table 32 is provided to cooperate with the guide rail 15 , and the sliding table 32 is slidably matched with the guide rail 15 .
  • the gimbal stabilizer 100 further includes an operation unit 40 configured to control the first rotation through the controller 34
  • the motor 22 , the second rotary electric machine 23 and the third rotary electric machine 24 operate.
  • the operation unit 40 is detachably connected to the handle 10, and wirelessly connects and communicates with the stabilizer body 20 and the load 60 for remote control.
  • the operation unit 40 is connected with the stabilizer body 20 and the load 60 through Bluetooth.
  • the operation unit 40 is detachably connected with the handle 10 , which facilitates the storage of the operation unit 40 .
  • the operation unit 40 is installed on the handle 10, and can also realize short-range control.
  • the operation unit 40 is a remote control, and the remote control is detachably connected to the handle 10 .
  • the charging switch 19 is provided on the operating unit 40 .
  • the gimbal body 20 when the gimbal stabilizer 100 is in the storage state, the gimbal body 20 is retracted into the storage space, and the remote controller 40 can cover It is suitable for the open end 11 of the handle 10 to close the accommodating space, so as to protect the stabilizer body 20 accommodated in the handle 10 .
  • the side wall of the handle 10 is provided with a mounting slot 16 (as shown in FIG. 10 ) for mounting the remote controller 40 , and the remote controller 40 can be arranged in the mounting slot 16 to achieve assembly with the handle 10.
  • the remote control 40 When the handle 10 is operated by hand, as shown in FIG. 10 , the remote control 40 is fixed in the installation slot 16 , which is convenient for the user to operate at a short distance.
  • FIG. 9 shows a schematic structural diagram of a handle according to an embodiment of the present disclosure
  • FIG. 10 shows a schematic diagram of a handheld usage scenario of a gimbal stabilizer according to an embodiment of the present disclosure
  • the gimbal stabilizer 100 further includes a fixed foot pad 120 and a movable foot pad 13 , and the fixed foot pad 120 and the movable foot pad 13 are arranged at the bottom of the handle 10 to support The gimbal stabilizer 100.
  • the fixed foot pads 120 are disposed on the end cover 12 and protrude relative to the end cover 12
  • the number of movable foot pads 13 is optionally two, movably mounted on the end cover 12
  • the two movable foot pads 13 is rotatable relative to handle 10 .
  • the two movable foot pads 13 and the fixed foot pad 120 form a triangular support (as shown in FIG. 10 ), so as to realize the stable support of the handle 10, so as to stabilize the stabilizer body 20 on the desktop or Other countertops (such as car dashboard surfaces).
  • the contour of the two movable foot pads 13 matches the contour of the fixed foot pad 120
  • the contour of the assembly formed by the two movable foot pads 13 and the fixed foot pad 120 is made to match the contour of the end cover 12 contours match.
  • the fixed foot pad 120 and the end cover 12 are integrally formed, which is convenient for processing and manufacturing.
  • two movable foot pads 13 are symmetrically distributed with respect to the end cover 12, and one end of each movable foot pad 13 is a connecting end for rotatably connecting with the end cover 12; each movable foot pad The other end of 13 is the movable end, which opens outward when the movable foot pad 13 is unfolded.
  • the connecting end of the movable foot pad 13 is provided with a pivot stand 131 (as shown in FIG. 5 ), and the end cover 12 is provided with two axle holes 122 corresponding to the pivot stand 131 (as shown in FIG. 5 ). shown in Figure 9).
  • the shaft stand 131 is inserted into the shaft hole 122 and rotates with the end cover 12 so that the movable foot pad 13 can be unfolded.
  • the lower end of the handle 10 is an open end, and the upper end is a closed end.
  • the end cover 12 is movably connected to the handle 10.
  • the device body 20 can be separated from the handle 10 from the lower end opening of the handle 10, and is connected to the upper end of the handle 10; when the gimbal stabilizer 100 is in the extended state, the end cover 12 closes the lower end opening of the handle 10, and the two movable foot pads 13 are unfolded , and form a triangular support with the fixed foot pad 120 .
  • the fixed foot pad 120 is provided with an expansion port 121 , as shown in FIG. 9 .
  • the setting of the expansion port 121 is convenient for the handle 10 to be externally connected to a telescopic rod, or used for fixing the handle 10 to other platforms such as a vehicle.
  • the expansion port 121 and the two shaft holes 122 are respectively located at two ends of the end cover 12 to prevent the movable foot pad 13 from blocking the expansion port 121 .
  • FIG. 11 shows a schematic diagram of a load protection case according to one embodiment of the present disclosure.
  • the gimbal stabilizer 100 further includes a load protection shell 50 for installing the load 60 .
  • the load protection shell 50 is provided with a lens avoidance opening 501 to avoid the lens used for photography or photographing on the load 60, so that the lens can be extended.
  • the stabilizer body 20 is provided with a first quick release fixing structure 216 , as shown in FIG. 11 , the load protection shell 50 is provided with a first quick release fixing structure 216 for fixing with the first quick release The second quick release fixing structure 51 to which the structure 216 is connected.
  • the quick assembly and disassembly of the load protection shell 50 and the stabilizer body 20 is realized, and the assembly efficiency is improved.
  • the first quick release fixing structure 216 is a first boss.
  • the second quick release fixing structure 51 includes a slot 511 corresponding to the first boss.
  • the first boss and the slot 511 are in an interference fit, so as to realize the first quick release fixing structure 216 and the second quick release fixing structure 51 quick disassembly.
  • the cross-sectional shape of the first boss may be a circle, a conventional shape such as a square or a triangle, or a special shape.
  • the cross-sectional shape of the first boss adopts a circular shape, and the corresponding card slot 511 is a circular slot.
  • the load protection case 50 includes a housing 52 and a support frame 53 , and the second quick release fixing structure 51 is located on the back of the housing 52 (the front is used for Positioning load 60 ), the support frame 53 is rotatably connected to the back of the housing 52 .
  • the support frame 53 has an unfolded state and a retracted state. When the support frame 53 is unfolded, the support frame 53 forms an angle with the housing 52 ; when the support frame 53 is retracted, the support frame 53 is attached to the back of the housing 52 superior.
  • the support frame 53 is used to support the housing 52 , thereby realizing the support for the load 60 .
  • the second quick-release fixing structure 51 is an annular boss, and a middle part of the annular boss forms a slot 511 .
  • the support frame 53 is a ring-shaped structure corresponding to it, so that the support frame 53 can be sleeved on the outer periphery of the annular boss when it is folded, so as to facilitate the cooperation between the support frame 53 and the second quick release fixing structure 51 to reduce the space occupied.
  • the load protection shell 50 is connected to the gimbal stabilizer 100 , the support frame 53 is retracted and sleeved on the outer circumference of the annular boss, which does not affect the connection between the second quick release fixing structure 51 and the first quick release fixing structure 216 .
  • the handle 10 is provided with a third quick release fixing structure 17
  • the load protection shell 50 is provided with a third quick release fixing structure 17 for fixing with the third quick release
  • the fourth quick release fixing structure 54 to which the structure 17 is connected.
  • the arrangement of the third quick-release fixing structure 17 and the fourth quick-release fixing structure 54 realizes the quick assembly and disassembly of the load protection shell 50 and the handle 10, and improves the assembly efficiency.
  • the third quick-release fixing structures 17 on the handle 10 may be disposed at the position of the installation groove 16 , or may be located on opposite sides of the handle 10 respectively with the installation groove 16 .
  • the third quick-release fixing structure 17 is disposed in the installation groove 16, other side walls of the handle 10 do not need to be occupied, and the remote control 40 can be placed in the installation groove 16, so that the appearance of the handle 10 is more beautiful .
  • the third quick-release fixing structure 17 is disposed in the installation groove 16
  • the third quick-release fixing structure 17 is a second boss.
  • the outline of the fourth quick release fixing structure 54 matches the outline of the installation groove 16
  • the fourth quick release fixing structure 54 includes a groove 541 corresponding to the second boss.
  • the cross-sectional shape of the second boss is similar to the cross-sectional shape of the first boss, which may be conventional shapes such as a circle, a square, and a triangle, or a special shape.
  • the cross-sectional shape of the second boss is circular, and the groove 541 is a circular groove.
  • FIG. 12 shows a schematic diagram of a usage scenario of a handle and a load protection case according to an embodiment of the present disclosure.
  • the remote control 40 can be arranged on the open end 11 of the handle 10, which is convenient for the user to operate at close range; the remote control 40 can also be connected with the handle 10 is separated (not shown in the figure), which is convenient for users to operate remotely.
  • the support bracket 53 may also be matched with the fourth quick-release fixing structure 54 .
  • the support frame 53 When the support frame 53 is retracted, the support frame 53 is sleeved on the fourth quick release fixing structure 54 , or the support frame 53 blocks the fourth quick release fixing structure 54 .
  • the fourth quick release fixing structure 54 When connected with the third quick release fixing structure 17 , the support frame 53 is separated from the housing 52 .
  • the first quick release fixing structure 216 includes a first magnet
  • the second quick release fixing structure 51 includes a second magnet.
  • the first quick-release fixing structure 216 and the second quick-release fixing structure 51 are connected by the first magnet and the second magnet by adsorption, which is simple in structure and easy to disassemble.
  • the stabilizer body 20 when the gimbal stabilizer 100 is in an extended state, as shown in FIG. 2 , the stabilizer body 20 is still connected with the handle 10 .
  • the stabilizer body 20 and the handle 10 are configured to be completely separable.
  • the stabilizer body 10 can be separated from the handle 10, and the stabilizer body 10 can be folded and stored after use. into handle 10.
  • the present disclosure also relates to a storage box for the stabilizer body 20 , the storage box includes a housing having an internal storage space, eg, a hollow structure.
  • the housing includes a first battery 18 and a first charging interface connected to the first battery 18 so that a load 60 coupled to the first charging interface can be charged.
  • the storage box is, for example, the handle 10 .
  • the advantages of the gimbal stabilizer 100 according to the embodiment of the present disclosure are:
  • the handle 10 can be used as a power bank alone to charge the load 60 coupled to the stabilizer body 20 by connection or wireless;
  • the hollow structure of the handle 10 and the folded structure of the stabilizer body 20 can achieve a smaller storage space
  • the stabilizer body 20 is accommodated inside the handle 10, which can protect the stabilizer body 20, avoid damage to the motor during daily carrying, and improve the service life of the gimbal stabilizer 100;
  • the base 30 is internally provided with a controller 34 and a battery 33, and by accommodating the stabilizer body 20 and the base 30 into the accommodating space in the handle 10, the accommodation volume is small;
  • the detachable remote controller 40 can realize the remote control of the load 60 or the stabilizer body 20 through wireless connection;
  • the handle 10 is provided with a movable foot pad 13 that can be opened and closed, and an installation structure in which the handle 10 cooperates with the load protection shell 50, so as to expand more usage scenarios;
  • the handle 10 is provided with a mounting slot 16 to meet the operation requirements of the remote control 40 at different positions.
  • FIG. 13 shows a schematic diagram of the deployed position of the gimbal stabilizer according to an embodiment of the second aspect of the present disclosure.
  • 14A and 14B illustrate exploded views of a gimbal stabilizer according to one embodiment of the present disclosure.
  • the gimbal stabilizer 100 ′ includes a handle 10 ′ and a stabilizer body, the stabilizer body includes a first rotating motor 21 ′, a second rotating motor 22 ′ and The first arm 31'.
  • the inside of the handle 10' has an accommodating space 101', as shown in FIG. 13 .
  • the stabilizer body can be used to connect the load, and the stabilizer body can be at least partially put into the accommodating space 101' of the handle, which will be described in detail below.
  • a battery 11 ′ can also be arranged in the handle 10 ′.
  • the handle 10' includes a wireless charging module 12'.
  • the wireless charging module 12' is coupled to the battery 11' and is configured to be coupled to it. the load is charged.
  • the first charging port may also include a wired charging implementation solution.
  • a charging base is provided on the outer surface of the handle 10', and the charging base has a charging connector corresponding to the load charging port. When the two are docked, the load is charged, which is within the protection scope of the present disclosure.
  • a controller may also be arranged in the handle 10'.
  • the battery 11' is used to supply power to the first rotating electrical machine 21', the second rotating electrical machine 22' and the third rotating electrical machine 23', and the controller is configured to control the first rotating electrical machine 21', the third rotating electrical machine 23'.
  • the second rotating electrical machine 22' and the third rotating electrical machine 23' operate.
  • the arrangement of the battery 11' and the controller in the handle 10' has a compact structure and is convenient for saving installation space.
  • the controller is optionally a PCB circuit board, on which a corresponding chip or circuit is integrated, and is electrically connected to the first rotating electrical machine 21', the second rotating electrical machine 22' and the third rotating electrical machine 23'.
  • 14A and 2B show the battery 11' as being located outside the casing 10', the battery 11' is preferably integrated into the interior of the casing 10', for example, at a position above the accommodating space 101' in the figures.
  • the gimbal stabilizer includes a first battery and a second battery, wherein the first battery is used to wirelessly charge the load, and the second battery is used to drive the stabilizer body to perform attitude adjustment.
  • the gimbal stabilizer 100' only includes the battery 11', and the 11' is not only used to charge the load, but also used to drive the stabilizer body for attitude adjustment.
  • the battery 11' can also be divided into two or more sub-battery units, as in the embodiment of the first aspect, which will not be repeated here.
  • the first rotating motor 21' is fixedly mounted on the handle 10', for example, mounted on one end of the handle 10'.
  • the first arm 31' includes an arm body 310', a first rotating shaft 311' and a second rotating shaft 312', and one end of the first arm body 310' is connected to the first arm through the first rotating shaft 311'
  • the rotary motor 21' can be driven to rotate by the first rotary motor 21' around the axis O1 of the first rotary motor 21', and the other end of the first arm 31' is connected to the second rotary shaft 312'.
  • the second rotating electrical machine 22' is fixedly mounted on the handle 10', for example, mounted on one end of the handle 10'.
  • the first arm 31' includes an arm body 310', a first rotating shaft 311' and a second rotating shaft 312', and one end of the first arm body 310' is connected to the first arm through the first rotating shaft 311'
  • the rotary motor 21' can be driven to rotate by the first rotary
  • FIG. 15 shows a schematic diagram of the folding position of the gimbal stabilizer according to an embodiment of the present disclosure.
  • the gimbal stabilizer 100' has an unfolded position and a folded position.
  • the arm body 310' can pivot around the first rotation axis 311', and the first rotation axis 311 ' is perpendicular to the axis O1 of the first rotating electrical machine 21', so that the first arm 31' can move between the folded position and the unfolded position.
  • the first arm 31', the first rotary motor 21' and the second rotary motor 22' are located outside the handle 10' and are connected to the handle 10'.
  • a load may be connected to and stably supported and driven by the second rotating motor 22', and the pan-tilt stabilizer 100' works in the deployed position.
  • the load is optionally an electronic product such as a mobile phone, a tablet computer, and a camera.
  • the first arm 31' and the second rotating electrical machine 22' are at least partially received within the accommodating space 101'.
  • the first arm body 310' is attached to the opening side of the accommodating space 101' of the handle 10', and the second rotating motor 22' is accommodated in the accommodating space Inside, the gimbal stabilizer 100' is in a storage state at this time.
  • the volume of the gimbal stabilizer 100' is reduced, which is convenient to carry.
  • the gimbal stabilizer 100' can be freely switched between the folded position and the unfolded position according to the needs of work and use. Specifically, when the gimbal stabilizer 100' needs to be used, for example, the second rotating motor 22' is unfolded from the accommodating space 101', so that the first arm body 310' can be removed from the accommodating space attached to the handle 10'. The position of the opening side is moved away from the opening side, so that the second rotating motor 22' has enough space to connect and support the load; The second rotating electrical machine 22' is accommodated back into the accommodating space.
  • the first rotation shaft 311' and the second rotation shaft 312' are not limited to be rotatable by themselves.
  • the first rotating shaft 311' itself may be fixed relative to the first motor 21' and the housing 10' (for example, the first rotating shaft 311' is fixed to the first rotating motor 21'.
  • the arm body 310' On the output part (eg, the output shaft), the arm body 310' can pivot or rotate around the first rotation shaft 311'.
  • the first rotating shaft 311' and the arm body 310' are relatively non-rotatable, and in addition to being driven to rotate around the axis O1 by the first rotating motor 21', they can also rotate around the longitudinal direction of the first rotating shaft 311'.
  • the axes rotate together.
  • the same is true for the second rotating shaft 312'.
  • the structures of the first rotating shaft 311' and the second rotating shaft 312' are hollow shafts, which further reduces the weight of the gimbal stabilizer 100', making it lighter and more portable.
  • the stabilizer body of the pan-tilt stabilizer 100 ′ further includes a second arm 32 ′ and a third rotating motor 23 ′.
  • the second arm 32' is shown as two in the figure, one end of which is connected to the second rotating electrical machine 22', so that it can be driven to rotate by the second rotating electrical machine 22' around its axis O2, the two The other end of the bar second arm 32' is connected to the outside of said third rotating electrical machine 23', which is rotatable about its axis O3 to drive a load.
  • the diameter dimension of the first rotating electrical machine 21' is set to 20-24 mm, and the height dimension is set to 18-24 mm; the second rotating electrical machine 22' and the third rotating electrical machine 23' have The same diameter dimension and the same height dimension, and the diameter dimension is set to 22'mm-28mm, and the height dimension is set to 15-20mm.
  • the structures shown in FIGS. 14A and 14B include a first arm, a second arm, a first rotating electrical machine, a second rotating electrical machine, and a third rotating electrical machine. The present disclosure is not limited thereto, and may include more or less number of them. Arm and rotary motor.
  • one end of the second arm 32 ′ is connected to the second rotating electric machine 22 ′ through a third rotating shaft 313 ′, and the third rotating shaft 313' is perpendicular to the axis 02 of the second rotating electrical machine 22', and the second arm 32' and the third rotating electrical machine 23' can rotate together around the third rotating shaft 313'.
  • the second arm 32' has a double-arm structure (upper and lower in the figures), and the arms are connected together at an intermediate position. The two arms respectively have through holes on the left side, through which the third rotating shaft 313' passes and passes through the second rotating electric machine 22'.
  • the second arm 32' rotates relative to the second motor 22' about the third rotation axis 313' in a plane perpendicular to the paper in the figure.
  • the right side of the second arm 32' is fixedly connected to the third rotating electrical machine 23'.
  • the structure of the third rotating shaft 313' is a hollow shaft, which further reduces the weight of the gimbal stabilizer 100', making it lighter and more portable.
  • the arm body 310' is perpendicular to the first rotation axis 311', and the second rotation axis 312' is parallel or collinear with the arm body 310', so The second arm 32' is perpendicular to the third rotation axis 313'.
  • the included angle between the axes of the first rotating shaft 311' and the second rotating shaft 312' is set to be 80°-110°, preferably 90°.
  • the second rotating electrical machine 22 ′ can rotate around the second rotating shaft 312 ′ and drive and rotate about its own axis O2 , so that the third rotating electrical machine 23 ′ can be rotated Arranged in parallel with the second rotating electrical machine 22'.
  • the parallel arrangement of the third rotating electrical machine 23' and the second rotating electrical machine 22' may be either the arrangement shown in FIG. 14B or the arrangement shown in FIG. 15 .
  • the third rotating electrical machine 23' is rotated about the axis 03 of the third rotating electrical machine so that the axis 03 thereof is collinear with the axis 02 of the second rotating electrical machine 22'.
  • the axis O3 of the third rotating electrical machine 23' can be made parallel to the axis O2 of the second rotating electrical machine 22'.
  • the second arm 32' and the third rotation motor 23' can be rotated around the third rotation axis 313', so that the third rotation motor 23' can be rotated
  • the axis 03 of the second rotary electric machine 22' is parallel to the axis 02 of the second rotary electric machine 22', and then the second rotary electric machine 22' is driven, so that the second arm 32' and the third rotary electric machine 23' together surround the second rotary electric machine 22.
  • the axis O2 of ' rotates in a vertically arranged orientation in FIGS. 13 and 14A (the second rotary motor 22' is above, the third rotary motor 23' is below), and then the second rotary shaft 312' is rotated , so that both the second rotating electrical machine 22' and the third rotating electrical machine 23' are substantially located in the same plane as the housing 10', and then pivot the first arm 31' around the first rotating shaft 311' Then, the third rotating electrical machine 23' and the second rotating electrical machine 22' are arranged in parallel and received together in the accommodating space, as shown in FIG. 15 .
  • FIG. 16 shows a schematic diagram of an operation unit according to an embodiment of the present disclosure.
  • the gimbal stabilizer 100' further includes an operation unit 40', and the operation unit 40 is configured to control the first rotation motor 21', the second rotation motor 21', the second rotation motor through the controller The motor 22' and the third rotary electric machine 23' operate.
  • the operation unit 40' is detachably connected to the handle 10', and wirelessly connects and communicates with the first rotating electrical machine 21', the second rotating electrical machine 22', the third rotating electrical machine 23' and the load, for remote control.
  • the operation unit 40' is fixedly installed on the handle 10', which is convenient for the user to operate at close range.
  • the operation unit 40' is a remote controller, and the remote controller is detachably connected to the handle 10'. At this time, the remote controller can be taken out from the handle 10' to be connected to the handle 10'.
  • the handle 10' is separated, which is convenient for users to operate remotely.
  • the gimbal stabilizer 100 ′ further includes a movable foot pad 110 ′.
  • a movable foot pad 110 ′ there are two movable foot pads 110', 110-1' and 110-2' respectively.
  • the two movable foot pads 110-1' and 110-2' are both disposed in the grooves at the bottom of the handle 10' to support the gimbal stabilizer 100' when it is deployed.
  • the two movable foot pads 110-1' and 110-2' are unfolded from the grooves at the bottom of the handle 10', the two movable foot pads 110-1' and 110-2' are opened outward to realize the handle 10.
  • FIG. 17 shows a schematic diagram of a third rotating electrical machine according to one embodiment of the present disclosure.
  • 18 shows a schematic diagram of a load protection case according to one embodiment of the present disclosure. The connection between the load and the gimbal stabilizer will be further described below with reference to Fig. 17 and Fig. 18 .
  • the third rotating electrical machine 23' is provided with a load connecting frame 231', and the load connecting frame 231' is connected to the output shaft of the third rotating electrical machine 23'. Fixed connection, the third rotating motor 23' is used to drive the load connecting frame 231' to rotate around the axis 03.
  • the load connecting frame 231' is used for connecting the load.
  • the gimbal stabilizer 100' further includes a load protection shell 50'.
  • the load protection shell 50' is used to install a load.
  • the load protection shell 50 is provided with a lens avoidance port 501' to Avoid the lens used for photography or photographing on the load, so that the lens can be extended.
  • the third rotating electrical machine 23' is provided with a first quick-release fixing structure 232'
  • the load protection shell 50' is provided with a The second quick-release fixing structure 51' is connected to the first quick-release fixing structure 232'.
  • the first quick-release fixing structure 232' is an annular first boss.
  • the second quick-release fixing structure 51' includes a corresponding first boss. Card slot 511'.
  • the first boss and the slot 511' are in an interference fit, so as to realize the first quick release fixing structure 232' and the second quick release fixing structure 232'.
  • the cross-sectional shape of the first boss may be a ring, a circle, a conventional shape such as a square or a triangle, or a special shape.
  • the cross-sectional shape of the first boss adopts a circle, and the corresponding slot 511 ′ is a circular slot.
  • the handle 10' of the gimbal stabilizer 100' is provided with a third quick release fixing structure 13', and the third quick release fixing structure 13' is optional
  • the ground is an annular second boss.
  • the load protection shell 50' is also provided with a fourth quick-release fixing structure 54' for connecting with the third quick-release fixing structure 13'.
  • the fourth quick release fixing structure 54' includes a groove 541' corresponding to the second boss.
  • the second boss and the groove 541' are in an interference fit, so as to realize the third quick release fixing structure 13' and the fourth quick release fixing
  • the quick assembly and disassembly of the structure 54' improves the assembly efficiency.
  • the cross-sectional shape of the second boss is similar to the cross-sectional shape of the first boss, which may be conventional shapes such as a ring, a circle, a square, a triangle, etc., or a special shape.
  • the cross-sectional shape of the second boss is circular
  • the groove 541 ′ is a circular groove.
  • the load protection case 50 ′ further includes a housing 52 ′ and a support frame 53 ′, and the second quick release fixing structure 51 ′ is disposed on the housing 52 ', the support frame 53' is rotatably connected to the back of the housing 52'.
  • the support frame 53' has an unfolded state and a retracted state. When the support frame 53' is unfolded, the support frame 53' forms an angle with the housing 52'; when the support frame 53' is retracted At the time, the support frame 53' is attached to the back of the casing 52'.
  • the support frame 53' is used to support the housing 52', thereby realizing the support of the load.
  • the second quick release fixing structure 51 ′ and the fourth quick release fixing structure 54 ′ are provided on the housing 52 ′ at the same time.
  • the present disclosure is not limited to this, and only the second quick release fixing structure can be provided on the housing. Detach the fixing structure 51' or the fourth quick release fixing structure 54'.
  • the support frame 53 ′ is an annular structure corresponding to the first boss, so that the support frame 53 ′ can be sleeved on the outer circumference of the annular boss when folded, so as to facilitate the realization of The support frame 53' cooperates with the second quick release fixing structure 51' to reduce the space occupation.
  • the support frame 53' is retracted and sleeved on the outer circumference of the annular boss, without affecting the second quick release fixing structure 51' and the first quick release fixing structure Connection of structure 232'.
  • the support frame 53 ′ may also be matched with the fourth quick release fixing structure 54 ′.
  • the support frame 53' When the support frame 53' is retracted, the support frame 53' is sleeved on the fourth quick release fixing structure 54', or the support frame 53' shields the fourth quick release fixing structure 54'.
  • the quick release fixing structure 54' When the quick release fixing structure 54' is connected with the third quick release fixing structure 13', the support frame 53' is separated from the housing 52'.
  • the first quick release fixing structure 232' includes a first magnet
  • the second quick release fixing structure 51' includes a second magnet.
  • the first quick-release fixing structure 232' and the second quick-release fixing structure 51' are connected with the second magnet through the first magnet, which is simple in structure and easy to disassemble.
  • FIGS. 19A and 19B illustrate schematic diagrams of a load protection case according to another embodiment of the present disclosure.
  • FIG. 20 shows a schematic diagram of the connection between the load protection shell and the gimbal stabilizer according to another embodiment of the present disclosure.
  • the load protection shell and its connection with the gimbal stabilizer will be further described below with reference to FIGS. 19A , 19B and 20 .
  • the load protection shell 60 ′ is used to install and protect the load, and includes a housing 61 ′, a second quick release fixing structure 62 ′ and a support frame 63 ′ .
  • the load such as a mobile phone
  • the second quick-release fixing structure 62' is disposed on the back of the casing 61' for connecting with the first quick-release fixing structure 232' connection.
  • the back of the second quick release fixing structure 62' is also provided with a buckle (not shown in the figure).
  • the first quick release fixing structure 232' is an annular groove (not shown in the figure).
  • the second quick release fixing structure 62' includes a boss 622' corresponding to the groove.
  • the cross-sectional shape of the boss 622' may be a ring, a circle, a conventional shape such as a square or a triangle, or a special shape.
  • FIG. 20 the first quick release fixing structure 232' is an annular groove (not shown in the figure).
  • the second quick release fixing structure 62' includes a boss 622' corresponding to the groove.
  • the cross-sectional shape of the boss 622' may be a ring, a circle, a conventional shape such as a square or a triangle, or a special shape.
  • the cross-sectional shape of the boss 622 ′ is circular, and the corresponding groove is a circular groove.
  • the groove of the first quick release structure 232 is further provided with a protrusion (not shown in the figure), and the second quick release fixing structure 62 further includes a protrusion matching with the protrusion
  • the groove 621' shown more clearly in FIG. 19B, so that when the load protection shell 60 is connected with the head stabilizer 100', there is interference between the boss 622' and the groove
  • the alignment matching and installation of the two can be realized more accurately and quickly.
  • the support bracket 63 ′ is rotatably connected to the back of the housing 61 ′.
  • the support frame 63' has an unfolded state and a retracted state.
  • the support frame 63' forms an angle with the housing 61'; when the support frame 63' is retracted At the time, the support frame 63' is attached to the back of the casing 61'.
  • the support frame 63' is used to support the housing 61', thereby realizing the support of the load.
  • the support frame 63 ′ is an annular structure corresponding to the boss 622 ′, so that the support frame 63 ′ can be sleeved on the annular boss 622 when retracted On the outer circumference of ', it is convenient to realize the cooperation between the support frame 63' and the second quick release fixing structure 62', so as to reduce the space occupation.
  • the support frame 63' is retracted and sleeved on the outer circumference of the annular boss 622', which does not affect the second quick release fixing structure 62' and the first quick release fixing structure 62'.
  • the support frame 63 ′ is a ring buckle, and the ring buckle can be turned over through the rotating shaft installed and fixed on the second quick release fixing structure 62 ′, It supports loads such as mobile phones and acts as a bracket.
  • the load protection case 60 ′ further includes a guide portion 64 ′.
  • the guide portion 64' is arranged on the housing 61', and a groove 641' is arranged in the middle which is matched with the second quick release fixing structure 62', so that the second quick release fixing structure 62' can be Slide relative to the load in the groove 641'.
  • At least two sliding stop holding positions are provided on the guide portion 64', which are a first predetermined holding position 642' and a second predetermined holding position 643' respectively, wherein the first predetermined holding position 642' is set At the center position of the plane on the back of the load (ie, the far right side of the groove 641' in the figure), the second preset holding position 643' is arranged on the far left side of the groove 641' in the figure.
  • the corresponding positions of the first preset holding position 642' and the second preset holding position 643' are respectively provided with the second quick release fixed position.
  • the snaps of the structure 62' are matched with the snap grooves (not shown in the figure) to fix it.
  • the second quick release fixing structure 62' when the second quick release fixing structure 62' is connected with the gimbal stabilizer 100', slide the second quick release fixing structure 62' to the first preset holding position 642', and the second quick-release fixing structure 62' is fixed in position through the buckle and the card slot; when the load needs to perform other functional operations or wireless charging functions, the second quick-release fixing structure 62' is fixed.
  • the fixing structure 62' slides to the second preset holding position 643', and is matched with the slot by the buckle to fix the position of the second quick-release fixing structure 62' to avoid the position.
  • the first quick release fixing structure 232' includes a first magnet
  • the second quick release fixing structure 62' includes a second magnet.
  • the first quick-release fixing structure 232' and the second quick-release fixing structure 62' are connected to the second magnet through a first magnet, wherein the material of the first magnet and the second magnet is steel or other magnetically conductive materials material that can be attracted by magnets.
  • This connection method is simple in structure and easy to disassemble.
  • the arm and the motor are flattened after the gimbal is folded, which makes it easier to store the motor, and the storage takes up less space, which reduces the storage space in the handle, and can avoid daily
  • the motor is damaged during carrying, which improves the service life of the gimbal stabilizer;
  • Both the battery and the wireless charging module are integrated inside the handle, the volume of the battery increases, and the increased capacity makes it practical to integrate wireless charging;
  • the detachable remote control is connected wirelessly to realize remote control of the load or handle;
  • the bottom of the handle is provided with a movable tripod that can be opened and closed, as well as the installation structure of the handle and the load protection shell, which increases the available functions and expands more usage scenarios;
  • the traditional fixed mobile phone clip is cancelled, and the volume of the gimbal stabilizer after storage is reduced by setting a detachable load protection case.

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Casings For Electric Apparatus (AREA)

Abstract

本公开提供一种云台稳定器，包括：手柄，所述手柄具有容置空间，所述手柄包括第一电池；稳定器本体，负载可连接在所述稳定器本体上，所述稳定器本体可放入所述手柄的容置空间中；和第一充电接口，所述第一充电接口连接到所述第一电池，从而可对耦合到所述第一充电接口的负载进行充电。通过本公开的实施例，能够减小云台稳定器的收纳空间体积，提高了云台稳定器的携带便捷性、使用便捷性与实用性。

Description

云台稳定器及用于稳定器本体的收纳盒 技术领域
本公开大致涉及云台技术领域，尤其涉及一种云台稳定器及用于稳定器本体的收纳盒。
背景技术
随着人们对摄影需求的增加与拍摄画面质量要求的提高，越来越多的人选择使用云台稳定器作为日常拍摄的辅助工具，用于夹持手机、PAD、相机或其他电子设备。但目前市场上已知的稳定器普遍体积大、携带不便、功能单一成为人们使用稳定器的几大痛点。
背景技术部分的内容仅仅是发明人所知晓的技术，并不当然代表本领域的现有技术。
发明内容
本公开的实施例通过提供一种云台稳定器，克服了现有技术中云台稳定器体积大、功能单一等缺陷。
有鉴于现有技术的至少一个缺陷，本公开提出一种云台稳定器，包括：
手柄，所述手柄具有容置空间，所述手柄包括第一电池；
稳定器本体，负载可连接在所述稳定器本体上，所述稳定器本体可放入所述手柄的容置空间中；和
第一充电接口，所述第一充电接口连接到所述第一电池，从而可对耦合到所述第一充电接口的负载进行充电。
根据本公开的一个方面，其中所述第一充电接口包括无线充电模块，配置成可对放置在其上的负载进行无线充电，
其中所述稳定器本体包括第二电池，所述第二电池用于驱动所述稳定器本体运动。
根据本公开的一个方面，其中所述手柄包括位于所述容置空间中的第二充电接口，所述第二充电接口连接到所述第一电池，当所述稳定器本体放入所述容置空间中时，所述第二电池通过所述第二充电接口与所述第一电池形成电连接，从而所述第一电池可对所述第二电池充电。
根据本公开的一个方面，其中所述手柄包括位于所述容置空间中的第二充电接口，所述第二充电接口连接到所述第一电池，当所述稳定器本体放入所述容置空间中时，所述第一电池通过所述第二充电接口与所述第二电池形成电连接，从而可以共同对耦合到所述第一充电接口的负载进行充电。
根据本公开的一个方面，其中所述无线充电模块包括发射线圈和发射电路板，所述云台稳定器还包括设置在所述手柄上的充电开关，所述充电开关配置成可开启或者断开所述第一电池对负载的充电。
根据本公开的一个方面，其中所述云台稳定器具有伸展状态和收纳状态，在所述伸展状态，所述稳定器本体至少部分位于所述手柄外且与所述手柄连接；在所述收纳状态，所述稳定器本体收纳于所述容置空间内。
根据本公开的一个方面，其中所述稳定器本体包括基座和臂部，所述臂部通过第一旋转电机可枢转地安装在所述基座上。
根据本公开的一个方面，其中所述臂部包括第一臂和第二臂，所述第一臂的一端通过所述第一旋转电机可枢转的安装在所述基座上，所述云台稳定器还包括第二旋转电机和第三旋转电机，其中所述第二旋转电机通过一铰接轴被连接到所述第一臂的另一端，所述第二臂的一端连接到所述第二旋转电机，从而可由所述第二旋转电机驱动旋转，所述第三旋转电机连接到所述第二臂的另一端。
根据本公开的一个方面，其中所述第一臂的旋转轴垂直于所述铰接轴，所述铰接轴垂直于所述第 二旋转电机的旋转轴，所述第二旋转电机的旋转轴垂直于所述第三旋转电机的旋转轴，所述第一电池用于向所述第一旋转电机、第二旋转电机和第三旋转电机供电，所述云台稳定器还包括控制器，所述控制器配置成可控制所述第一旋转电机、第二旋转电机和第三旋转电机。
根据本公开的一个方面，其中所述第一臂大致为L形，所述第二臂可围绕所述铰接轴旋转，从而收纳在所述第一臂的空缺部位。
根据本公开的一个方面，其中所述基座可在所述容置空间中在第一位置和第二位置之间滑动，其中当所述基座在第一位置时，所述云台稳定器处于伸展状态；当所述基座在第二位置时，所述云台稳定器处于收纳状态，其中所述手柄具有第一锁定部和第二锁定部，其中所述第一锁定部配置成可将所述基座锁定于所述第一位置，所述第二锁定部配置成可将所述基座锁定于所述第二位置。
根据本公开的一个方面，其中所述第一锁定部和第二锁定部包括卡扣或卡孔；所述基座上设置有与所述第一锁定部和第二锁定部相对应的卡孔或卡扣。
根据本公开的一个方面，还包括操作单元，所述操作单元配置成可通过所述控制器控制所述第一旋转电机、第二旋转电机和第三旋转电机动作。
根据本公开的一个方面，其中所述操作单元为遥控器，所述遥控器可拆卸地连接于所述手柄。
根据本公开的一个方面，其中当所述云台稳定器处于收纳状态时，所述遥控器可封闭所述容置空间的开口端。
根据本公开的一个方面，还包括固定脚垫和活动脚垫，所述固定脚垫和活动脚垫设置于所述手柄的底部，从而支撑所述云台稳定器。
根据本公开的一个方面，其中所述云台稳定器还包括终端保护壳，所述终端保护壳用于安装终端，所述稳定器本体上设置有第一快拆固定结构，所述终端保护壳上设置有用于与所述第一快拆固定结构连接的第二快拆固定结构。
根据本公开的一个方面，其中所述手柄上设置有第三快拆固定结构，所述终端保护壳上还设置有用于与所述第三快拆固定结构连接的第四快拆固定结构。
根据本公开的一个方面，其中所述终端保护壳包括壳体和支撑架，所述第二快拆固定结构设置于所述壳体的背面，所述支撑架可转动地连接于所述壳体的背面，所述支撑架具有展开状态和收起状态，当所述支撑架展开时，所述支撑架与所述壳体形成夹角；当所述支撑架收起时，所述支撑架贴合在所述壳体的背面上。
根据本公开的一个方面，其中所述第二快拆固定结构为环形凸台，所述支撑架为环状结构，当所述支撑架收起时，所述支撑架套设在所述环形凸台的外周上。
根据本公开的一个方面，其中所述第一快拆固定结构包括第一磁体，所述第二快拆固定结构包括第二磁体。
本公开还涉及一种用于稳定器本体的收纳盒，包括壳体，所述壳体具有内部容置空间，所述壳体包括第一电池和第一充电接口，所述第一充电接口连接到所述第一电池，从而可对耦合到所述第一充电接口的负载进行充电。
本公开的实施例通过提出一种云台稳定器，减小了云台稳定器的收纳空间体积，提高了云台稳定器的携带便捷性、使用便捷性与实用性，使其功能更加多样，例如可以作为充电宝使用，应用更为广泛。
附图说明
附图用来提供对本公开的进一步理解，并且构成说明书的一部分，与本公开的实施例一起用于解释本公开，并不构成对本公开的限制。在附图中：
图1A示出了根据本公开一个实施例的云台稳定器的爆炸图；
图1B示出了根据本公开一个实施例的第一充电接口的示意图；
图2示出了根据本公开一个实施例的云台稳定器的伸展状态示意图；
图3示出了根据本公开一个实施例的云台稳定器的收纳状态示意图；
图4示出了根据本公开一个实施例的手柄的剖视图；
图5示出了根据本公开一个实施例的云台稳定器的示意图；
图6示出了根据本公开一个实施例的稳定器本体的收纳状态示意图；
图7示出了根据本公开一个实施例的基座的示意图；
图8示出了根据本公开一个实施例的手柄的内部结构示意图；
图9示出了根据本公开一个实施例的手柄结构示意图；
图10示出了根据本公开一个实施例的云台稳定器的手持使用场景示意图；
图11示出了根据本公开一个实施例的负载保护壳的示意图；
图12示出了根据本公开一个实施例的手柄与负载保护壳的使用场景示意图；
图13示出了根据本公开一个实施例的云台稳定器的展开位置示意图；
图14A示出了根据本公开一个实施例的云台稳定器的爆炸图；
图14B示出了根据本公开一个实施例的云台稳定器的爆炸图；
图15示出了根据本公开一个实施例的云台稳定器的折叠位置示意图；
图16示出了根据本公开一个实施例的操作单元的示意图；
图17示出了根据本公开一个实施例的第三旋转电机的示意图；
图18示出了根据本公开一个实施例的负载保护壳的示意图；
图19A和图19B示出了根据本公开另一个实施例的负载保护壳的示意图；和
图20示出了根据本公开另一个实施例的负载保护壳和云台稳定器连接的示意图。
具体实施方式
在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本公开的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限制性的。
在本公开的描述中，需要理解的是，术语"中心"、"纵向"、"横向"、"长度"、"宽度"、"厚度"、"上"、"下"、"前"、"后"、"左"、"右"、"竖直"、"水平"、"顶"、"底"、"内"、"外"、"顺时针"、"逆时针"等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。此外，术语"第一"、"第二"仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有"第一"、"第二"的特征可以明示或者隐含地包括一个或者更多个所述特征。在本公开的描述中，"多个"的含义是两个或两个以上，除非另有明确具体的限定。
在本公开的描述中，需要说明的是，除非另有明确的规定和限定，术语"安装"、"相连"、"连接"应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接:可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。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公开中的具体含义。
在本公开中，除非另有明确的规定和限定，第一特征在第二特征之"上"或之"下"可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征"之上"、"上方"和"上面"包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征"之下"、"下方"和"下面"包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度小于第二特征。
下文的公开提供了许多不同的实施方式或例子用来实现本公开的不同结构。为了简化本公开的公 开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本公开。此外，本公开可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本公开提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
以下结合附图对本公开的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本公开，并不用于限定本公开。
第一方面
图1A示出了根据本公开第一方面一个实施例的云台稳定器的爆炸图。如图1A所示，所述云台稳定器100包括：手柄10、稳定器本体20和第一充电接口。其中所述手柄10的内部具有容置空间，所述手柄10包括第一电池18，所述第一电池18可集成在手柄10的侧壁或者底部中。所述稳定器本体20可放入所述手柄10的容置空间中(或者可以至少部分放入手柄10的容置空间中，如本公开的第二方面中所描述的)，稳定器本体20上可连接负载60(如图2所示)，其中所述负载60可选地为手机、平板电脑、相机等电子产品。所述第一充电接口连接到所述第一电池18，从而可对耦合到所述第一充电接口的负载60进行充电。
根据本公开的一个实施例，如图1B所示，所述第一充电口包括无线充电模块14，配置成可对放置在所述手柄10上的负载60进行无线充电。可选地，所述无线充电模块14包括发射线圈146和发射电路板145。所述发射电路板145与所述第一电池18电连接，发射电路板145包括为进行无线充电所需的控制电路和芯片。发射线圈146例如设置在发射电路板145上或者与发射电路板145电连接，从而当所述负载60靠近无线充电模块14时，所述无线充电模块14的发射电路板145从第一电池18接收电能，转换为交流电，并向所述发射线圈146中输入交流电。发射线圈146中通入交流电之后，会产生一个变化的磁场，负载60中的线圈感应到磁场的变化，将会产生感应电流，从而实现对于负载60的充电。图1B中示出了第一充电口包括无线充电模块14的情形，本公开不限于此，第一充电口也可以包括有线充电实现方案，例如在手柄10的外表面上设置有充电座，充电座中具有与负载充电口相对应的充电插接件，当二者对接时，对负载进行充电，这些都在本公开的保护范围内。
上述实施例中，通过云台稳定器的手柄中集成的电池对负载进行充电，尤其是通过无线方式进行充电，能够给用户提供极大地便利性。用户在使用手机或其他电子设备外出进行拍照时，无需另外携带单独的充电设备或者充电宝。
根据本公开的一个实施例，所述云台稳定器100还包括设置在所述手柄10上的充电开关19(如图2所示)，所述充电开关19配置成可开启或者断开所述第一电池18对负载60的充电。如图1所示，所述稳定器本体20还包括第二电池33，所述第二电池33用于驱动所述稳定器本体20运动。
根据本公开的一个实施例，所述手柄10还包括位于所述容置空间中的第二充电接口(图中未示出)，所述第二充电接口连接到所述第一电池33，当所述稳定器本体20放入所述容置空间中时，所述第二电池33通过所述第二充电接口与所述第一电池18形成电连接，从而所述第一电池18可对所述第二电池33充电。可选地，所述第一电池18通过所述第二充电接口与所述第二电池33形成电连接，从而可以共同对耦合到所述第一充电接口的负载60进行充电。所述第二充电接口可以为有线充电接口或者无线充电接口，优选为有线充电接口。
图2和图3分别示出了根据本公开一个实施例的云台稳定器的伸展状态示意图和收纳状态示意图。所述云台稳定器100具有伸展状态和收纳状态，在所述伸展状态，如图2所示，所述稳定器本体20至少部分位于所述手柄10外且与所述手柄10连接，所述负载60可以连接在所述稳定器本体20上且被其稳定支撑，所述云台稳定器100即工作于所述伸展状态。在所述收纳状态，如图3所示，所述稳定器本体20收纳于所述容置空间内，此时所述云台稳定器100处于非工作状态。通过将所述稳定器本体20收纳于所述容置空间内，使所述云台稳定器100的体积减小，便于携带。所述云台稳定 器100可以根据工作使用需要，通过所述稳定器本体20的收纳与否自由切换在所述伸展状态和收纳状态。具体地，当需要使用云台稳定器100时，从容置空间内打开稳定器本体20，使稳定器本体20处于手柄10外且与手柄10连接，以连接和支撑负载60；当不需要使用云台稳定器100时，使稳定器本体20收纳回所述容置空间内。
图4示出了根据本公开一个实施例的手柄的剖视图。如图4所示，所述手柄10为中空结构，其中空部分即为容置空间。所述手柄10的上端为开口端11，以便于稳定器本体20从开口端11进入手柄10的内部。所述手柄10的下端设置有端盖12，所述端盖12封挡手柄10的下端开口，且与所述手柄10固定连接，以使手柄10的下端为封闭端。当云台稳定器100处于伸展状态时，参照图2所示，所述稳定器本体20连接于手柄10的开口端11。
本领域技术人员能够理解，所述开口端11也可以位于所述手柄10的下端，使所述稳定器本体20与手柄10的上端连接。这种情况下，当云台稳定器100处于伸展状态时，所述稳定器本体20连接于手柄10的上端。
图5示出了根据本公开一个实施例的云台稳定器的示意图。下面将结合图1和图5对所述云台稳定器100的内部结构做进一步说明。如图1所示，所述稳定器本体20包括基座30和臂部21，其中所述基座30在所述容置空间的内部与所述手柄10的内壁形成滑动配合，且可在所述容置空间中沿着所述手柄10的方向在第一位置和第二位置之间滑动，所述臂部21通过第一旋转电机22可枢转地安装在所述基座30上。所述基座30的横截面形状例如可以与所述容置空间的横截面形状大致匹配或者相同，如图1-5中所示的均为带圆角的矩形形状。当所述基座30在第一位置时，稳定器本体20从所述手柄10的开口端11向外伸出，所述云台稳定器100处于伸展状态以连接所述负载60；当所述基座30在第二位置时，稳定器本体20收缩回所述手柄10的容置空间内，所述云台稳定器100处于收纳状态。所述基座30的设置便于实现稳定器本体20与手柄10的装配，提高了稳定器本体20与手柄10的装配灵活性。
如图1所示，所述臂部21进一步包括第一臂211和第二臂212，所述第一臂211的一端(图1中的下端部)通过第一旋转电机22可枢转地安装在所述基座30上，所述第一旋转电机22用于驱动所述第一臂211相对于基座30围绕第一转动轴线O1转动，轴线O1例如平行于所述手柄10的纵向方向，平行于所述基座30的滑动方向。图6示出了根据本公开一个实施例的稳定器本体转换到收纳状态的示意图。参照图1和图6所示，所述云台稳定器100还包括第二旋转电机23和第三旋转电机24，其中所述第二旋转电机23通过铰接轴217被连接到所述第一臂211的另一端(图1中的上端部)，所述第二臂212的一端连接到所述第二旋转电机23，从而可由所述第二旋转电机23围绕第二转动轴线O2驱动旋转。所述第三旋转电机24连接到所述第二臂212的另一端，且此端用于与负载60连接，并且可驱动负载60绕第三转动轴线O3旋转。所述臂部21能够折叠和展开，当臂部21折叠时，所述第一臂211和第二臂212折叠，使稳定器本体20能够被收纳于手柄10内，所述云台稳定器100处于收纳状态，减少整体占用空间；当臂部21展开时，所述第一臂211和第二臂212互相配合，使稳定器本体20能够进行多种自由度的调节，以便连接于所述稳定器本体20的负载60实现多自由度的调节，例如可自由调节负载60的航向角、俯仰角和横滚角(每个旋转电机可对应其中航向角、俯仰角、横滚角中的一个)。
根据本公开的一个实施例，参照图1和图6所示，其中所述第一臂211的旋转轴(即第一转动轴线O1)垂直于所述铰接轴217，所述铰接轴217垂直于所述第二旋转电机23的旋转轴(即第二转动轴线O2)，所述第二旋转电机23的旋转轴垂直于所述第三旋转电机24的旋转轴(即第三转动轴线O3)。所述第一电池18用于向所述第一旋转电机22、第二旋转电机23和第三旋转电机24供电。
如图1所示，所述基座30内还可设置有控制器34，所述第二电池33和控制器34都集成在基座30内的设置，使基座30结构紧凑，便于节省安装空间。其中所述控制器34配置成可控制所述第一旋转电机22、第二旋转电机23和第三旋转电机24动作。当所述稳定器本体20与基座30装配时，所述第一臂211与基座30滑动配合，所述第二电池33与第一旋转电机22、第二旋转电机23及第三 旋转电机24电连接，用于为电机提供电能。所述控制器34与第一旋转电机22、第二旋转电机23及第三旋转电机24电连接，用于控制稳定器本体20动作。所述控制器34例如为PCB电路板，其上集成有相应的芯片或电路，与所述第二电池33、第一旋转电机22、第二旋转电机23和第三旋转电机24电连接。
根据本公开的一个优选实施例，参照图1所示，所述第一臂211大致为L形，所述第二臂212可围绕所述铰接轴217旋转，从而收纳在所述第一臂211的空缺部位(如图6更清楚地示出)，从而使得臂部21能够折叠为非常紧凑的形态，便于收纳。具体地，所述第一臂211包括横向段2111和竖向段2112，所述横向段2111沿横向设置，所述竖向段2112沿竖向设置(即手柄10的纵向方向)，所述横向段2111与所述纵向段2112之间的夹角为80°至100°，优选为90°。且优选地，所述纵向段2112的长度大于所述横向段2111的长度，从而使所述第一臂211大致成L形。所述第一旋转电机22安装于所述横向段2111，第一旋转电机22的输出轴竖向设置，且其壳体固定于所述横向段2111。所述第一旋转电机22的输出轴固定连接于基座30，第一旋转电机22驱动第一臂211相对于手柄10绕第一转动轴线O1转动(第一转动轴线与手柄10的长度方向或纵向方向平行)。所述竖向段2112通过铰接轴217连接到俯仰支架213，以便于俯仰支架213可相对于第一臂211围绕铰接轴217转动。所述第二臂212包括横滚支架214，俯仰支架213的一端与竖向段2112通过铰接轴217连接，俯仰支架213的另一端与第二旋转电机23的壳体固定连接，第二旋转电机23的输出轴与横滚支架214固定连接。所述第二旋转电机23用于驱动横滚支架214相对于俯仰支架213绕第二转动轴线O2转动，其中所述第二转动轴线O2与铰接轴217垂直设置。所述横滚支架214与第三旋转电机24的壳体固定连接，所述第三旋转电机24的输出轴与负载连接架215固定连接，第三旋转电机24用于驱动所述负载连接架215相对于横滚支架214绕第三转动轴线O3转动，其中所述第三转动轴线O3与第二转动轴线之间具有夹角。所述负载连接架215用于连接负载60。图1所示的结构中包括第一臂、第二臂、第一旋转电机、第二旋转电机、第三旋转电机，本公开不限于此，也可以包括数目更多或者更少的臂部和旋转电机。
根据本公开的一个实施例，所述手柄10具有第一锁定部和第二锁定部，其中所述第一锁定部配置成可将所述基座30锁定于所述第一位置，所述第二锁定部配置成可将所述基座30锁定于所述第二位置。具体地，当所述基座30相对于手柄10移动至第一锁定部时，第一锁定部能够配合将基座30锁定于第一位置；当所述基座30相对于手柄10移动至第二锁定部时，第二锁定部能够配合将基座30锁定于第二位置。所述第一锁定部和第二锁定部的设置，使得基座30可以选择性地保持在第一位置或第二位置。
图7示出了根据本公开一个实施例的基座的示意图。如图7所示，所述第一锁定部和第二锁定部包括卡扣或卡孔，所述基座30上设置有与所述第一锁定部和第二锁定部相对应的卡孔或卡扣31。可选地，参照图3所示，所述第一锁定部具有与卡扣31匹配的卡孔141，第二锁定部具有与卡扣31匹配的卡孔142，两个卡孔141、142分别对应第一位置和第二位置。所述卡孔141、142开设于手柄10的侧壁上，当卡扣31与卡孔141配合时，卡扣31能够卡合于卡孔141内并在第一位置形成锁定；当卡扣31与卡孔142配合时，卡扣31能够卡合于卡孔142内并在第二位置形成锁定。当需要将基座30从第一位置或第二位置解锁时，按压卡扣31即可。具体地，当基座30在手柄10的内部滑动时，卡扣31与手柄10的内壁抵接，卡扣31受到手柄10内壁的挤压而产生弹性变形。当所述基座30移动至第一位置时，所述卡扣31弹出并与第一位置的卡孔141的周壁形成限位，将基座30锁定在第一位置。当卡扣31退出第一位置的卡孔141后，基座30能够继续相对于手柄10的内壁移动。当所述基座30移动至第二位置时，所述卡扣31进入第二位置的卡孔142内，卡扣31与第二位置的卡孔142的周壁形成限位，将基座30锁定在第二位置。
根据本公开的一个实施例，为了便于卡扣31与卡孔141、142的接触锁定，所述卡扣31为弹性结构，所述卡孔141、142为通孔。卡扣31在手柄10内部移动时，卡扣31处于挤压状态。当卡扣31移动至卡孔141或卡孔142位置时，卡扣31在弹力的作用下复位并卡合于卡孔141或卡孔142内， 从而使得基座30与手柄10锁定。当需要移动基座30时，按压卡扣31，将卡扣31挤压至退出卡孔141或卡孔142，即解除卡扣31与卡孔141或卡孔142的锁定。所述卡扣31与卡孔141、142的配合，便于实现基座30与手柄10的锁定或解除锁定，操作灵活，使用方便。
本领域技术人员能够理解，所述卡扣和卡孔的位置可以互换，即当所述第一锁定部和第二锁定部上分别设置为卡扣，基座30上设置与其相对应的卡孔时，也可以实现上述锁定、解锁配合，在此不再赘述。另外，基座30上还可以通过设置弹簧滚珠来替代卡扣，第一锁定部和第二锁定部还是卡孔的结构。此时，卡孔可以为盲孔，卡孔开设于手柄10的内壁，基座30上的弹簧滚珠移动至卡孔后，即可实现基座30与手柄10的锁定。
进一步地，为了便于基座30相对于手柄10的滑动，基座30和手柄10中的一个上设置有导轨，另一个上则设置有与导轨配合的滑台，其中所述导轨设置为沿手柄10的长度方向延伸。所述滑台和导轨的设置对所述基座30的滑动起到导向的作用，以保证基座30相对于手柄10的移动稳定灵活。图8示出了根据本公开一个实施例的手柄内部结构示意图，如图8所示，所述手柄10的内壁上设置有导轨15，如图7所示，所述基座30的侧壁上设置有与导轨15配合的滑台32，滑台32与导轨15滑动配合。
根据本公开的一个实施例，如图1和图5所示，所述云台稳定器100还包括操作单元40，所述操作单元40配置成可通过所述控制器34控制所述第一旋转电机22、第二旋转电机23和第三旋转电机24动作。所述操作单元40可拆卸地连接于手柄10，并与所述稳定器本体20和负载60无线连接和通讯，以进行遥控。可选地，所述操作单元40通过蓝牙与稳定器本体20和负载60连接。通过设置操作单元40，使对稳定器本体20的遥控更加方便，且操作灵活，例如可以控制稳定器本体20的姿态和方位，以调整负载60的航向角、俯仰角和横滚角。且操作单元40与手柄10可拆卸地连接，便于操作单元40的收纳。同时，如图5所示，操作单元40安装于手柄10上，还可以实现近距离控制。根据本公开的一个优选实施例，其中所述操作单元40为遥控器，所述遥控器可拆卸地连接于所述手柄10。可选地，如图5所示，所述充电开关19设置在所述操作单元40上。
根据本公开的一个实施例，如图3所示，当所述云台稳定器100处于收纳状态时，所述稳定器本体20缩回至所述容置空间内，所述遥控器40能够盖合于手柄10的开口端11，以封闭所述容置空间，便于保护收纳于手柄10内的稳定器本体20。当所述云台稳定器100处于伸展状态时，所述手柄10的侧壁上设置有用于安装遥控器40的安装槽16(如图10所示)，所述遥控器40能够设置于安装槽16内以实现与手柄10的装配。当手持手柄10操作时，如图10所示，遥控器40固定于安装槽16内，便于用户近距离操作。
图9示出了根据本公开一个实施例的手柄的结构示意图，图10示出了根据本公开一个实施例的云台稳定器的手持使用场景示意图。如图9和图10所示，所述云台稳定器100还包括固定脚垫120和活动脚垫13，所述固定脚垫120和活动脚垫13设置于所述手柄10的底部，从而支撑所述云台稳定器100。具体地，所述固定脚垫120设置于端盖12上并相对于端盖12凸出，所述活动脚垫13可选地为两个，活动安装于端盖12上，两个活动脚垫13能够相对于手柄10转动。当两个活动脚垫13展开时，两个活动脚垫13和固定脚垫120形成三角支撑(如图10所示)，实现手柄10的稳定支撑，以便将稳定器本体20稳定立于桌面或者其他台面(如汽车仪表台表面)。当两个活动脚垫13闭合时，两个活动脚垫13的轮廓与固定脚垫120的轮廓吻合，并且使得两个活动脚垫13和固定脚垫120构成的组合件的轮廓与端盖12的轮廓吻合。可选地，固定脚垫120与端盖12一体成型，便于加工制造。
根据本公开的一个实施例，两个活动脚垫13相对于端盖12对称分布，每个活动脚垫13的一端为连接端，用于与端盖12可转动地连接；每个活动脚垫13的另一端为活动端，在活动脚垫13展开时向外打开。根据本公开的另一实施例，所述活动脚垫13的连接端设置有轴台131(如图5所示)，端盖12上设置有两个与轴台131对应的轴孔122(如图9所示)。所述轴台131插设于所述轴孔122内且与端盖12转动配合，以便所述活动脚垫13展开。
根据本公开的一个实施例，所述手柄10的下端为开口端，上端为封闭端，所述端盖12与手柄 10活动连接，当云台稳定器100从收纳状态切换至伸展状态时，稳定器本体20能够从手柄10的下端开口离开手柄10，并且连接于手柄10的上端；当云台稳定器100处于伸展状态时，端盖12封闭手柄10的下端开口，两个活动脚垫13展开，与固定脚垫120形成三角支撑。
进一步地，所述固定脚垫120上设置有扩展口121，如图9所示。所述扩展口121的设置，便于手柄10外接伸缩杆，或者用于手柄10固定到车载等其他平台使用。可选地，如图9所示，扩展口121和两个轴孔122分别位于端盖12的两端，防止活动脚垫13遮挡扩展口121。
图11示出了根据本公开一个实施例的负载保护壳的示意图。如图11所示，所述云台稳定器100还包括负载保护壳50，所述负载保护壳50用于安装所述负载60。所述负载保护壳50上开设有镜头避让口501，以避开负载60上用于摄像或拍照用的镜头，供镜头伸出。如图1和图5所示，所述稳定器本体20上设置有第一快拆固定结构216，如图11所示，所述负载保护壳50上设置有用于与所述第一快拆固定结构216连接的第二快拆固定结构51。通过所述第一快拆固定结构216与第二快拆固定结构51的连接，实现负载保护壳50与稳定器本体20的快速装配与拆卸，提高了装配效率。
根据本公开的一个实施例，所述第一快拆固定结构216为第一凸台，如图11所示，所述第二快拆固定结构51包括与第一凸台对应的卡槽511。当所述负载保护壳50安装于所述云台稳定器100上时，所述第一凸台与卡槽511过盈配合，以实现第一快拆固定结构216和第二快拆固定结构51的快速拆卸。可选地，所述第一凸台的截面形状可以为圆形，也可以为方形、三角形等常规图形，还可以为异形。根据本公开的一个实施例，如图1所示，第一凸台的截面形状采用圆形，与其对应的卡槽511为圆形槽。
根据本公开的一个实施例，如图11所示，所述负载保护壳50包括壳体52和支撑架53，所述第二快拆固定结构51位于所述壳体52的背面(前面用于定位负载60)，所述支撑架53可转动地连接于壳体52的背面。所述支撑架53具有展开状态和收起状态，当支撑架53展开时，支撑架53与壳体52形成夹角；当支撑架53收起时，支撑架53贴合在壳体52的背面上。当负载保护壳50不连接手柄10时，通过支撑架53，实现对壳体52的支撑，进而实现对负载60的支撑。
可选地，如图11所示，所述第二快拆固定结构51为环形凸台，所述环形凸台的中部形成卡槽511。所述支撑架53与其对应的为环状结构，以使支撑架53收起时可以套设在环形凸台的外周上，便于实现支撑架53与第二快拆固定结构51的配合，以减少空间占用。当负载保护壳50连接云台稳定器100时，所述支撑架53收起并套设在环形凸台的外周上，不影响第二快拆固定结构51与第一快拆固定结构216的连接。
根据本公开的一个实施例，如图10和图11所示，所述手柄10上设置有第三快拆固定结构17，所述负载保护壳50上设置有用于与所述第三快拆固定结构17连接的第四快拆固定结构54。所述第三快拆固定结构17和第四快拆固定结构54的设置，实现了负载保护壳50和手柄10的快速装配与拆卸，提高了装配效率。
可选地，所述手柄10上的第三快拆固定结构17既可以设置于安装槽16的位置，也可以与安装槽16分别位于手柄10的相对的两侧。当所述第三快拆固定结构17设置于安装槽16内时，无需占用手柄10的其他侧壁，且所述遥控器40可置于所述安装槽16内，使手柄10的外观较为美观。
根据本公开的一个实施例，如图10所示，所述第三快拆固定结构17设置于安装槽16内，所述第三快拆固定结构17为第二凸台。如图11所示，所述第四快拆固定结构54的轮廓与安装槽16的轮廓匹配，所述第四快拆固定结构54包括与第二凸台对应的凹槽541。当所述负载保护壳50安装于所述云台稳定器100上时，所述第二凸台与凹槽541过盈配合，以实现第三快拆固定结构17与第四快拆固定结构54的快速装配与拆卸。同理，所述第二凸台的截面形状与第一凸台的截面形状类似，既可以为圆形、方形、三角形等常规形状，还可以为异形。根据本公开的一个实施例，如图11所示，所述第二凸台的截面形状为圆形，所述凹槽541为圆形槽。
图12示出了根据本公开一个实施例的手柄与负载保护壳的使用场景示意图。如图12所示，当所述负载保护壳50与手柄10装配时，所述遥控器40既可以设置于手柄10的开口端11，便于用户近 距离操作；所述遥控器40还可以与手柄10分离(图中未示出)，便于用户远程操作。
根据本公开的一个实施例，所述支撑架53还可以与第四快拆固定结构54匹配。当所述支撑架53收起时，支撑架53套设于第四快拆固定结构54，或者支撑架53遮挡第四快拆固定结构54，此种情况时，在第四快拆固定结构54与第三快拆固定结构17连接时，支撑架53与壳体52分离。
另外的或者可替换的，根据本公开的一个实施例，所述第一快拆固定结构216包括第一磁体，所述第二快拆固定结构51包括第二磁体。所述第一快拆固定结构216与所述第二快拆固定结构51通过第一磁体与第二磁体吸附连接，这种连接方式结构简单且便于拆卸。
上述实施例中，当云台稳定器100处于伸展状态，如图2所示，稳定器本体20仍然与手柄10连接在一起。本领域技术人员可以构思将稳定器本体20与手柄10构造成可完全分离的，当用户进行拍照使用时，可以将稳定器本体10从手柄10分离，使用后将稳定器本体10折叠起来并收纳到手柄10中。
本公开还涉及一种用于稳定器本体20的收纳盒，所述收纳盒包括壳体，所述壳体具有内部容置空间，例如为中空结构。所述壳体包括第一电池18和第一充电接口，所述第一充电接口连接到所述第一电池18，从而可对耦合到所述第一充电接口的负载60进行充电。根据本公开的一个实施例，如图3所示，所述收纳盒例如为所述手柄10。
根据本公开实施例的云台稳定器100的优点为：
手柄10可以单独作为充电宝使用，通过连接或者无线的方式对耦合在所述稳定器本体20上的负载60进行充电；
手柄10的中空结构及稳定器本体20的折叠结构，可以实现收纳占用体积空间更小；
收纳状态下稳定器本体20收纳于手柄10的内部，可以保护稳定器本体20，避免日常携带中电机受到损伤，提高了云台稳定器100的使用寿命；
相比传统稳定器有更多的使用功能支撑，支持多种使用场景；
取消了传统固定的手机夹，通过设置可拆卸的负载保护壳50减小云台稳定器100收纳后的体积；
基座30内部设置控制器34、电池33，通过将稳定器本体20及基座30收纳入手柄10内的容置空间，实现收纳体积小；
可分离的遥控器40通过无线连接，实现对负载60或稳定器本体20的远程控制；
手柄10上设置可开合的活动脚垫13，以及手柄10与负载保护壳50配合的安装结构，用于扩展更多的使用场景；
手柄10上设置安装槽16，以实现遥控器40在不同位置的操作需求。
第二方面
图13示出了根据本公开第二方面一个实施例的云台稳定器的展开位置示意图。图14A和图14B示出了根据本公开一个实施例的云台稳定器的爆炸图。如图13、图14A和图14B所示，所述云台稳定器100＇包括：手柄10＇和稳定器本体，所述稳定器本体包括第一旋转电机21＇、第二旋转电机22＇和第一臂31＇。其中所述手柄10＇的内部具有容置空间101＇，如图13所示。稳定器本体可用于连接负载，稳定器本体可至少部分放入所述手柄的容置空间101＇中，下面详细描述。如图14A和图14B所示，所述手柄10＇内还可设置有电池11＇。如图14A所示，所述手柄10＇上包括无线充电模块12＇，作为第一充电接口，所述无线充电模块12＇与所述电池11＇耦接，并配置成可对耦合到其上的负载进行充电。本公开不限于此，第一充电口也可以包括有线充电的实现方案，例如在手柄10＇的外表面上设置有充电座，充电座中具有与负载充电口相对应的充电插接件，当二者对接时，对负载进行充电，这些都在本公开的保护范围内。
所述手柄10＇内还可设置有控制器(图中未示出)。所述电池11＇用于向所述第一旋转电机21＇、第二旋转电机22＇和第三旋转电机23＇供电，所述控制器配置成可控制所述第一旋转电机21＇、第 二旋转电机22＇和第三旋转电机23＇动作。电池11＇和控制器在手柄10＇内的设置，结构紧凑，便于节省安装空间。其中所述控制器可选地为PCB电路板，其上集成有相应的芯片或电路，与所述第一旋转电机21＇、第二旋转电机22＇和第三旋转电机23＇电连接。图14A和2B中将电池11＇示为位于壳体10＇的外部，电池11＇优选集成于壳体10＇的内部，例如位于图中容置空间101＇上方的部位。
在本公开的第一方面的实施例中，云台稳定器包括第一电池和第二电池，其中第一电池用于对负载进行无线充电，第二电池用于驱动稳定器本体进行姿态调整。在本公开的第二方面中，云台稳定器100＇只包括电池11＇，11＇既用于为负载充电，同时用于驱动稳定器本体进行姿态调整。当然，也可以将电池11＇分为两个或多个子电池单元，如第一方面的实施例一样，此处不再赘述。
如图13和14A所示，所述第一旋转电机21＇固定安装在所述手柄10＇上，例如安装在手柄10＇的一个端部上。所述第一臂31＇包括臂体310＇、第一旋转轴311＇和第二旋转轴312＇，所述第一臂体310＇的一端通过第一旋转轴311＇连接到所述第一旋转电机21＇，从而可由所述第一旋转电机21＇围绕所述第一旋转电机21＇的轴线01被驱动旋转，所述第一臂31＇的另一端通过第二旋转轴312＇连接到所述第二旋转电机22＇。
图15示出了根据本公开一个实施例的云台稳定器的折叠位置示意图。所述云台稳定器100＇具有展开位置和折叠位置，如图13和图15所示，所述臂体310＇可围绕所述第一旋转轴311＇枢转，所述第一旋转轴311＇垂直于所述第一旋转电机21＇的轴线01，从而使所述第一臂31＇可以在折叠位置与展开位置之间运动。在所述展开位置，如图13所示，所述第一臂31＇、第一旋转电机21＇和第二旋转电机22＇位于所述手柄10＇外且与所述手柄10＇连接。负载例如可以连接在所述第二旋转电机22＇上且被其稳定支撑和驱动，所述云台稳定器100＇即工作于所述展开位置。其中所述负载可选地为手机、平板电脑、相机等电子产品。在所述折叠位置，所述第一臂31＇和第二旋转电机22＇至少部分接纳在所述容置空间101＇内。如图15所示，通过折叠使所述第一臂体310＇贴于所述手柄10＇的容置空间101＇的开口侧，将所述第二旋转电机22＇接纳在所述容置空间内，此时所述云台稳定器100＇处于收纳状态。通过将所述第二旋转电机22＇收纳于所述容置空间101＇内，使所述云台稳定器100＇的体积减小，便于携带。所述云台稳定器100＇可以根据工作使用需要，通过收纳与否自由切换在所述折叠位置和展开位置。具体地，当需要使用云台稳定器100＇时，例如从容置空间101＇内展开第二旋转电机22＇，使所述第一臂体310＇从贴于所述手柄10＇的容置空间开口侧的位置向远离开口侧移动，使所述第二旋转电机22＇有足够的空间连接和支撑负载；当不需要使用云台稳定器100＇时，折叠所述第一臂体310＇，使第二旋转电机22＇收纳回所述容置空间内。
本公开中，第一旋转轴311＇和第二旋转轴312＇并不局限于其本身是可以旋转的。以第一旋转轴311＇为例，第一旋转轴311＇本身可以相对于第一电机21＇和壳体10＇是固定的(第一旋转轴311＇例如固定在第一旋转电机21＇的输出部(例如输出轴)上)，臂体310＇可围绕第一旋转轴311＇枢转或旋转。或者可替换的，第一旋转轴311＇与臂体310＇是相对不可旋转的，二者除了被第一旋转电机21＇围绕轴线01驱动旋转外，还可以围绕第一旋转轴311＇的纵向轴线共同旋转。对于第二旋转轴312＇亦是如此。这些都在本公开的保护范围内。
可选地，所述第一旋转轴311＇和第二旋转轴312＇的结构为空心轴，进一步减小所述云台稳定器100＇的重量，使其轻量化，更便于携带。
根据本公开的一个实施例，如图13和图14A所示，所述云台稳定器100＇的稳定器本体进一步包括第二臂32＇和第三旋转电机23＇。其中所述第二臂32＇在图中示出为两条，其一端连接到所述第二旋转电机22＇，从而可由所述第二旋转电机22＇围绕其轴线02驱动旋转，所述两条第二臂32＇的另一端连接到所述第三旋转电机23＇的外部，所述第三旋转电机23＇可围绕其轴线03旋转以驱动负载。
根据本公开的一个优选实施例，所述第一旋转电机21＇的直径尺寸设置为20-24mm，高度尺寸设置为18-24mm；所述第二旋转电机22＇和第三旋转电机23＇具有相同的直径尺寸和相同的高度尺寸， 且其直径尺寸设置为22＇mm-28mm，高度尺寸设置为15-20mm。图14A和图14B所示的结构中包括第一臂、第二臂、第一旋转电机、第二旋转电机、第三旋转电机，本公开不限于此，也可以包括数目更多或者更少的臂部和旋转电机。
根据本公开的一个实施例，如图13和图14A所示，所述第二臂32＇的一端通过第三旋转轴313＇连接到所述第二旋转电机22＇，所述第三旋转轴313＇垂直于所述第二旋转电机22＇的轴线02，所述第二臂32＇和第三旋转电机23＇可一同围绕所述第三旋转轴313＇旋转。如图13和图14A所示，第二臂32＇具有双臂结构(图中上方和下方)，双臂在中间位置处连接在一起。双臂在左侧分别具有通孔，第三旋转轴313＇穿过其中，并且穿过所述第二旋转电机22＇。因此，第二臂32＇相对于第二电机22＇围绕第三旋转轴313＇在图中垂直于纸面的平面内旋转。第二臂32＇的右侧固定连接到所述第三旋转电机23＇。可选地，所述第三旋转轴313＇的结构为空心轴，进一步减小所述云台稳定器100＇的重量，使其轻量化，更便于携带。
根据本公开的一个实施例，如图14A所示，所述臂体310＇垂直于所述第一旋转轴311＇，第二旋转轴312＇与所述臂体310＇平行或者共线，所述第二臂32＇垂直于所述第三旋转轴313＇。所述第一旋转轴311＇和所述第二旋转轴312＇的轴线夹角设置为80°-110°，优选地为90°。
根据本公开的一个实施例，如图15所示，所述第二旋转电机22＇通过围绕第二旋转轴312＇旋转以及围绕其自身轴线02驱动旋转，可使得所述第三旋转电机23＇与所述第二旋转电机22＇并行排列。所述第三旋转电机23＇与所述第二旋转电机22＇并行排列的情况既可以为如图14B所示的排列方式，也可以为如图15所示的排列方式。如图14B所示，围绕所述第三旋转电机的轴线03旋转所述第三旋转电机23＇，使得其轴线03与所述第二旋转电机22＇的轴线02共线。或者，第二臂32＇通过围绕所述第三旋转轴313＇旋转，可以使得第三旋转电机23＇的轴线O3平行于第二旋转电机22＇的轴线O2。当需要把所述云台稳定器100＇转换到折叠位置时，可以围绕所述第三旋转轴313＇旋转所述第二臂32＇和第三旋转电机23＇，使得第三旋转电机23＇的轴线03与所述第二旋转电机22＇的轴线02平行，然后驱动所述第二旋转电机22＇，使得所述第二臂32＇和第三旋转电机23＇共同围绕第二旋转电机22＇的轴线O2旋转，在图13和图14A中处于竖直排布的方位(第二旋转电机22＇在上方，第三旋转电机23＇在下方)，然后旋转所述第二旋转轴312＇，使得第二旋转电机22＇和第三旋转电机23＇均大致位于与所述壳体10＇相同的平面内，接下来将所述第一臂31＇围绕所述第一旋转轴311＇枢转，将所述第三旋转电机23＇与所述第二旋转电机22＇并行排列并一同接纳在所述容置空间内，如图15所示。
图16示出了根据本公开的一个实施例的操作单元的示意图。如图15和图16所示，所述云台稳定器100＇还包括操作单元40＇，所述操作单元40配置成可通过所述控制器控制所述第一旋转电机21＇、第二旋转电机22＇和第三旋转电机23＇动作。可选地，所述操作单元40＇可拆卸地连接于手柄10＇，并与所述第一旋转电机21＇、第二旋转电机22＇、第三旋转电机23＇和负载无线连接和通讯，以进行遥控。如图16所示，所述操作单元40＇固定安装于手柄10＇上，便于用户近距离操作。根据本公开的一个优选实施例，所述操作单元40＇为遥控器，所述遥控器可拆卸地连接于所述手柄10＇，此时所述遥控器可从手柄10＇上取出，与所述手柄10＇分离，便于用户远程操作。
根据本公开一个实施例，如图14A所示，所述云台稳定器100＇还包括活动脚垫110＇。可选地，所述活动脚垫110＇为两个，分别为110-1＇和110-2＇。所述两个活动脚垫110-1＇和110-2＇均设置于所述手柄10＇底部的凹槽内，在其展开时支撑所述云台稳定器100＇。具体地，当两个活动脚垫110-1＇和110-2＇从手柄10＇底部的凹槽内展开时，两个活动脚垫110-1＇和110-2＇向外打开实现手柄10＇的竖直稳定支撑，以便将所述手柄10＇稳定立于桌面或者其他台面(如汽车仪表台表面)。当两个活动脚垫110-1＇和110-2＇闭合时，两个活动脚垫110-1＇和110-2＇收纳回手柄10＇底部的凹槽内。
图17示出了根据本公开一个实施例的第三旋转电机的示意图。图18示出了根据本公开一个实施例的负载保护壳的示意图。下面将结合图17和图18对所述负载与所述云台稳定器的连接做进一步说 明。
根据本公开的一个实施例，如图17所示，所述第三旋转电机23＇上设置有负载连接架231＇，所述负载连接架231＇与所述第三旋转电机23＇的输出轴固定连接，第三旋转电机23＇用于驱动所述负载连接架231＇绕所述轴线03转动。所述负载连接架231＇用于连接负载。如图18所示，所述云台稳定器100＇还包括负载保护壳50＇，所述负载保护壳50＇用于安装负载，所述负载保护壳50上开设有镜头避让口501＇，以避开负载上用于摄像或拍照用的镜头，供镜头伸出。
根据本公开的一个实施例，如图17和图18所示，所述第三旋转电机23＇上设置有第一快拆固定结构232＇，所述负载保护壳50＇上设置有用于与所述第一快拆固定结构232＇连接的第二快拆固定结构51＇。通过所述第一快拆固定结构232＇与第二快拆固定结构51＇的连接，实现负载保护壳50＇与第三旋转电机23＇的快速装配与拆卸，提高了装配效率。
根据本公开的一个实施例，所述第一快拆固定结构232＇为环形的第一凸台，如图18所示，所述第二快拆固定结构51＇包括与第一凸台对应的卡槽511＇。当所述负载保护壳50＇安装于所述云台稳定器100＇上时，所述第一凸台与卡槽511＇过盈配合，以实现第一快拆固定结构232＇和第二快拆固定结构51＇的快速拆卸。可选地，所述第一凸台的截面形状可以为环形、圆形，也可以为方形、三角形等常规图形，还可以为异形。根据本公开的一个实施例，如图17所示，第一凸台的截面形状采用圆形，与其对应的卡槽511＇为圆形槽。
根据本公开的一个实施例，如图15所示，所述云台稳定器100＇的手柄10＇上设置有第三快拆固定结构13＇，所述第三快拆固定结构13＇可选地为环形的第二凸台。所述负载保护壳50＇上还设置有用于与所述第三快拆固定结构13＇连接的第四快拆固定结构54＇。所述第四快拆固定结构54＇包括与第二凸台对应的凹槽541＇。当所述负载保护壳50＇安装于所述云台稳定器100＇上时，第二凸台与凹槽541＇过盈配合，以实现第三快拆固定结构13＇与第四快拆固定结构54＇的快速装配与拆卸，提高了装配效率。同理，所述第二凸台的截面形状与第一凸台的截面形状类似，既可以为环形、圆形、方形、三角形等常规形状，还可以为异形。根据本公开的一个实施例，如图15所示，所述第二凸台的截面形状为圆形，所述凹槽541＇为圆形槽。
根据本公开的一个实施例，如图18所示，所述负载保护壳50＇还包括壳体52＇和支撑架53＇，所述第二快拆固定结构51＇设置于所述壳体52＇的背面，所述支撑架53＇可转动地连接于所述壳体52＇的背面。所述支撑架53＇具有展开状态和收起状态，当所述支撑架53＇展开时，所述支撑架53＇与所述壳体52＇形成夹角；当所述支撑架53＇收起时，所述支撑架53＇贴合在所述壳体52＇的背面上。当负载保护壳50＇不连接手柄10＇时，通过支撑架53＇，实现对壳体52＇的支撑，进而实现对负载的支撑。
图18的实施例中，壳体52＇上同时设置有第二快拆固定结构51＇和第四快拆固定结构54＇，本公开不限于此，也可以在壳体上仅设置第二快拆固定结构51＇或第四快拆固定结构54＇。
可选地，如图18所示，所述支撑架53＇为与第一凸台对应的环状结构，以使支撑架53＇收起时可以套设在环形凸台的外周上，便于实现支撑架53＇与第二快拆固定结构51＇的配合，以减少空间占用。当负载保护壳50＇连接云台稳定器100＇时，所述支撑架53＇收起并套设在环形凸台的外周上，不影响第二快拆固定结构51＇与第一快拆固定结构232＇的连接。
根据本公开的一个实施例，如图18所示，所述支撑架53＇还可以与第四快拆固定结构54＇匹配。当所述支撑架53＇收起时，支撑架53＇套设于第四快拆固定结构54＇，或者支撑架53＇遮挡第四快拆固定结构54＇，此种情况时，在第四快拆固定结构54＇与第三快拆固定结构13＇连接时，支撑架53＇与壳体52＇分离。
另外的或者可替换的，根据本公开的一个实施例，所述第一快拆固定结构232＇包括第一磁体，所述第二快拆固定结构51＇包括第二磁体。所述第一快拆固定结构232＇与所述第二快拆固定结构51＇通过第一磁体与第二磁体吸附连接，这种连接方式结构简单且便于拆卸。
图19A和图19B示出了根据本公开另一个实施例的负载保护壳的示意图。图20示出了根据本公 开另一个实施例的负载保护壳和云台稳定器连接的示意图。下面将结合图19A、图19B和图20对所述负载保护壳及其与云台稳定器的连接作进一步说明。
根据本公开的一个实施例，如图19A和图19B所示，所述负载保护壳60＇用于安装和保护负载，包括壳体61＇、第二快拆固定结构62＇和支撑架63＇。其中所述负载例如手机，安装固定在所述壳体61＇上，所述第二快拆固定结构62＇设置于所述壳体61＇的背面，用于与所述第一快拆固定结构232＇连接。另外，所述第二快拆固定结构62＇的背面还设置有卡扣(图中未示出)。通过所述第一快拆固定结构232＇与第二快拆固定结构62＇的连接，实现负载保护壳60＇与第三旋转电机23＇的快速装配与拆卸，提高了装配效率。
根据本公开的一个实施例，所述第一快拆固定结构232＇为环形的凹槽(图中未示出)。如图20所示，所述第二快拆固定结构62＇包括与所述凹槽对应的凸台622＇。当所述负载保护壳60＇安装于所述云台稳定器100＇上时，所述凹槽与凸台622＇过盈配合，以实现第一快拆固定结构232和第二快拆固定结构62的快速拆卸。可选地，所述凸台622＇的截面形状可以为环形、圆形，也可以为方形、三角形等常规图形，还可以为异形。可选地，如图20所示，所述凸台622＇的截面形状采用圆形，与其对应的凹槽为圆形槽。根据本公开的一个实施例，所述第一快拆结构232的凹槽上还设置有凸起(图中未示出)，所述第二快拆固定结构62还包括与所述凸起匹配的凹槽621＇(图19B中更清楚地示出)，从而当所述负载保护壳60与所述云台稳定器100＇连接时，在所述凸台622＇和所述凹槽过盈配合连接的基础上，可以更准确、快速地实现二者的对位匹配和安装。
根据本公开的一个实施例，如图19A和图19B所示，所述支撑架63＇可转动地连接于所述壳体61＇的背面。所述支撑架63＇具有展开状态和收起状态，当所述支撑架63＇展开时，所述支撑架63＇与所述壳体61＇形成夹角；当所述支撑架63＇收起时，所述支撑架63＇贴合在所述壳体61＇的背面上。当负载保护壳60＇不连接第三旋转电机23＇时，通过支撑架63＇，实现对壳体61＇的支撑，进而实现对负载的支撑。
可选地，如图19A和图19B所示，所述支撑架63＇为与所述凸台622＇对应的环状结构，以使支撑架63＇收起时可以套设在环形凸台622＇的外周上，便于实现支撑架63＇与第二快拆固定结构62＇的配合，以减少空间占用。当负载保护壳60＇连接云台稳定器100＇时，所述支撑架63＇收起并套设在环形凸台622＇的外周上，不影响第二快拆固定结构62＇与第一快拆固定结构232＇的连接。根据本公开的一个优选实施例，如图19B所示，所述支撑架63＇为指环扣，所述指环扣通过其安装固定于第二快拆固定结构62＇上的转轴可被翻开，对手机等负载进行支撑，起到支架作用。
根据本公开的一个实施例，如图19A和图19B所示，所述负载保护壳60＇还包括导向部64＇。所述导向部64＇设置在所述壳体61＇上，其中间设置有与所述第二快拆固定结构62＇匹配的凹槽641＇，使所述第二快拆固定结构62＇可在所述凹槽641＇内相对负载滑动。在所述导向部64＇上设置有至少两个滑动停止保持位，分别为第一预设保持位642＇和第二预设保持位643＇，其中所述第一预设保持位642＇设置在负载背面的平面中心位置处(即图示所述凹槽641＇的最右侧)，所述第二预设保持位643＇设置在图示所述凹槽641＇的最左侧。另外，在所述导向部64＇的非凹槽处、所述第一预设保持位642＇和第二预设保持位643＇的对应位置还分别设置有可以与所述第二快拆固定结构62＇的卡扣相配合以使其固定的卡槽(图中未示出)。如图20所示，当所述第二快拆固定结构62＇与所述云台稳定器100＇连接时，将所述第二快拆固定结构62＇滑动到所述第一预设保持位642＇处，并通过所述卡扣与卡槽配合以使所述第二快拆固定结构62＇的位置固定；当负载需要进行其他功能操作或无线充电功能时，将所述第二快拆固定结构62＇滑动到所述第二预设保持位643＇处，并通过所述卡扣与卡槽配合以使所述第二快拆固定结构62＇的位置固定，进行位置避让。
类似地，根据本公开的一个实施例，所述第一快拆固定结构232＇包括第一磁体，所述第二快拆固定结构62＇包括第二磁体。所述第一快拆固定结构232＇与所述第二快拆固定结构62＇通过第一磁体与第二磁体吸附连接，其中所述第一磁体和第二磁体的材质为钢或者其他导磁材料，可被磁铁吸附。这种连接方式结构简单且便于拆卸。
根据本公开实施例的云台稳定器的优点为：
利用三个电机与转轴的布置，实现云台折叠后臂部与电机扁平化，更容易实现电机的收纳，且收纳占用体积空间更小，减小了手柄中的容置空间，而且可以避免日常携带中电机受到损伤，提高了云台稳定器的使用寿命；
优化手柄的空间利用，使手柄可布置电池空间更充足，增加电池容量进而提高续航及作为充电电源的可能；
在手柄内部同时集成了电池和无线充电模块，电池体积增大，容量增加使可集成无线充电有实用意义；
可分离的遥控器通过无线连接，实现对负载或手柄的远程控制；
手柄底部设置可开合的活动脚架，以及手柄与负载保护壳配合的安装结构，增加可用功能，扩展更多的使用场景；
取消了传统固定的手机夹，通过设置可拆卸的负载保护壳减小云台稳定器收纳后的体积。
最后应说明的是：以上所述仅为本公开的优选实施例而已，并不用于限制本公开，尽管参照前述实施例对本公开进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (33)

  1. 一种云台稳定器，包括：
    手柄，所述手柄具有容置空间，所述手柄包括第一电池；
    稳定器本体，负载可连接在所述稳定器本体上，所述稳定器本体可至少部分放入所述手柄的容置空间中；和
    第一充电接口，所述第一充电接口连接到所述第一电池，从而可对耦合到所述第一充电接口的负载进行充电。
  2. 根据权利要求1所述的云台稳定器，其中所述第一充电接口包括无线充电模块，配置成可对放置在其上的负载进行无线充电，
    其中所述稳定器本体包括第二电池，所述第二电池用于驱动所述稳定器本体运动。
  3. 根据权利要求2所述的云台稳定器，其中所述手柄包括位于所述容置空间中的第二充电接口，所述第二充电接口连接到所述第一电池，当所述稳定器本体放入所述容置空间中时，所述第二电池通过所述第二充电接口与所述第一电池形成电连接，从而所述第一电池可对所述第二电池充电。
  4. 根据权利要求2所述的云台稳定器，其中所述手柄包括位于所述容置空间中的第二充电接口，所述第二充电接口连接到所述第一电池，当所述稳定器本体放入所述容置空间中时，所述第一电池通过所述第二充电接口与所述第二电池形成电连接，从而可以共同对耦合到所述第一充电接口的负载进行充电。
  5. 根据权利要求2所述的云台稳定器，其中所述无线充电模块包括发射线圈和发射电路板，所述云台稳定器还包括设置在所述手柄上的充电开关，所述充电开关配置成可开启或者断开所述第一电池对负载的充电。
  6. 根据权利要求1或2所述的云台稳定器，其中所述云台稳定器具有伸展状态和收纳状态，在所述伸展状态，所述稳定器本体至少部分位于所述手柄外且与所述手柄连接；在所述收纳状态，所述稳定器本体收纳于所述容置空间内。
  7. 根据权利要求6所述的云台稳定器，其中所述稳定器本体包括基座和臂部，所述臂部通过第一旋转电机可枢转地安装在所述基座上。
  8. 根据权利要求7所述的云台稳定器，其中所述臂部包括第一臂和第二臂，所述第一臂的一端通过所述第一旋转电机可枢转的安装在所述基座上，所述云台稳定器还包括第二旋转电机和第三旋转电机，其中所述第二旋转电机通过一铰接轴被连接到所述第一臂的另一端，所述第二臂的一端连接到所述第二旋转电机，从而可由所述第二旋转电机驱动旋转，所述第三旋转电机连接到所述第二臂的另一端。
  9. 根据权利要求8所述的云台稳定器，其中所述第一臂的旋转轴垂直于所述铰接轴，所述铰接轴垂直于所述第二旋转电机的旋转轴，所述第二旋转电机的旋转轴垂直于所述第三旋转电机的旋转轴，所述第一电池用于向所述第一旋转电机、第二旋转电机和第三旋转电机供电，所述云台稳定器还包括控制器，所述控制器配置成可控制所述第一旋转电机、第二旋转电机和第三旋转电机。
  10. 根据权利要求8或9所述的云台稳定器，其中所述第一臂大致为L形，所述第二臂可围绕所述铰接轴旋转，从而收纳在所述第一臂的空缺部位。
  11. 根据权利要求7-9中任一项所述的云台稳定器，其中所述基座可在所述容置空间中在第一位置和第二位置之间滑动，其中当所述基座在第一位置时，所述云台稳定器处于伸展状态；当所述基座在第二位置时，所述云台稳定器处于收纳状态，其中所述手柄具有第一锁定部和第二锁定部，其中所述第一锁定部配置成可将所述基座锁定于所述第一位置，所述第二锁定部配置成可将所述基座锁定于所述第二位置。
  12. 根据权利要求11所述的云台稳定器，其中所述第一锁定部和第二锁定部包括卡扣或卡孔；所述基座上设置有与所述第一锁定部和第二锁定部相对应的卡孔或卡扣。
  13. 根据权利要求9所述的云台稳定器，还包括操作单元，所述操作单元配置成可通过所述控制器控制所述第一旋转电机、第二旋转电机和第三旋转电机动作。
  14. 根据权利要求13所述的云台稳定器，其中所述操作单元为遥控器，所述遥控器可拆卸地连接于所述手柄。
  15. 根据权利要求14所述的云台稳定器，其中当所述云台稳定器处于收纳状态时，所述遥控器可封闭所述容置空间的开口端。
  16. 根据权利要求1或2所述的云台稳定器，还包括固定脚垫和活动脚垫，所述固定脚垫和活动脚垫设置于所述手柄的底部，从而支撑所述云台稳定器。
  17. 根据权利要求1或2所述的云台稳定器，其中所述云台稳定器还包括终端保护壳，所述终端保护壳用于安装终端，所述稳定器本体上设置有第一快拆固定结构，所述终端保护壳上设置有用于与所述第一快拆固定结构连接的第二快拆固定结构。
  18. 根据权利要求17所述的云台稳定器，其中所述手柄上设置有第三快拆固定结构，所述终端保护壳上还设置有用于与所述第三快拆固定结构连接的第四快拆固定结构。
  19. 根据权利要求17所述的云台稳定器，其中所述终端保护壳包括壳体和支撑架，所述第二快拆固定结构设置于所述壳体的背面，所述支撑架可转动地连接于所述壳体的背面，所述支撑架具有展开状态和收起状态，当所述支撑架展开时，所述支撑架与所述壳体形成夹角；当所述支撑架收起时，所述支撑架贴合在所述壳体的背面上。
  20. 根据权利要求19所述的云台稳定器，其中所述第二快拆固定结构为环形凸台，所述支撑架为环状结构，当所述支撑架收起时，所述支撑架套设在所述环形凸台的外周上。
  21. 根据权利要求17所述的云台稳定器，其中所述第一快拆固定结构包括第一磁体，所述第二快拆固定结构包括第二磁体。
  22. 根据权利要求1所述的云台稳定器，其中所述稳定器本体包括第一旋转电机、第二旋转电机和第一臂，其中所述第一旋转电机安装在所述手柄上；所述第一臂包括第一臂体、第一旋转轴和第二旋转轴，所述第一臂体的一端通过第一旋转轴连接到所述第一旋转电机，从而可由所述第一旋转电机围绕所述第一旋转电机的轴线驱动旋转，所述第一臂的另一端通过第二旋转轴连接到所述第二旋转电机。
  23. 根据权利要求22所述的云台稳定器，其中所述第一臂体可围绕所述第一旋转轴枢转，所述第一旋转轴垂直于所述第一旋转电机的轴线，从而可以在折叠位置与展开位置之间运动，在所述展开位置，所述第一臂和第二旋转电机位于所述手柄外且与所述手柄连接；在所述折叠位置，所述第一臂和第二旋转电机至少部分接纳在所述容置空间内。
  24. 根据权利要求22或23所述的云台稳定器，其中所述稳定器本体还包括第二臂和第三旋转电机，其中所述第二臂的一端连接到所述第二旋转电机，从而可由所述第二旋转电机围绕其轴线驱动旋转，所述第二臂的另一端连接到所述第三旋转电机，所述第三旋转电机配置成可驱动负载。
  25. 根据权利要求24所述的云台稳定器，其中所述第二臂的一端通过第三旋转轴连接到所述第二旋转电机，所述第三旋转轴垂直于所述第二旋转电机的轴线，所述第二臂可围绕所述第三旋转轴旋转。
  26. 根据权利要求24所述的云台稳定器，其中所述第一臂体垂直于所述第一旋转轴，所述第二旋转轴与所述第一臂体共线或平行，所述第二臂垂直于所述第三旋转轴。
  27. 根据权利要求24所述的云台稳定器，其中所述第二旋转电机通过围绕第二旋转轴旋转以及围绕其自身轴线驱动旋转，可使得所述第三旋转电机与所述第二旋转电机并行排列。
  28. 根据权利要求24所述的云台稳定器，其中在所述折叠位置时，所述第三旋转电机与所述第二旋转电机并行排列并接纳在所述容置空间内。
  29. 根据权利要求24所述的云台稳定器，其中所述手柄内设置有控制器，所述第一电池用于向所述第一旋转电机、第二旋转电机和第三旋转电机供电，所述控制器配置成可控制所述第一旋转电机、第二旋转电机和第三旋转电机。
  30. 根据权利要求29所述的云台稳定器，其中所述第一充电接口包括无线充电模块，所述无线充电模块与所述第一电池耦接，配置成可对放置在其上的负载进行无线充电。
  31. 根据权利要求29所述的云台稳定器，还包括操作单元，所述操作单元配置成可通过所述控制器控制所述第一旋转电机、第二旋转电机和第三旋转电机动作。
  32. 根据权利要求31所述的云台稳定器，其中所述操作单元为遥控器，所述遥控器可拆卸地连接于所述手柄。
  33. 一种用于稳定器本体的收纳盒，包括壳体，所述壳体具有内部容置空间，所述壳体包括第一电池和第一充电接口，所述第一充电接口连接到所述第一电池，从而可对耦合到所述第一充电接口的负载进行充电。
PCT/CN2020/134377 2020-09-29 2020-12-08 云台稳定器及用于稳定器本体的收纳盒 WO2022068049A1 (zh)

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