WO2022126340A1 - 遥控装置和遥控套装 - Google Patents

遥控装置和遥控套装 Download PDF

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Publication number
WO2022126340A1
WO2022126340A1 PCT/CN2020/136247 CN2020136247W WO2022126340A1 WO 2022126340 A1 WO2022126340 A1 WO 2022126340A1 CN 2020136247 W CN2020136247 W CN 2020136247W WO 2022126340 A1 WO2022126340 A1 WO 2022126340A1
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WO
WIPO (PCT)
Prior art keywords
remote control
control device
clamping arm
housing
clamping
Prior art date
Application number
PCT/CN2020/136247
Other languages
English (en)
French (fr)
Inventor
廖明星
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080070569.9A priority Critical patent/CN114830057A/zh
Priority to PCT/CN2020/136247 priority patent/WO2022126340A1/zh
Publication of WO2022126340A1 publication Critical patent/WO2022126340A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

Definitions

  • the present disclosure relates to the technical field of remote control, and in particular, to a remote control device and a remote control suit.
  • some electronic devices can control distant objects through wireless signals.
  • some electronic devices use joystick-type remote control devices, such as drones, which control the navigation and throttle of the drone by controlling the movement of the left and right joysticks.
  • some electronic devices use a wheel-type remote control device, such as a TV, which controls the TV to change sounds and channels by sliding the wheel.
  • some remote control devices are also equipped with a display screen to visualize the control of the remote control device.
  • embodiments of the present invention provide a remote control device and a remote control suit.
  • a remote control device comprising: a housing and two clamping arms;
  • the housing includes two opposite side walls, and both of the two opposite side walls are provided with accommodating grooves recessed toward the inside of the housing;
  • Each of the gripping arms is mounted on the housing and is movable relative to the housing between a deployed position and a stowed position;
  • the clamping arm When the clamping arm is in the storage position, the clamping arm is accommodated in the accommodating groove of the side wall;
  • the two gripping arms and the housing together define a gripping space for gripping the movable terminal.
  • a remote control device comprising: a housing and two clamping arms;
  • each of the gripping arms is mounted on the housing and each of the gripping arms is rotatable relative to the housing between a deployed position and a stowed position;
  • the two clamping arms and the housing together define a clamping space for clamping the movable terminal
  • the clamping arm When the angle of rotation of the clamping arm in the first direction relative to the housing is smaller than a preset angle under the driving of the external force, the clamping arm has a torsional force that rotates in the opposite direction of the first direction;
  • the clamping arm When the angle of rotation of the clamping arm in the first direction relative to the housing is greater than a preset angle under the driving of the external force, the clamping arm has a torsional force that continues to rotate in the first direction.
  • a remote control device comprising: a housing and two clamping arms;
  • each of the gripping arms is mounted on the housing and each of the gripping arms is rotatable relative to the housing between a deployed position and a stowed position;
  • the two clamping arms and the housing together define a clamping space for clamping the movable terminal
  • a communication module is accommodated in the clamping arm, and the communication module is used to communicate and connect the remote control device and the control object of the remote control device.
  • a remote control device comprising: a housing and two clamping arms;
  • each of the gripping arms is mounted on the housing and each of the gripping arms is rotatable relative to the housing between a deployed position and a stowed position;
  • the two clamping arms and the housing together define a clamping space for clamping the movable terminal
  • the clamping arm When the angle of rotation of the clamping arm in the first direction relative to the housing is smaller than a preset angle under the driving of the external force, the clamping arm has a torsional force that rotates in the opposite direction of the first direction;
  • the clamping arm When the angle of rotation of the clamping arm in the first direction relative to the housing is greater than a preset angle under the driving of the external force, the clamping arm has a torsional force that continues to rotate in the first direction.
  • a remote control device comprising: a housing and two clamping arms;
  • each of the gripping arms is mounted on the housing and each of the gripping arms is rotatable relative to the housing between a deployed position and a stowed position;
  • the two clamping arms and the housing together define a clamping space for clamping the movable terminal
  • a communication module is accommodated in the clamping arm, and the communication module is used to communicate and connect the remote control device and the control object of the remote control device.
  • a remote control device includes a housing and two gripping arms;
  • each of the gripping arms is mounted on the housing and each of the gripping arms is rotatable relative to the housing between a deployed position and a stowed position;
  • both of the gripping arms When both of the gripping arms are in the stowed position, the two gripping arms are located on different sides of the housing;
  • the two gripping arms and the housing together define a gripping space for gripping the movable terminal.
  • a remote control kit including a movable platform and the above-mentioned remote control device.
  • the present disclosure provides a receiving groove on the side wall of the housing of the remote control device, so that the holding arm for holding the mobile terminal is received in the receiving groove when the remote control device is in a non-working state. Therefore, the remote control device becomes more compact, which is beneficial to the storage and transportation of the remote control device.
  • FIG. 1 to 4 are schematic structural diagrams of a remote control device according to an embodiment of the present disclosure, wherein the clamping arm of FIG. 1 is located at a storage position, the clamping arm of FIG. 2 is located between the storage position and the deployed position, and The gripper arm of Figure 4 is in the deployed position;
  • FIGS. 5 and 6 are schematic diagrams of the remote control device in FIGS. 1 to 4 clamping the movable terminal
  • FIG. 7 and 8 are schematic structural diagrams of another remote control device according to an embodiment of the present disclosure, wherein the clamping arm in FIG. 7 is in a storage position and the retractable member is in a retracted state, and the retractable member in FIG. 8 is in a sliding out state state;
  • FIG. 9 is a schematic diagram of the remote control device in FIGS. 7 and 8 holding the mobile terminal.
  • 171-left telescopic piece 1711-left mounting seat; 1713-left sliding rod; 173-right telescopic piece; 1731-right mounting seat; 1733-right sliding rod;
  • the drone With the gradual development of technology, many electronic devices can be controlled from a long distance, so that operators can stay away from the work area of electronic devices.
  • the drone is usually equipped with a remote control device, and the pilot can operate the remote control to control the working status of the drone and its equipment such as cameras, so as to send the drone to a predetermined area to perform corresponding tasks. mission, and the pilot does not need to follow.
  • the pilot can control the drone to fly to the vicinity of the scene to shoot through the remote control device, and he does not need to be in danger; or, when a long-distance line inspection is required, the pilot By controlling the drone to fly along the cable erected on the lofty mountains, the cable image can be sent back to the pilot or other receiving terminal in real time, thereby improving the efficiency of the line inspection.
  • the direct signal transmission method was adopted between the remote control device and the controlled device, that is to say, the control signal sent by the remote control device was directly received and executed by the controlled device, and the signal returned by the controlled device was also sent directly.
  • the remote control device it is required that the controlled device and the remote control device must be within the coverage of the other party's signal, resulting in too small remote control distance.
  • technologies such as 5G and satellite communication
  • people's remote control of electronic devices has gradually been separated from the direct signal transmission between the remote control device and the controlled device itself, through mobile signals or satellite signals and cloud data. During the transfer of the center, the operator can even remotely control the electronic equipment thousands of kilometers away without leaving home, which greatly enriches the application scenarios of remote control operation.
  • APPs for controlling or monitoring one or more electronic devices in the smart home.
  • the service provider will provide a washing machine control APP, and the service recipient only needs to open the APP on the mobile terminal to control the corresponding electronic device through the APP.
  • the service provider will provide an APP to control the working status of the drone or its equipment. Image information captured by human and machine.
  • some current remote control devices are equipped with a movable terminal that can be separated from other parts.
  • the movable terminal can be a display screen, a dedicated or general control module, a user's mobile phone or a tablet computer, etc.
  • these current remote control devices are generally large in size in order to be able to install a mobile terminal during use, and it is difficult to meet users' demands for compactness.
  • the present disclosure provides a accommodating groove on the side wall of the casing of the remote control device, so that the clamping arm for clamping the mobile terminal is accommodated in the accommodating groove when the remote control device is in a non-working state, so that the remote control device is in a non-working state.
  • the device becomes more compact, facilitating the storage and transport of the remote control device.
  • the antenna module of the remote control device in the clamping arm for clamping the movable terminal, the antenna module is prevented from being exposed outside the casing of the remote control device, which not only protects the antenna module, but also protects the antenna module. It also makes the remote control device more compact, which is beneficial to the storage and transportation of the remote control device.
  • FIGS. 1 to 4 are schematic structural diagrams of a remote control device provided by the present disclosure
  • FIGS. 5 and 6 are schematic views of the remote control device from different viewing angles after clamping the mobile terminal.
  • the remote control device 10 shown in FIGS. 1 to 6 includes a housing 110 and two clamping arms 131 , 133 rotatably mounted on the side walls of the housing 110 .
  • the casing 110 is roughly a rectangular parallelepiped-shaped structure, and has a cavity inside for mounting such as a main control circuit board or other mechanical and non-mechanical components.
  • a communication module with an invalid communication method such as WiFi, Bluetooth, or ZigBee is provided in the casing 110 .
  • the housing 110 includes a top wall, a bottom wall, a left side wall, a right side wall, a front side wall and a rear side wall and a cavity enclosed by them.
  • a receiving groove 1101 and 1103 extending along the X direction in the figure are respectively provided on the left side wall and the right side wall of the housing 110 .
  • the left clamping arm 131 is rotatably installed in the accommodating groove 1101 of the left side wall through the left rotating shaft 151
  • the right clamping arm 133 is rotatably installed through the right rotating shaft 153 in the accommodating groove 1103 of the right side wall.
  • the left clamping arm 131 is accommodated in the left accommodating slot 1101 when it is in the storage position, and the right clamping arm 133 is accommodated in the right accommodating slot 1103 when it is in the accommodation position; when it needs to be installed on the remote control device 10
  • the left gripping arm 131 in FIG. 1 can be rotated clockwise to make it rotate relative to the housing 110 around the left rotating shaft 151 arranged along the Z-axis direction, and correspondingly, rotate counterclockwise in FIG. 1
  • the right gripping arm 133 in the center is rotated relative to the housing 110 around the right rotating shaft 153 arranged in the Z-axis direction.
  • the left clamping arm 131 and the right clamping arm 133 are rotated relative to the housing 110 to the deployed position as shown in FIGS. 3 and 4 , the left clamping arm 131 and the right clamping arm 133 A space for holding the mobile terminal 20 is collectively defined; then, the mobile terminal 20 can be mounted to the left holding arm 131 and the right holding arm 133 of the remote control device 10 as shown in FIGS. 5 and 6 . between.
  • the remote control device 10 may be wirelessly connected to the mobile terminal 20 through a communication module installed in the housing 110 for data interaction.
  • the remote control device 10 can also be connected to the mobile terminal 20 via wired communication or through contacts for data interaction, wherein the interface or contacts for wired connection can be provided on the left gripping arm 131 or the right gripping arm 133 can also be provided on the housing 110.
  • the interface or contacts for wired connection can be provided on the left gripping arm 131 or the right gripping arm 133 can also be provided on the housing 110.
  • the movable terminal 20 may also be directly communicatively connected with the control object of the remote control device without going through the remote control device.
  • At least one of the left accommodating groove 1101 and the right accommodating groove 1103 may penetrate the entire casing 110 along the X direction in FIG. 1 .
  • the lengths of the left gripping arm 131 and the right gripping arm 133 may be equal to or less than the lengths of the accommodating slots 1101 and 1103 in the stored state, and the lengths of the two may exceed the lengths of the accommodating slots 1101 and 1103 in the unfolded state, for example , at least one of the left gripping arm 131 and the right gripping arm 133 may adopt a telescopic arm.
  • the casing 110 in FIGS. 1 to 5 of the present disclosure is a cuboid-shaped structure
  • the casing 110 may also be a structure of other shapes.
  • the cross section of the housing 110 in FIG. 1 is roughly rectangular, then in other implementations, the cross section may be five polygons or hexagons, etc.
  • left and right gripping arms 131 and 133 shown in FIG. 1 are disposed on the opposite left and right side walls of the housing 110, respectively, in some other examples, the two gripping arms It can also be arranged on two adjacent side walls of the housing 110 .
  • the shape of the left receiving slot 1101 may be configured to match the shape of the left clamping arm 131 .
  • the left accommodating groove 1101 may also be configured in a rectangular shape.
  • the shape of the right accommodating slot 1103 can also be configured to match the shape of the right clamping arm 133 .
  • the left accommodating slot 1101 may be larger than the left clamping arm 131
  • the right accommodating slot 1103 may also be larger than the right clamping arm 133 .
  • the left accommodating groove 1101 and the right accommodating groove 1103 By setting the left accommodating groove 1101 and the right accommodating groove 1103 to match the shapes of the left clamping arm 131 and the right clamping arm 133 respectively, the left clamping arm 131 is accommodated in the left accommodating groove 1101 and the right clamping arm 133 is accommodated
  • the top and bottom surfaces of the clamping arms 131 , 133 are respectively attached to the groove walls of the accommodating grooves 1101 , 1103 , which is beneficial to prevent the clamping arms 131 , 133 from coming out of the accommodating grooves 1101 , 1103 .
  • the clamping arms 131, 133 shown in FIG. 1 are accommodated in the accommodating grooves 1101, 1103 of the side walls of the housing 110, and the clamping arms 131, 133 are rotatably mounted on the shafts arranged in the Z-axis direction
  • the accommodating grooves 1101 and 1103 may not be provided on the side walls of the housing 110, but the side walls of the The rotating shaft is arranged in the axial direction, so that the two clamping arms can be rotated relative to the housing 110 around the Y-axis direction to the deployed position and the storage position, and when the two clamping arms 131, 133 are rotated to the deployed position, the mobile terminal 20 remains It can be clamped between the two clamp arms 131 , 133 .
  • coaxial shaft holes are provided on the upper groove wall and the lower groove wall of the left accommodating groove 1101, and the two ends of the left shaft 151 are respectively penetrated in the two coaxial shaft holes; correspondingly Yes, a through hole is provided on the left clamping arm 131, so that the left clamping arm 131 can be sleeved on the middle part of the left rotating shaft 151 through the through hole.
  • coaxial shaft holes are provided on the upper groove wall and the lower groove wall of the right accommodating groove 1103, and both ends of the right rotating shaft 153 are respectively penetrated through the two coaxial shaft holes.
  • a through hole is provided on the right clamping arm 133, so that the right clamping arm 133 can be sleeved on the middle part of the right rotating shaft 153 through the through hole.
  • the shaft hole provided on the left accommodating groove 1101 is located at the front end of the left accommodating groove 1101 , and correspondingly, the through hole of the left clamping arm 131 is provided at the front end of the left clamping arm 131 ; it is provided on the right accommodating groove 1103
  • the shaft hole is located at the front end of the right accommodating slot 1103, and correspondingly, the through hole of the right clamping arm 133 is set at the front end of the right clamping arm 133;
  • the through holes of the clamping arms 131 and 133 are also provided at the rear ends thereof.
  • the left clamping arm 131 By arranging the shaft holes at the ends of the accommodating grooves 1101 and 1103, it is beneficial for the left clamping arm 131 to rotate around the left rotation shaft 151 arranged along the Z-axis direction, and it is beneficial for the right clamping arm 133 to be arranged around the right side along the Z-axis direction.
  • the shaft 153 rotates.
  • At least one of the left rotating shaft 151 and the right rotating shaft 153 can be configured as an elastic rotating shaft, so that before the clamping arms 131 , 133 rotate around the elastic rotating shaft to a predetermined angle, the elastic rotating shaft can be the clamping arms 131 , 133 A reverse torsion force is provided to restore the clamping arms 131, 133 to the storage position, and when the clamping arms 131, 133 rotate beyond the preset angle, the elastic shaft will provide a positive torsional force for the clamping arms 131, 133 again , so that the gripping arms 131, 133 can continue to rotate to the deployed position.
  • the left clamping arm 131 in FIG. 2 when it is rotatably installed in the left accommodating groove 1101 of the left side wall of the housing 110 through the elastic rotating shaft, if the clockwise rotation is smaller than the preset angle (for example, 60 °), when the driving force driving the clockwise rotation disappears, the left clamping arm 131 will return to the storage position under the action of the counterclockwise twisting force provided by the elastic rotating shaft, and when the left clamping arm 131 When the holding arm 131 is rotated more than the preset angle, even if the driving force driving the left holding arm 131 to rotate clockwise disappears, the left holding arm 131 can still be under the action of the clockwise twisting force provided by the elastic rotating shaft Continue to rotate to the unfolded position.
  • the preset angle for example, 60 °
  • the clamping arms 131, 133 can be prevented from being opened by mistake, and when both the left hinge 151 and the right hinge 153 use elastic hinges, these two elastic hinges can also provide the left gripping arms 131 and 153 in the unfolded position.
  • the twisting force of the right clamping arms 133 in the direction of approaching each other can provide additional clamping force to the movable terminal 20 to better clamp the movable terminal 20 .
  • the elastic rotating shaft can make the left gripping arm and the right gripping arm rotate in the direction of approaching each other torsional force, it can also be adapted to the movable terminals 20 with different lengths or widths.
  • the elastic rotating shaft may include a rotating shaft casing, a spring, an upper clutch gear, a lower clutch gear and a central shaft.
  • the outer casing of the rotating shaft is fastened on the inner wall of the through hole of the clamping arm; the central shaft is inserted into the casing of the rotating shaft, and the two ends of the central shaft extend into the shaft holes of the upper groove wall and the lower groove wall respectively;
  • the clutch gear and the lower clutch gear are sequentially sleeved on the central shaft from top to bottom, the top end of the spring is abutted against the outer casing of the rotating shaft, and the lower clutch gear is abutted against the head of the central shaft.
  • the upper clutch gear and the lower clutch gear can be any suitable gears, for example, bevel gears; the elastic members can be replaced by other elastic members such as rubber members.
  • the left gripping arm 131 and the right gripping arm 133 may also be used to make the left gripping arm 131 and the right gripping arm 133 have an elastic force to move toward each other when they are in the unfolded position, so as to be the gripper of the movable terminal 20 .
  • Holder provides additional clamping force.
  • the clamping arms 131 , 133 of the present disclosure may be configured to be capable of a rotation angle greater than 180° relative to the housing 110 , thereby providing additional clamping for the clamping of the movable terminal 20 when the clamping arms 131 , 133 are rotated to the deployed position force.
  • it may be an elastic linkage mechanism or a link mechanism configured between the left clamping arm 131 and the right clamping arm 133, so that when the left clamping arm 131 and the right clamping arm 133 are relative to each other
  • the elastic linkage mechanism or link mechanism will pull the left gripping arm 131 and the right gripping arm 133 to move closer and closer.
  • a linear spring can be used to directly connect the left clamping arm 131 and the right clamping together, so that when the left and right clamping arms 133 are rotated to be parallel to the linear spring, the linear spring can drive the two clamping arms move towards each other.
  • the elastic rotating shaft is configured to make the left clamping arm 131 and the right clamping arm 133 have opposite movement trends before and after the rotation relative to the housing 110 to the preset angle when the external force is withdrawn, this It is not that the remote control device 10 can only adopt the elastic rotating shaft structure.
  • other mechanisms can also be used to achieve the same function.
  • the left clamping arm 131 and the right clamping arm 133 can achieve the same movement mode through an elastic linkage mechanism or a link mechanism.
  • the linear spring has the ability to drive two After the clamping arms 131, 133 are rotated to be parallel to the linear spring, the linear spring has a torsional force that drives the movement of the two clamping arms to the deployed position.
  • the above motion trajectory can also be easily realized by using a multi-link mechanism. For details, please refer to the design method of the multi-link mechanism.
  • the outer surface of the left clamping arm 131 is provided with a left side slot 1311 recessed toward the inside of the left clamping arm 131 , so that one of the side edges of the mobile terminal 20 can be moved. It can be accommodated in the left side card slot 1311 to reduce the possibility of the clamping space defined by the two clamping arms of the movable terminal 20 .
  • the shape of the slot 1311 on the left side can be set to match the shape of one of the sides of the mobile terminal 20 .
  • the left side card slot 1311 can also be correspondingly set to a matching rectangle or rectangle with rounded corners.
  • the left side clip slot 1311 can also be configured to be capable of interference fit with one of the side edges of the movable terminal 20, so as to further reduce the risk of the movable terminal 20 slipping from the clamping space.
  • the outer surface of the right clamping arm 133 is provided with a right side slot 1331 recessed toward the inside of the right clamping arm 133 so that one of the movable terminals 20 can be moved.
  • the side edge can be accommodated in the right edge slot 1331 to reduce the possibility of the clamping space defined by the two clamping arms of the mobile terminal 20 .
  • the shape of the right side slot 1331 can be set to match the shape of one of the sides of the mobile terminal 20 .
  • the right side card slot 1331 can also be correspondingly set to a matching rectangle or rectangle with rounded corners.
  • the right side clip slot 1331 can also be configured to be capable of interference fit with one of the side edges of the movable terminal 20, so as to further reduce the risk of the movable terminal 20 slipping from the clamping space.
  • both the left clamping arm 131 and the right clamping arm 133 are provided with side clamping grooves, the two opposite sides of the movable terminal 20 can be accommodated in the side clamping grooves, which can further reduce the movable Risk of the terminal 20 slipping out of the clamping space.
  • the side engaging slot 1331 penetrates through the front end of the right clamping arm 133 .
  • a bottom edge slot 1105 is provided on the front side wall of the housing 110 , so that the bottom edge of the movable terminal 20 can be accommodated in the bottom edge slot 1105 to further The risk of the movable terminal 20 slipping from the holding space is reduced. It is easy to understand that the bottom edge retaining slot 1105 matches the shape of the bottom edge of the movable terminal 20 or the two are in an interference fit.
  • silica gel is provided in at least one of the side grooves 1311 , 1331 and the bottom groove 1105 of the clamping arms 131 , 133 to increase friction and reduce the risk of the movable terminal 20 slipping from the clamping space.
  • a communication module is accommodated in at least one of the left clamping arm 131 and the right clamping arm 133, and the communication module is used to communicate and connect the remote control device 10 and the control object of the remote control device 10, wherein the communication connection may be
  • the direct communication connection can also be a transit connection through other devices; the control objects include but are not limited to mobile platforms such as drones, mobile robots, and unmanned vehicles.
  • an antenna module is provided in both the left clamping arm 131 and the right clamping arm 133, and the remote control device 10 can use the antenna module to use wireless communication signals such as WIFI, Bluetooth, ZigBee, 5G, microwave communication, etc. directly or through transfer
  • the device is indirectly connected in communication with the control object of the remote control device 10 .
  • the drone can be taken as an example.
  • the control signal of the remote control device 10 is broadcasted through the antenna module in the clamping arm.
  • the antenna module configured on the drone controls the drone after being processed by the flight control.
  • the corresponding actuator executes the control instructions in the control signal to change the flying state of the UAV or the working state of the equipment carried on the UAV.
  • the communication tower receives the control signal and broadcasts it to a farther place, so that no one outside the broadcast range of the antenna module of the remote control device 10 is unmanned.
  • the computer can also receive the control signal of the remote control device 10 so as to execute the control command of the remote control device 10 .
  • the communication module of the remote control device 10 By installing the communication module of the remote control device 10 into the clamping arms 131, 133, it is not necessary to install the communication module in other parts of the housing 110, which is beneficial to the miniaturization and compactness of the remote control device 10; moreover, since the communication module can follow the clamping
  • the rotation of the arms 131, 133 together relative to the housing 110 is also beneficial for optimizing the signal transmission and reception of the communication module.
  • the clamping arms 131 and 133 When the communication modules are installed into the clamping arms 131 and 133, their positions and angles can be designed according to actual needs, so as to facilitate the transmission and reception of wireless signals.
  • the clamping arms 131 and 133 include a first centerline along the X-axis direction and a second centerline along the Y-axis direction, and the circuit board of the communication module is disposed inclined to the second centerline along the Y-axis, Therefore, the wireless signal transmission and reception of the communication module can be facilitated.
  • the first center line of the clamping arms 131 , 133 is perpendicular to the left and right rotating shafts 151 and 153 arranged in the Z-axis direction, and when the clamping arms 131 , 133 are accommodated in the accommodating grooves 1101 , 1103 , the first center line It extends along the extending direction of the accommodating slot, so that the circuit board of the communication module extends along the X-axis direction and is inclined to the XY plane.
  • the first center line may also be along the Y-axis or the Z-axis direction, and the second center line extends along different axes accordingly.
  • the antenna module including the circuit board and the antenna mounted on the circuit board
  • the clamping arms 131, 133 can be rotated between the unfolded position and the storage position, when the clamping arms 131, 133 are in the storage position, the circuit board is mounted with the antenna
  • the surface of the circuit board may face the direction of the housing; and when the clamping arms 131, 133 are in the unfolded position, the surface of the circuit board on which the antenna is mounted faces away from the clamping space.
  • the clamping arms 131 and 133 are in different positions, the surface of the circuit board has different orientations.
  • the communication modules in the clamping arms 131 and 133 and the processing module in the housing 110 can be connected through wireless signal communication.
  • the communication module and the processing module may also be communicatively connected through wired transmission.
  • wire holes are provided on the side wall of the housing 110 and the side walls of the clamping arms 131 and 133 for connecting the communication module and the processing module.
  • contacts or terminals that are electrically connected to the connecting wires can also be provided on the side walls of the housing 110 and the side walls of the clamping arms 131, 133, so as to realize signal transmission or power transmission through the contact of the contacts or terminals .
  • the communication modules in the clamping arms 131 and 133 and the mobile terminal 20 can also be connected by wireless signal or wired transmission, that is to say, the remote control device 10 is used for communication with the mobile terminal 20
  • the modules may not be arranged in the housing 110 but in the clamping arms 131 , 133 .
  • contacts or terminals may be provided on the outer surfaces of the clamping arms 131 , 133 , so that the communication module and the mobile terminal 20 can be connected between the communication module and the mobile terminal 20 through the contacts or terminals. transmit signals between.
  • the communication module for communicatively connecting the movable terminal 20 and the communication module for communicatively connecting the control object in the clamping arms 131 , 133 may be integrated together.
  • a Bluetooth module communicatively connected with the mobile terminal 20 and an antenna module communicatively connected with the movable platform are provided in the clamping arms 131, 133, and the Bluetooth module and the antenna module can be integrated on the same circuit board.
  • the power supply configured in the housing 110 may supply power to the communication module through the contacts or terminals on the side walls of the housing 110 and the clamping arms 131 , 133 , or the mobile terminal 20 may be provided on the side walls of the clamping arms 131 , 133
  • the contacts or terminals supply power to the communication module inside the gripper arm.
  • the power supply can also be used to power the mobile terminal 20 or the communication module in the housing 110 .
  • the left gripping arm 131 and the right gripping arm 133 are both configured to rotate relative to the housing 110 in order to switch between the stowed position and the unfolded position
  • the At least one of the left clamp arm 131 and the right clamp arm 133 may be configured to switch between the stowed position and the deployed position by sliding relative to the housing 110 .
  • the left clamping arm 131 configured to be slidable relative to the housing 110 on the groove walls of the left clamping arm 131 and the left accommodating groove 1101, there are arranged along the length direction of the left accommodating groove 1101 and cooperate with each other. sliding mechanism.
  • a slideway is provided on the groove wall of the left accommodating slot 1101, and a slider slidably arranged in the slideway is provided on the left clamping arm 131, so that the left clamping arm 131 can slide in the slideway together with the slider , so that the left clamping arm 131 can move between the storage position received in the left receiving slot 1101 and the deployed position at least partially disengaged from the left receiving slot 1101 .
  • the right clamping arm 133 may be configured to be able to slide relative to the right receiving slot 1103 in the same or similar manner.
  • left gripping arm 131 and the right gripping arm 133 move relative to the housing 110 in a rotating or sliding manner, when the left gripping arm 131 and the right gripping arm 133 are in the deployed position and/or the storage position , both of which can be configured to have a tendency to move toward each other by means of mechanisms such as springs.
  • FIG. 7 and 8 are schematic structural diagrams of another remote control device 10 provided by the present disclosure
  • FIG. 9 is a schematic diagram of the remote control device 10 in FIGS. 7 and 8 clamping the movable terminal 20 .
  • the difference from FIG. 1 to FIG. 6 is that the front end of the left accommodating slot 1101 is provided with a left telescopic piece 171 connected with the housing 110 , and the left clamping arm 131 is rotatably installed On the left telescopic piece 171 ; the front end of the right accommodating slot 1103 is provided with a right telescopic piece 173 connected to the housing 110 , and the right clamping arm 133 is rotatably mounted on the right telescopic piece 173 .
  • the clamping space defined by the two clamping arms is enlarged, so that the mobile terminal 20 with a larger width or length can be clamped.
  • the retractable members 171, 173 on the left and right sides can be selected to be in a sliding out state or a retracting state according to the size of the movable terminal 20.
  • the extension pieces on the left and right sides need not slide out; when the size of the mobile terminal 20 is slightly larger, one or both of the extension pieces on the left and right sides slide out to Increase the gripping space between the two gripping arms.
  • the retractable parts on the left and right sides are correspondingly in a retracted state.
  • the left telescopic member 171 includes a left sliding rod 1713 and a left mounting portion; wherein, the right end of the left sliding rod 1713 protrudes from the left side wall of the housing 110 into the interior of the housing 110 and can be relative to the housing 110
  • the housing 110 slides, and its right end is fixed with the left mounting part; the left side wall of the left mounting part is provided with a left mounting groove, when the left mounting part is in a retracted state, the left mounting groove communicates with the left accommodating groove 1101 so as to be installed in the
  • the left clamping arm 131 in the left installation groove can be received in the left receiving groove 1101 and the left installation groove.
  • the left mounting part includes a connecting plate arranged in a vertical direction and an upper cantilever and a lower cantilever arranged in parallel; wherein, the upper cantilever is fixed to the upper end of the connecting plate, and the lower cantilever is fixed to the lower end of the connecting plate, so that the connecting plate is connected to the upper end of the connecting plate.
  • the two cantilevers together define a left installation slot for installing the left clamping arm 131; the left sliding rod 1713 is fixed with the connecting plate and extends away from the cantilever.
  • a resisting portion is provided on the left sliding rod 1713 and an elastic piece is sleeved, and both ends of the elastic piece abut against the resisting portion and the inner wall of the housing 110 respectively, so as to provide a restoring force for the left retractable piece .
  • the blocking portion may be an annular blocking wall provided on the outer surface of the sliding rod, and the elastic member may be a spring.
  • the left clamping arm 131 is rotatably installed in the left installation slot through the rotating shaft 151 .
  • the upper cantilever and the lower cantilever are each provided with a rotating shaft hole, the top end of the rotating shaft 151 is inserted into the rotating shaft hole of the upper cantilever, the bottom end of the rotating shaft 151 is inserted into the rotating shaft hole of the lower cantilever, and the front end of the left clamping arm 131 is sleeved On the rotating shaft 151, the left clamping arm 131 can rotate relative to the left mounting seat 1711 about the rotating shaft 151 so as to move to the deployed position. It should be understood that the left clamping arm 131 can be rotatably installed in the left installation slot through the elastic rotating shaft mentioned above.
  • a slideway is provided on at least one of the upper cantilever arm and the lower cantilever arm.
  • a slide block is provided on the left clamping arm 131, and the slide block is slidably arranged in the slideway, so that the left clamping arm 131 can be opposite to each other. Slide the left mounting seat 1711 to the deployed position.
  • the slideway can also be provided on the left clamping arm 131, and the slider is provided on the upper cantilever and the lower cantilever.
  • the right telescopic member 173 includes a right sliding rod 1733 and a right mounting portion; wherein, the right end of the right sliding rod 1733 protrudes from the right side wall of the housing 110 into the interior of the housing 110 and can be opposed to each other Sliding on the housing 110, its right end is fixed with the right mounting part; the right side wall of the right mounting part is provided with a right mounting groove, when the right mounting part is in the retracted state, the right mounting groove communicates with the right receiving groove 1103, so that the right The clamping arm 133 can be received in the right receiving slot 1103 and the right mounting slot.
  • the right mounting part includes a connecting plate arranged in a vertical direction and an upper cantilever and a lower cantilever arranged in parallel; wherein, the upper cantilever is fixed to the upper end of the connecting plate, and the lower cantilever is fixed to the lower end of the connecting plate, so that the connecting plate is connected to the upper end of the connecting plate.
  • the two cantilevers together define a right installation slot for installing the right clamping arm 133; the right sliding rod 1733 is fixed with the connecting plate and extends away from the cantilever.
  • a resisting portion is provided on the right sliding rod 1733 and an elastic piece is sleeved, and both ends of the elastic piece abut against the resisting portion and the inner wall of the housing 110 respectively, so as to provide a restoring force for the right side retractable piece .
  • the blocking portion may be an annular blocking wall provided on the outer surface of the sliding rod, and the elastic member may be a spring.
  • the right clamping arm 133 is rotatably installed in the right installation slot through the rotating shaft 153 .
  • the upper cantilever and the lower cantilever of the right mounting part are each provided with a shaft hole, the top end of the shaft 153 is inserted into the shaft hole of the upper cantilever, the bottom end of the shaft 153 is inserted into the shaft hole of the lower cantilever, and the right clamping arm is inserted into the shaft hole of the lower cantilever.
  • the front end of 133 is sleeved on the rotating shaft 153, so that the right clamping arm 133 can rotate relative to the right mounting seat 1731 around the rotating shaft 153 to move to the deployed position.
  • the right clamping arm 133 can be rotatably installed in the right installation slot through the elastic rotating shaft mentioned above.
  • At least one of the upper cantilever arm and the lower cantilever is provided with a slideway, and correspondingly, a slide block is provided on the right clamping arm 133, and the slide block is slidably arranged in the slideway, so that the right clamping arm 133 can be opposite to each other. Slide on the right mount 1731 to the deployed position.
  • the slideway can also be provided on the right clamping arm 133, and the slider is provided on the upper cantilever and the lower cantilever.
  • the left telescopic member 171 and the right telescopic member 173 may also be telescopic arms, and the clamping arm is rotatably or slidably installed on the free end of the telescopic arm.
  • the telescopic arm may be composed of a plurality of sleeve rods that are sleeved together, or may also be composed of a plurality of foldable connecting rods.
  • left telescopic mechanism and the right telescopic mechanism in the present disclosure have the same structure, in other implementations, the left telescopic mechanism and the right telescopic mechanism may also adopt different structures.
  • the remote control device 10 includes a housing 110 and two gripping arms.
  • each gripping arm is mounted on the housing 110 and each gripping arm is rotatable relative to the housing 110 between the unfolded position and the stowed position; when both gripping arms are in the unfolded position, this
  • the two gripping arms together with the housing 110 define a gripping space for gripping the movable terminal 20 .
  • the clamping arm When the rotation angle of any one of the clamping arms in the first direction relative to the housing 110 is smaller than the preset angle under the driving of the external force, the clamping arm has a torsional force that rotates in the opposite direction to the first direction; when the clamping arm rotates in the opposite direction to the first direction When the angle of rotation relative to the housing 110 in the first direction is larger than the preset angle under the driving of the external force, the clamping arm has a torsional force that continues to rotate in the first direction.
  • the two clamping arms can be respectively rotatably mounted on two opposite side walls of the housing 110 through the elastic rotating shaft mentioned above.
  • the two clamping arms 131, 133 can be rotatably mounted on the left and right side walls of the 100-degree side, so that the left and right clamping arms 131 can rotate clockwise to a certain angle and have opposite elastic restoring forces.
  • the right clamping arm 133 has opposite elastic restoring force when it can rotate counterclockwise to a certain angle.
  • the specific structure of the elastic rotating shaft and the assembling relationship with the housing 110 and the clamping arm can be referred to above, and will not be repeated here.
  • an antenna module can also be accommodated in any one of the clamping arms, and the antenna module is used to communicate and connect the remote control device 10 and the control object of the remote control device 10 .
  • the specific structure of the antenna module and the cooperation relationship with the clamping arm, the movable terminal 20 and the like can be found in the foregoing description, which will not be repeated here.
  • the remote control device 10 includes a housing 110 and two gripping arms.
  • each gripping arm is mounted on the housing 110 and each gripping arm is rotatable relative to the housing 110 between the unfolded position and the stowed position; when both gripping arms are in the unfolded position, this
  • the two clamping arms and the housing 110 together define a clamping space for clamping the movable terminal.
  • a communication module is accommodated in at least one of the clamping arms, and the communication module is used to communicate and connect the remote control device 10 and the control object of the remote control device 10 .
  • two clamping arms are respectively rotated or slidably assembled on the opposite or adjacent side walls of the housing 110, and a communication module is also accommodated in the two clamping arms, and the communication module may be an antenna module.
  • a left gripping arm 131 and a right gripping arm 133 are rotatably mounted on the left and right side walls of the housing 110 , respectively.
  • an upper clamping arm and a lower clamping arm are slidably installed on the bottom wall and the top wall of the housing 110 .
  • the structural installation methods of the clamping arm and the housing 110 in a rotational or sliding assembly can be referred to above, and will not be repeated here.
  • the clamping arm includes a first center line and a second center line that are perpendicular to each other, the first center line may be parallel to the X axis in FIG. 1 , for example, and the second center line may be parallel to the Y axis in FIG. 1 , for example axis.
  • the first center line may be perpendicular to the rotation axis of the clamping arm; when the clamping arm is slidably assembled on the housing 110, the first center line The line may be parallel to the direction in which the clamp arm slides relative to the housing 110 .
  • the antenna module includes a circuit board and an antenna mounted on the circuit board.
  • the circuit board can be disposed obliquely to the second centerline of the clamping arm.
  • the left and right side walls may be provided with accommodating grooves 1101 , 1103 for accommodating the left clamping arm 131 and the right clamping arm 133 .
  • the remote control device 10 includes a housing 110 and two clamping arms.
  • each gripping arm is mounted on the housing 110 and each gripping arm can rotate relative to the housing 110 between the unfolded position and the storage position; when both gripping arms are in the storage position, the two gripping arms are in the storage position.
  • the two gripping arms are located on different sides of the housing 110; when both gripping arms are in the unfolded position, the two gripping arms and the housing 110 together define a gripping space for gripping the movable terminal.
  • a left clamping arm 131 and a right clamping arm 133 are respectively rotated or slidably assembled on the left and right side walls of the housing 110, so that when the two clamping arms are in the storage position, the two on different sides of the housing 110 .
  • one of the clamping arms slides and the other rotates; it is also possible to rotate or slide the front and rear clamping arms on the front and rear side walls of the housing 110, respectively. arms so that the two gripping arms are also on different sides of the housing 110 when they are in the stowed position.
  • the structure of the rotating assembly or the sliding assembly between the two clamping arms and the housing 110 can be referred to above, and will not be repeated here.
  • the rotation angle of each clamping arm may be greater than 180°. In this way, when the two clamping arms are in the storage position, the housing 110 can be better clamped, and when the two clamping arms are in the unfolded position, the mobile terminal 20 can be better clamped, or can be matched with different sizes of mobile terminal.
  • an antenna module is accommodated in at least one of the two clamping arms, and the antenna module is used to communicate and connect the remote control device 10 and the control object of the remote control device 10.
  • the specific structure and configuration of the antenna module can be referred to. The above will not be repeated here.
  • the present disclosure also provides a remote control kit including the above-mentioned remote control device 10 and a movable platform.
  • the movable platform may be, for example, a movable platform such as an unmanned aerial vehicle, a mobile robot, and an unmanned vehicle.
  • the remote control kit has at least a compact structure, thereby facilitating its storage and transportation.

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Abstract

一种遥控装置，其包括：壳体和两个夹持臂；其中，壳体的两个侧壁设置有向内凹陷的容纳槽；每一个夹持臂均安装在壳体上并且都能够相对于壳体在展开位置和收纳位置之间运动；当夹持臂处于收纳位置时，夹持臂收纳于容纳槽内；当夹持臂都处于展开位置时，夹持臂与壳体共同限定出用于夹持可移动终端的夹持空间。通过在壳体的侧壁设置用于收纳夹持臂的容纳槽，使得遥控装置变得更加紧凑。

Description

遥控装置和遥控套装 技术领域
本公开涉及遥控技术领域，尤其涉及一种遥控装置和遥控套装。
背景技术
现在，越来越多的电子设备都可以通过无线信号对远距离的物体进行控制。例如，一些电子设备会采用摇杆式的遥控装置，例如无人机，其通过控制左右摇杆的运动来控制无人机的航行和油门等。又如，一些电子设备会采用滚轮式的遥控装置，例如电视机，其通过滑动滚轮来控制电视机改变声音和频道等。同时，某些遥控装置还会搭载显示屏，以便对遥控装置的控制进行可视化操作。
然而，随着技术的发展，采用可移动终端的APP(Application，手机程序)来实现遥控和可视化操作变得越来越普遍，而现有的遥控装置不能很好的适应这种需求，尤其是没有一种紧凑化的遥控装置可以适应与可移动终端的配合。
发明内容
为了解决现有技术中存在的上述或其他潜在问题，本发明实施例提供一种遥控装置和遥控套装。
第一方面，根据本公开的一些实施例，提供一种遥控装置，包括：壳体和两个夹持臂；
所述壳体包括两个相对的侧壁，所述两个相对的侧壁均设置有向所述壳体内部凹陷的容纳槽；
每一个所述夹持臂均安装在所述壳体上并且都能够相对于所述壳体在展开位置和收纳位置之间运动；
当所述夹持臂处于所述收纳位置时，所述夹持臂收纳于所述侧壁的容纳槽内；
当两个所述夹持臂都处于所述展开位置时，两个所述夹持臂与所述壳体 共同限定出用于夹持可移动终端的夹持空间。
第二方面，根据本公开的一些实施例，提供一种遥控装置，包括：壳体和两个夹持臂；
每一个所述夹持臂均安装在所述壳体上并且每一个所述夹持臂均能够相对于所述壳体在展开位置和收纳位置之间转动；
当两个所述夹持臂都处于展开位置时，两个所述夹持臂与所述壳体共同限定出用于夹持可移动终端的夹持空间；
当所述夹持臂在外力的驱动下相对于所述壳体往第一方向转动的角度小于预设角度时，所述夹持臂具有往所述第一方向的相反方向转动的扭转力；
当所述夹持臂在外力的驱动下相对于所述壳体往第一方向转动的角度大于预设角度时，所述夹持臂具有继续往所述第一方向转动的扭转力。
第三方面，根据本公开的一些实施例，提供一种遥控装置，包括：壳体和两个夹持臂；
每一个所述夹持臂均安装在所述壳体上并且每一个所述夹持臂均能够相对于所述壳体在展开位置和收纳位置之间转动；
当两个所述夹持臂都处于展开位置时，两个所述夹持臂与所述壳体共同限定出用于夹持可移动终端的夹持空间；
所述夹持臂内容纳有通信模块，所述通信模块用于通信连接所述遥控装置和所述遥控装置的控制对象。
第四方面，根据本公开的一些实施例，提供一种遥控装置，包括：壳体和两个夹持臂；
每一个所述夹持臂均安装在所述壳体上并且每一个所述夹持臂均能够相对于所述壳体在展开位置和收纳位置之间转动；
当两个所述夹持臂都处于展开位置时，两个所述夹持臂与所述壳体共同限定出用于夹持可移动终端的夹持空间；
当所述夹持臂在外力的驱动下相对于所述壳体往第一方向转动的角度小于预设角度时，所述夹持臂具有往所述第一方向的相反方向转动的扭转力；
当所述夹持臂在外力的驱动下相对于所述壳体往第一方向转动的角度大于预设角度时，所述夹持臂具有继续往所述第一方向转动的扭转力。
第四方面，根据本公开的一些实施例，提供一种遥控装置，一种遥控装置，包括：壳体和两个夹持臂；
每一个所述夹持臂均安装在所述壳体上并且每一个所述夹持臂均能够相对于所述壳体在展开位置和收纳位置之间转动；
当两个所述夹持臂都处于展开位置时，两个所述夹持臂与所述壳体共同限定出用于夹持可移动终端的夹持空间；
所述夹持臂内容纳有通信模块，所述通信模块用于通信连接所述遥控装置和所述遥控装置的控制对象。
第五方面，根据本公开的一些实施例，一种遥控装置，包括壳体和两个夹持臂；
每一个所述夹持臂均安装在所述壳体上并且每一个所述夹持臂均能够相对于所述壳体在展开位置和收纳位置之间转动；
当两个所述夹持臂都处于所述收纳位置时，两个所述夹持臂位于所述壳体的不同侧；
当两个所述夹持臂都处于所述展开位置时，两个所述夹持臂与所述壳体共同限定出用于夹持可移动终端的夹持空间。
第六方面，根据本公开的一些实施例，提供一种遥控套装，其包括可移动平台以及上述遥控装置。
根据本公开实施例的技术方案，本公开通过在遥控装置的壳体的侧壁上设置容纳槽，使得用于夹持可移动终端的夹持臂在遥控装置处于非工作状态时收纳在该容纳槽内，从而使得遥控装置变得更加紧凑，有利于遥控装置的收纳和运输。
附图说明
通过参照附图的以下详细描述，本发明实施例的上述和其他目的、特征和优点将变得更容易理解。在附图中，将以示例以及非限制性的方式对本发明的多个实施例进行说明，其中：
图1至图4为本公开实施例提供的一种遥控装置的结构示意图，其中，图1的夹持臂位于收纳位置，图2的夹持臂位于收纳位置和展开位置之间，图3和图4的夹持臂位于展开位置；
图5和图6为图1至图4中的遥控装置夹持可移动终端的示意图；
图7和图8为本公开实施例提供的另一种遥控装置的结构示意图，其中，图7的夹持臂位于收纳位置且可伸缩件处于缩回状态，图8的可伸缩件处于滑出状态；
图9为图7和图8中的遥控装置夹持可移动终端的示意图。
附图标记：
10-遥控装置；
110-壳体；1101-左容纳槽；1103-右容纳槽；1105-底边卡槽；
131-左夹持臂；1311-左侧边卡槽；133-右夹持臂；1331-右侧边卡槽；
151-左侧转轴；153-右侧转轴；
171-左侧可伸缩件；1711-左安装座；1713-左滑杆；173-右侧可伸缩件；1731-右安装座；1733-右滑杆；
20-可移动终端。
具体实施方式
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
随着科技的逐步发展，许多的电子设备可以远距离被操控，从而使得操作人员可以远离电子设备的工作区域。以无人机为例，其通常都配置有遥控装置，飞手可以操作遥控器来控制无人机以及其搭载的诸如相机等设备的工作状态，以便将无人机派往预定区域执行相应的任务，而飞手却无需跟随前往。比如，当需要拍摄悬崖上的景物时，飞手可以通过遥控装置控制无人机飞到景物附近进行拍摄，而自己却无需身处险境；或者，在需要进行长距离巡线时，飞手通过控制无人机沿着在崇山峻岭上架设的线缆上方飞行，可以实时将线缆图像回传给飞手或者其他接收终端，从而可以提高巡线的效率。
最初，遥控装置和被控设备之间采用的是信号直接传输的方式，也即是说，遥控装置发出的控制信号直接被被控设备接收到并执行，被控设备回传的信号也直接发送给遥控装置，这样就需要被控设备和遥控装置之间 必须位于对方信号的覆盖范围以内，从而导致遥控距离过小。但是，随着5G和卫星通信等技术的逐渐发展，人们对于电子设备的远程操控已经逐渐可以脱离遥控装置与被控设备自身之间的信号直线传输的方式，通过移动信号或者卫星信号以及云数据中心等的中转，操作人员甚至可以足不出户的对几千公里以外的电子设备进行远程遥控操作，这就极大地丰富了遥控操作的运用场景。
而且，随着物联网的发展，越来越多的电子设备可以通过一个APP或者一个平台进行控制。例如，对于现在的智能家居而言，服务提供商会提供控制或者监控智能家居中一个或者多个电子设备的APP。例如，对于洗衣机而言，服务提供商会提供一个洗衣机的控制APP，服务接受方只需要在可移动终端上打开该APP即可通过该APP来控制相应的电子设备。又如，对于无人机而言，服务提供商会提供一个APP用来控制无人机或者其搭载设备的工作状态，当无人机上搭载的是相机时，还可以通过该APP或者其他APP展示无人机拍摄到的图像信息。
为了运行上述APP，当前的一些遥控装置都设置有能够与其他部分相分离的可移动终端，该可移动终端可以是显示屏、专用或者通用的控制模块、用户的手机或者平板电脑等，以此来使得遥控装置变得小型化、轻量化，或者更便于遥控装置的收纳和运输。但是，当前的这些遥控装置为了能够在使用的时候安装可移动终端，体积普遍都偏大，难以满足用户对于紧凑化的需求。
一方面，本公开通过在遥控装置的壳体的侧壁上设置容纳槽，使得用于夹持可移动终端的夹持臂在遥控装置处于非工作状态时收纳在该容纳槽内，从而使得遥控装置变得更加紧凑，有利于遥控装置的收纳和运输。
另一方面，本公开通过将遥控装置的天线模块收纳在用于夹持可移动终端的夹持臂内，避免了天线模块外露在遥控装置的壳体外面，不仅起到了保护天线模块的作用，也使得遥控装置变得更加紧凑，有利于遥控装置的收纳和运输。
下文结合附图介绍几种可选地实现方式，以便能够更清晰地理解本公开的技术构思。应当理解，下文的具体示例仅是示意性地，不应视为是对本公开保护范围的具体限制。
图1至图4为本公开提供的一种遥控装置的结构示意图，图5和图6为该遥控装置夹持可移动终端后在不同视角下的示意图。如图1至图6所示的遥控装置10包括壳体110和两个可转动地安装在壳体110侧壁上的夹持臂131,133。
壳体110大致为长方体形状的结构，其内部具有安装诸如主控电路板或者其他机械、非机械零部件的空腔。例如，在壳体110内设置有诸如WiFi、蓝牙或者ZigBee等无效通信方式的通信模块。
示意性地，壳体110包括顶壁、底壁、左侧壁、右侧壁、前侧壁和后侧壁以及由他们围合成的空腔。
在壳体110的左侧壁和右侧壁上各设置有一个沿图中X方向延伸的容纳槽1101,1103。在左侧壁的容纳槽1101内通过左侧转轴151可转动地安装有左夹持臂131，在右侧壁的容纳槽1103内通过右侧转轴153可转动地安装有右夹持臂133。
如图1所示，左夹持臂131在收纳位置时被容纳在左容纳槽1101内，右夹持臂133在收纳位置时被容纳在右容纳槽1103内；当需要在遥控装置10上安装可移动终端20时，可以顺时针转动图1中的左夹持臂131，以使其绕着沿Z轴方向布置的左侧转轴151相对于壳体110转动，相应的，逆时针转动图1中的右夹持臂133，以使其绕着沿Z轴方向布置的右侧转轴153相对于壳体110转动。
如图2所示，当左夹持臂131和右夹持臂133均相对于壳体110转动到如图3和图4所示的展开位置时，左夹持臂131和右夹持臂133就共同限定出用于夹持可移动终端20的空间；然后，就可以如图5和图6所示的将可移动终端20安装到遥控装置10的左夹持臂131和右夹持臂133之间。遥控装置10可以通过壳体110内安装的通信模块与可移动终端20无线通信连接，以便进行数据交互。当然，遥控装置10也可以与可移动终端20有线或通过触点的方式通信连接，以便进行数据交互，其中，有线连接的接口或触点可以设于左夹持臂131或右夹持臂133上，也可以设于壳体110上。当然，也可以利用接口或触点进行电能传输。
在一些实现方式中，可移动终端20也可以不经过遥控装置，而与遥控装置的控制对象直接通信连接。
应当理解，在本公开中，左容纳槽1101和右容纳槽1103的至少一个可以沿着图1中的X方向贯穿整个壳体110。左夹持臂131和右夹持臂133在收纳状态时的长度可以等于或者小于容纳槽1101,1103的长度，而两者在展开状态时的长度则可以超过容纳槽1101,1103的长度，例如，左夹持臂131和右夹持臂133中的至少一个可以采用伸缩臂。
值得注意的是，虽然本公开图1至图5中的壳体110为长方体形状的结构，但在另一些实现方式中，壳体110也可以是其他形状的结构。例如，以图1所示坐标系为例，假设沿图中的XY平面为横截面，则图1中壳体110的横截面大致为矩形，那么在其他实现方式中该横截面就可以是五边形或者六边形等。
此外，虽然图1中示出的左夹持臂131和右夹持臂133分别设置在壳体110相对的左侧壁和右侧壁上，但在其他一些示例中，这两个夹持臂也可以设置在壳体110相邻的两个侧壁上。
可选地，左容纳槽1101的形状可以配置成与左夹持臂131的形状相匹配。例如，当左夹持臂131为长方体形状时，左容纳槽1101也可以配置成长方形。同理，右容纳槽1103的形状也可以配置成与右夹持臂133的形状相匹配。当然，在另外的实现方式中，左容纳槽1101可以大于左夹持臂131，右容纳槽1103也可以大于右夹持臂133。通过将左容纳槽1101和右容纳槽1103设置成分别与左夹持臂131和右夹持臂133的形状相匹配，使得左夹持臂131收纳在左容纳槽1101、右夹持臂133收纳在右容纳槽1103内时，夹持臂131，133的顶面和底面分别与容纳槽1101，1103的槽壁贴合在一起，有利于避免夹持臂131,133从容纳槽1101,1103脱出。
值得指出的是，虽然图1中示出的夹持臂131,133被收纳在壳体110侧壁的容纳槽1101,1103内，并且夹持臂131,133通过沿Z轴方向布置的转轴可转动地安装在容纳槽1101,1103内，但是，在另一些实现方式中，在壳体110的侧壁上也可以不设置容纳槽1101,1103，而是在壳体110的侧壁上安装沿图1中Y轴方向布置的转轴，从而两个夹持臂可以绕着Y轴方向相对于壳体110转动到展开位置和收纳位置，而且当两个夹持臂131,133转动到展开位置时，可移动终端20依然可以被夹持安装在这两个夹持臂131,133之间。
如图3所示，在左容纳槽1101的上槽壁和下槽壁上设置有同轴的转轴孔，左侧转轴151的两端分别穿设在这两个同轴的转轴孔内；相应的，在左夹持臂131上设有通孔，以便左夹持臂131可以通过该通孔套接在左侧转轴151的中间部分上。如图1、图2和图4所示在右容纳槽1103的上槽壁和下槽壁上设置有同轴的转轴孔，右侧转轴153的两端分别穿设在这两个同轴的转轴孔内；相应的，在右夹持臂133上设有通孔，以便右夹持臂133可以通过该通孔套接在右侧转轴153的中间部分上。通过在容纳槽1101，1103的上下槽壁上各设置一个转轴孔并将夹持臂131，133套装在转轴上，有利于夹持臂131,133与壳体110的转动装配，提高组装效率。
可选地，设置在左容纳槽1101上的轴孔位于左容纳槽1101的前端，相应的，左夹持臂131的通孔设置在左夹持臂131的前端；设置在右容纳槽1103上的轴孔位于右容纳槽1103的前端，相应的，右夹持臂133的通孔设置在右夹持臂133的前端；当然，在另一些可实现方式中，也可以将转轴孔设置在容纳槽1101,1103的后端，相应的，夹持臂131,133的通孔也设置在其后端。通过将转轴孔设置在容纳槽1101,1103的端部，有利于左夹持臂131绕沿Z轴方向布置的左侧转轴151旋转，有利于右夹持臂133绕沿Z轴方向布置右侧转轴153旋转。
可选地，左侧转轴151和右侧转轴153中的至少一个可以被配置成弹性转轴，以便夹持臂131,133绕该弹性转轴转动到某个预设角度之前，弹性转轴可以为夹持臂131,133提供一个反向的扭转力，从而将夹持臂131,133复位到收纳位置，而当夹持臂131,133转动到超过该预设角度以后，弹性转轴又会为夹持臂131,133提供一个正向的扭转力，以便使夹持臂131,133能够继续转动到展开位置。
以图2中的左夹持臂131为例，当其通过弹性转轴可转动地安装在壳体110左侧壁的左容纳槽1101内时，如果其顺时针转动到小于预设角度(比如60°)时，则当驱动其顺时针转动的驱动力消失以后，则该左夹持臂131将会在弹性转轴提供的逆时针方向的扭转力的作用下回到收纳位置，而当该左夹持臂131转到大于预设角度时，那么，即使驱动左夹持臂131顺时针转动的驱动力消失，该左夹持臂131依然可以在弹性转轴提供的顺时针方向的扭转力的作用下继续转动到展开位置。
通过使用弹性转轴，可以避免夹持臂131,133被误打开，而且当左侧转轴151和右侧转轴153都使用弹性转轴时，这两个弹性转轴还可以在展开位置提供使左夹持臂131和右夹持臂133往相互靠近方向转动的扭转力，从而可以对可移动终端20提供附加的夹紧力，以更好的夹持该可移动终端20。当然，由于弹性转轴可以使得左夹持臂和右夹持臂往相互靠近方向转动的扭转力，因此，其还可以适配具有不同长度或者宽度的可移动终端20。
示意性地，弹性转轴可以包括转轴外套、弹簧、上离合齿轮、下离合齿轮以及中心轴。其中，转轴外套紧固安装在夹持臂的通孔内壁上；中心轴穿设于转轴外套内，中心轴的两端则分别伸入上槽壁和下槽壁的转轴孔内；弹簧、上离合齿轮和下离合齿轮从上到下依次套设在中心轴上，并且弹簧的顶端与转轴外套抵顶，下离合齿轮与中心轴的头部抵顶。应当理解，上离合齿轮和下离合齿轮可以采用任意合适的齿轮，例如，锥齿轮；弹性件则可以采用诸如橡胶件之类的其他弹性件替代。
应当理解，在其他的实现方式中，也可以使用其他机构来使得左夹持臂131和右夹持臂133在展开位置时具有往相互靠近方向运动的弹性力，从而为可移动终端20的夹持提供附加的夹紧力。换言之，本公开的夹持臂131,133可以配置成相对于壳体110的转动角度能够大于180°，从而当夹持臂131,133转动到展开位置时可以为可移动终端20的夹持提供附加的夹紧力。例如，在一种实现方式中，可以是在左夹持臂131和右夹持臂133之间配置的弹性联动机构或者连杆机构，从而当左夹持臂131和右夹持臂133相对于壳体110从收纳位置转动往展开位置转动到某个预设位置时，该弹性联动机构或者连杆机构将牵引左夹持臂131和右夹持臂133往越来越靠近的方向运动。具体而言，可以使用一根直线弹簧将左夹持臂131和右夹持直接连接在一起，从而当左右夹持臂133转动到与直线弹簧平行之后，该直线弹簧可以驱动两个夹持臂往相互靠近的方向运动。
此外，虽然上文中通过配置弹性转轴来使得左夹持臂131和右夹持臂133在相对于壳体110转动到预设角度之前和之后在外力撤销的情况下具有相反的运动趋势，但这并非是限制遥控装置10只能采用弹性转轴结构，在另一些实现方式中，也可以采用其他机构来实现相同的作用。例如，左 夹持臂131和右夹持臂133可以通过弹性联动机构或者连杆机构等来实现相同的运动方式。具体而言，当左夹持臂131和右夹持臂133通过上文中的直线弹簧直接连接在一起时，在夹持臂131，133转动到与直线弹簧平行之前，该直线弹簧具有驱动两个夹持臂往收纳位置运动的扭转力，在夹持臂131，133转动到与直线弹簧平行之后，该直线弹簧具有驱动两个夹持臂往展开位置运动的扭转力。当然，采用多连杆机构也可以轻易的实现上述运动轨迹，具体可以参见多连杆机构的设计方法。
可选地，如图3至图6所示，在左夹持臂131的外表面设置有往左夹持臂131内部凹陷的左侧边卡槽1311，以便可移动终端20的其中一条侧边可以容纳在该左侧边卡槽1311内，以降低可移动终端20从两个夹持臂所限定出的夹持空间的可能。左侧边卡槽1311的形状可以设置成与可移动终端20其中一条侧边的形状相匹配。例如，当可移动终端20的其中一条侧边为矩形或者圆角矩形时，则左侧边卡槽1311也可以相应的设置成与之相配的矩形或者圆角矩形。当然，左侧边卡槽1311也可以被配置成能够与可移动终端20的其中一条侧边过盈配合，以进一步降低可移动终端20从夹持空间滑落的风险。
如图1至图3、图5和图6所示，在右夹持臂133的外表面设置有往右夹持臂133内部凹陷的右侧边卡槽1331，以便可移动终端20的其中一条侧边可以容纳在该右侧边卡槽1331内，以降低可移动终端20从两个夹持臂所限定出的夹持空间的可能。右侧边卡槽1331的形状可以设置成与可移动终端20其中一条侧边的形状相匹配。例如，当可移动终端20的其中一条侧边为矩形或者圆角矩形时，则右侧边卡槽1331也可以相应的设置成与之相配的矩形或者圆角矩形。当然，右侧边卡槽1331也可以被配置成能够与可移动终端20的其中一条侧边过盈配合，以进一步降低可移动终端20从夹持空间滑落的风险。
容易理解，当左夹持臂131和右夹持臂133均设置有侧边卡槽时，可移动终端20的相对两条侧边均可以被容纳在侧边卡槽内，能够进一步降低可移动终端20从夹持空间滑落的风险。为了方便可移动终端20插入到侧边卡槽内，如图5所示，左夹持臂131设置的左侧边卡槽1311贯穿左夹持臂131的前端，右夹持臂133设置的右侧边卡槽1331则贯穿右夹持 臂133的前端。
可选地，如图3和图5所示，在壳体110的前侧壁设置有底边卡槽1105，从而可移动终端20的底边可以容纳在该底边卡槽1105内，以进一步降低可移动终端20从夹持空间滑落的风险。容易理解，底边卡槽1105与可移动终端20的底边的形状相匹配或者二者过盈配合。
可选地，在夹持臂131,133的侧边卡槽1311,1331和底边卡槽1105的至少一个中设置硅胶，以增加摩擦力，降低可移动终端20从夹持空间滑落的风险。
可选地，在左夹持臂131和右夹持臂133的至少一个中容纳有通信模块，该通信模块用于通信连接遥控装置10及该遥控装置10的控制对象，其中，通信连接可以是直接通信连接，也可以是通过其他设备进行中转连接；控制对象包括但不限于无人机、移动机器人、无人驾驶汽车等可移动平台。例如，在左夹持臂131和右夹持臂133内均设置有天线模块，接遥控装置10可以通过该天线模块采用WIFI、蓝牙、ZigBee、5G、微波通信等无线通信信号直接或者通过转接设备间接的与该遥控装置10的控制对象通信连接。
具体可以以无人机为例，遥控装置10的控制信号通过夹持臂内的天线模块向外广播，无人机上配置的天线模块接收到该控制信号后，经飞控处理后控制无人机的相应执行机构执行控制信号中的控制指令，以改变无人机的飞行状态或者该无人机上搭载的设备的工作状态。或者，遥控装置10的控制信号经夹持臂内的天线模块向外广播后，通信塔台接收到该控制信号并将其往更远的地方广播，使得脱离遥控装置10天线模块广播范围的无人机也能够接收到遥控装置10的控制信号，以便执行遥控装置10的控制指令。
通过将遥控装置10的通信模块安装到夹持臂131,133内，无需再在壳体110的其他部分安装通信模块，有利于遥控装置10的小型化和紧凑化；而且，由于通信模块可以跟随夹持臂131,133一起相对于壳体110转动，也有利于优化通信模块的信号发送和接收。
在将通信模块安装到夹持臂131,133内时，可以根据实际需要设计其位置和角度，以利于无线信号的发送和接收。例如，以图3为例，夹持臂 131,133包括沿X轴方向的第一中心线以及沿Y轴方向的第二中心线，通信模块的电路板倾斜于沿Y轴的第二中心线设置，从而可以利于通信模块的无线信号发送和接收。换言之，夹持臂131,133的第一中心线垂直于沿Z轴方向布置的左侧转轴151和右侧转轴153，并且当夹持臂131,133收纳在容纳槽1101,1103内时，该第一中心线沿着容纳槽的延伸方向延伸，从而使得通信模块的电路板沿X轴方向延伸并倾斜于XY平面。当然，在另一些实现方式中，第一中心线也可以沿Y轴或者Z轴方向，第二中心线相应的沿不同的轴延伸。
以天线模块包括电路板以及安装在该电路板上的天线为例，由于夹持臂131,133可以在展开位置和收纳位置之间转动，则当夹持臂131,133处于收纳位置时，电路板安装有天线的表面可以朝向壳体的方向；而当夹持臂131,133处于展开位置时，电路板安装有天线的表面则背对着夹持空间内。换言之，夹持臂131,133处于不同位置时，电路板的表面具有不同的朝向。
值得说明的是，夹持臂131,133内的通信模块与壳体110内的处理模块可以通过无线信号通信连接。当然，通信模块和处理模块也可以通过有线传输的方式通信连接。当通信模块与处理模块之间通过有线传输的方式通信连接时，在壳体110的侧壁和夹持臂131,133的侧壁上设置有过线孔，以供连接通信模块和处理模块的连接线穿过；或者，也可以在壳体110的侧壁以及夹持臂131,133的侧壁上设置与连接线电连接的触点或端子，从而通过触点或端子的接触来实现信号传输或电能传输。
同理的，夹持臂131,133内的通信模块与可移动终端20之间也可以采用无线信号或者有线传输的方式通信连接，也即是说，遥控装置10用于与可移动终端20通信的通信模块可以不设置在壳体110内，而是设置在夹持臂131，133内。当夹持臂131,133和可移动终端20之间通过有线传输的方式通信连接时，可以在夹持臂131,133的外表面设置触点或者端子，以便通过触点或者端子在通信模块和可移动终端20之间传输信号。
可选地，夹持臂131,133内用于通信连接可移动终端20的通信模块以及用于通信连接控制对象的通信模块可以集成在一起。例如，在夹持臂131,133内设置有与可移动终端20通信连接的蓝牙模块以及与可移动 平台通信连接的天线模块，该蓝牙模块和天线模块可以集成在同一个电路板上。
此外，壳体110内配置的电源可以通过壳体110和夹持臂131,133的侧壁上的触点或者端子为通信模块供电，或者，可移动终端20可以通过夹持臂131,133的侧壁上设置的触点或者端子为夹持臂内的通信模块供电。当然，如果夹持臂131,133内配置有单独的电源，则也可以使用该电源为可移动终端20或者壳体110内的通信模块供电。
值得注意的是，虽然上文中左夹持臂131和右夹持臂133均被配置成相对于壳体110转动，以便在收纳位置和展开位置之间切换，但在其他一些实现方式中，也可以将左夹持臂131和右夹持臂133中的至少一个配置成通过相对于壳体110滑动的方式在收纳位置和展开位置之间进行切换。以左夹持臂131被构造成能够相对于壳体110滑动为例，则在左夹持臂131和左容纳槽1101的槽壁上设置有沿左容纳槽1101的长度方向定向且相互配合的滑动机构。例如，在左容纳槽1101的槽壁上设置有滑道，在左夹持臂131上则设置有滑设在滑道内的滑块，从而左夹持臂131能够与滑块一起在滑道内滑动，以实现左夹持臂131在收纳于左容纳槽1101的收纳位置和至少部分脱离于左容纳槽1101的展开位置之间运动。同理的，右夹持臂133可以采用相同或者相类似的方式被构造成能够相对于右容纳槽1103滑动。应当理解，无论是左夹持臂131和右夹持臂133采用转动还是滑动的方式相对于壳体110运动，当左夹持臂131和右夹持臂133处于展开位置和/或收纳位置时，二者均可以通过诸如弹簧之类的机构被构造成具有往相互靠近方向运动的趋势。
图7和图8为本公开提供的另一种遥控装置10的结构示意图，图9为图7和图8中的遥控装置10夹持可移动终端20的示意图。如图7至图9所示，其与图1至图6的区别在于，左容纳槽1101的前端设置有与壳体110连接的左侧可伸缩件171，左夹持臂131可转动地安装在左侧可伸缩件171上；右容纳槽1103的前端设置有与壳体110连接的右侧可伸缩件173，右夹持臂133可转动地安装在右侧可伸缩件173上。通过在容纳槽的前端设置与壳体110连接的可伸缩件，使得两个夹持臂限定的夹持空间变大，从而可以夹持具有更大宽度或者长度的可移动终端20。换言之，当 夹持臂处于展开位置时，左右两侧的可伸缩件171,173可以根据可移动终端20的尺寸而选择处于滑出状态或者缩回状态。例如，当可移动终端20的尺寸小时，左右两侧的伸缩件就无需滑出；当可移动终端20的尺寸稍大时，则左右两侧的伸缩件中的一个或者两个滑出，以增大两个夹持臂之间的夹持空间。当夹持臂处于收纳位置时，左右两侧的可伸缩件相应的处于缩回状态。
参见图7至图9，左侧可伸缩件171包括左滑杆1713和左安装部；其中，左滑杆1713的右端从壳体110的左侧壁伸入到壳体110内部并能够相对于壳体110滑动，其右端与左安装部固定；左安装部的左侧壁设置有左安装槽，当左安装部处于缩回状态时，该左安装槽与左容纳槽1101连通，以便安装在该左安装槽内的左夹持臂131可以收纳在左容纳槽1101和左安装槽内。
示意性地，左安装部包括沿竖直方向设置的连接板以及平行设置的上悬臂和下悬臂；其中，上悬臂与连接板的上端固定，下悬臂与连接板的下端固定，从而连接板与两个悬臂共同限定出了用于安装左夹持臂131的左安装槽；左滑杆1713则与连接板固定并往背离悬臂的方向延伸。
可选地，在左滑杆1713上设有抵挡部并套设有弹性件，该弹性件的两端分别与抵挡部和壳体110地内壁抵接，以便为左侧可收缩件提供复位力。在一些实现方式中，抵挡部可以是滑杆外表面设置的环形挡壁，弹性件可以是弹簧。
可选地，左夹持臂131通过转轴151可转动地安装在左安装槽内。例如，上悬臂和下悬臂各设有一个转轴孔，转轴151的顶端插设在上悬臂的转轴孔内，转轴151的底端插设在下悬臂的转轴孔内，左夹持臂131的前端套装在转轴151上，从而该左夹持臂131可以绕转轴151相对于左安装座1711转动，以便运动到展开位置。应当理解，左夹持臂131可以通过上文中的弹性转轴可转动地安装在左安装槽内。
可选地，在上悬臂和下悬臂的至少一个上设置有滑道，相应的，在左夹持臂131上设置有滑块，滑块滑设在滑道内，从而左夹持臂131可以相对于左安装座1711滑动到展开位置。当然，在另一些实现方式中，也可以将滑道设置在左夹持臂131上，而将滑块设置在上悬臂和下悬臂上。
继续参照图7至图9，右侧可伸缩件173包括右滑杆1733和右安装部；其中，右滑杆1733的右端从壳体110的右侧壁伸入到壳体110内部并能够相对于壳体110滑动，其右端与右安装部固定；右安装部的右侧壁设置有右安装槽，当右安装部处于缩回状态时，该右安装槽与右容纳槽1103连通，以便右夹持臂133可以收纳在右容纳槽1103和右安装槽内。
示意性地，右安装部包括沿竖直方向设置的连接板以及平行设置的上悬臂和下悬臂；其中，上悬臂与连接板的上端固定，下悬臂与连接板的下端固定，从而连接板与两个悬臂共同限定出了用于安装右夹持臂133的右安装槽；右滑杆1733则与连接板固定并往背离悬臂的方向延伸。
可选地，在右滑杆1733上设有抵挡部并套设有弹性件，该弹性件的两端分别与抵挡部和壳体110地内壁抵接，以便为右侧可收缩件提供复位力。在一些实现方式中，抵挡部可以是滑杆外表面设置的环形挡壁，弹性件可以是弹簧。
可选地，右夹持臂133通过转轴153可转动地安装在右安装槽内。例如，右安装部的上悬臂和下悬臂各设有一个转轴孔，转轴153的顶端插设在上悬臂的转轴孔内，转轴153的底端插设在下悬臂的转轴孔内，右夹持臂133的前端套装在转轴153上，从而该右夹持臂133可以绕转轴153相对于右安装座1731转动，以便运动到展开位置。应当理解，右夹持臂133可以通过上文中的弹性转轴可转动地安装在右安装槽内。
可选地，在上悬臂和下悬臂的至少一个上设置有滑道，相应的，在右夹持臂133上设置有滑块，滑块滑设在滑道内，从而右夹持臂133可以相对于右安装座1731滑动到展开位置。当然，在另一些实现方式中，也可以将滑道设置在右夹持臂133上，而将滑块设置在上悬臂和下悬臂上。
值得指出的是，在另一些实现方式中，左侧可伸缩件171和右侧可伸缩件173也可以是伸缩臂，夹持臂则可转动或者可滑动地安装在伸缩臂的自由端。该伸缩臂可以是由多节套接在一起的套杆组成，或者，也可以是由多节可折叠的连杆组成。
另外，虽然本公开中的左侧可伸缩机构和右侧可伸缩机构具有相同的结构，但在另一些实现方式中，左侧可伸缩机构和右侧可伸缩机构也可以采用不同的结构。
值得说明的是，虽然上文中结合图1至图9具体介绍了几种不同的遥控装置的具体结构以及各零部件之间的耦合关系，但是，应当理解，这仅是示例性的介绍，并非对于本公开可实现方式的穷尽式列举。
例如，在另一些可选地实现方式中，遥控装置10包括壳体110和两个夹持臂。其中，每一个夹持臂均安装在壳体110上并且每一个夹持臂均能够相对于壳体110在展开位置和收纳位置之间转动；当两个夹持臂都处于展开位置时，这两个夹持臂与壳体110共同限定出用于夹持可移动终端20的夹持空间。当任一个夹持臂在外力的驱动下相对于壳体110往第一方向转动的角度小于预设角度时，该夹持臂具有往第一方向的相反方向转动的扭转力；当夹持臂在外力的驱动下相对于壳体110往第一方向转动的角度大于预设角度时，夹持臂具有继续往第一方向转动的扭转力。
示意性地，可以通过前文中的弹性转轴分别将两个夹持臂可转动的安装在壳体110相对的两个侧壁上。例如，可以将两个夹持臂131,133转动安装在的左侧壁和右侧壁上，从而使得左夹持臂131能够顺时针转动到某个角度的前后具有相反的弹性回复力，同理的，右夹持臂133能够逆时针转动到某个角度的前后时具有相反的弹性回复力。其中，弹性转轴的具体结构及其与壳体110和夹持臂的装配关系可以参见前文，在此不再进行赘述。
可选地，在任意一个夹持臂内还可以容纳有天线模块，该天线模块用于通信连接所述遥控装置10和所述遥控装置10的控制对象。其中，天线模块的具体结构以及与夹持臂、可移动终端20等的配合关系可以参见前文，在此不再进行赘述。
又如，在另一些实现方式中，遥控装置10包括壳体110和两个夹持臂。其中，每一个夹持臂均安装在壳体110上并且每一个夹持臂均能够相对于壳体110在展开位置和收纳位置之间转动；当两个夹持臂都处于展开位置时，这两个夹持臂与壳体110共同限定出用于夹持可移动终端的夹持空间。在至少一个夹持臂内容纳有通信模块，该通信模块用于通信连接所述遥控装置10和所述遥控装置10的控制对象。
示意性地，在壳体110的相对或者相邻的侧壁上分别转动或者滑动装配有两个夹持臂，在两个夹持臂中还容纳有通信模块，该通信模块可以是 天线模块。例如，如图1至9所示，在壳体110的左侧壁和右侧壁上分别转动安装有左夹持臂131和右夹持臂133。又如，在壳体110的底壁和顶壁上滑动安装有上夹持臂和下夹持臂。夹持臂与壳体110转动装配或者滑动装配的结构安装方式均可以参见上文，在此不再进行赘述。
可选地，夹持臂包括相互垂直的第一中心线和第二中心线，该第一中心线例如可以平行于图1中的X轴，第二中心线例如可以平行于图1中的Y轴。容易理解，当夹持臂可转动地安装在壳体110上时，该第一中心线可以垂直于夹持臂的旋转轴线；当夹持臂滑动装配在壳体110上时，该第一中心线可以平行于夹持臂相对于壳体110滑动的方向。
可选地，天线模块包括电路板以及安装在电路板上的天线，该电路板例如可以倾斜于夹持臂的第二中心线设置。
可选地，左侧壁和右侧壁可以设置用于收纳左夹持臂131和右夹持臂133的容纳槽1101,1103。
再如，在另一些实现方式中，遥控装置10包括壳体110和两个夹持臂。其中，每一个夹持臂均安装在壳体110上并且每一个夹持臂均能够相对于壳体110在展开位置和收纳位置之间转动；当两个夹持臂都处于收纳位置时，两个夹持臂位于壳体110的不同侧；当两个夹持臂都处于展开位置时，两个夹持臂与壳体110共同限定出用于夹持可移动终端的夹持空间。
示意性地，在壳体110的左侧壁和右侧壁上分别转动或者滑动装配有左夹持臂131和右夹持臂133，从而当这两个夹持臂处于收纳位置时，二者处于壳体110的不同侧。例如，可以是在相邻侧，其中一个夹持臂滑动，一个夹持臂转动；也可以在壳体110的前侧壁和后侧壁上分别转动或者滑动装配前夹持臂和后夹持臂，从而当这两个夹持臂处于收纳位置时，二者也处于壳体110的不同侧。两个夹持臂与壳体110之间转动装配或者滑动装配的结构可以参见上文，在此不再进行赘述。
可选地，每一个夹持臂的转动角度都可以大于180°。如此，当两个夹持臂处于收纳位置时能够更好的夹持壳体110，而当两个夹持臂处于展开位置时能够更好的夹持可移动终端20，或者能够配合不同尺寸的可移动终端。
可选地，在这两个夹持臂的至少一个中容纳有天线模块，该天线模块 用于通信连接遥控装置10及该遥控装置10的控制对象，天线模块的具体结构以及配置方式等可以参见上文，在此不再进行赘述。
本公开还提供一种包括有上述遥控装置10和可移动平台的遥控套装。其中，可移动平台例如可以是无人机、移动机器人、无人驾驶汽车等可移动平台。通过使用如上所述的遥控装置10，该遥控套装至少具有紧凑的结构，从而有利于其存储和运输。
最后应说明的是：以上实施方式仅用以说明本发明的技术方案，而非对其进行限制；尽管参照前述实施方式对本发明已经进行了详细的说明，但本领域的普通技术人员应当理解：其依然可以对前述实施方式所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明实施方式技术方案的范围。

Claims (46)

  1. 一种遥控装置，其特征在于，包括：壳体和两个夹持臂；
    所述壳体包括两个相对的侧壁，所述两个相对的侧壁均设置有向所述壳体内部凹陷的容纳槽；
    每一个所述夹持臂均安装在所述壳体上并且都能够相对于所述壳体在展开位置和收纳位置之间运动；
    当所述夹持臂处于所述收纳位置时，所述夹持臂收纳于所述侧壁的容纳槽内；
    当两个所述夹持臂都处于所述展开位置时，两个所述夹持臂与所述壳体共同限定出用于夹持可移动终端的夹持空间。
  2. 根据权利要求1所述的遥控装置，其特征在于，所述夹持臂可转动地安装在设置有所述容纳槽的侧壁上，并且所述夹持臂能够相对于所述侧壁转动到所述收纳位置和所述展开位置。
  3. 根据权利要求2所述的遥控装置，其特征在于，所述容纳槽的一端安装有转轴，所述夹持臂的一端套装在所述转轴上并能够绕所述转轴转动到所述收纳位置和所述展开位置。
  4. 根据权利要求3所述的遥控装置，其特征在于，所述容纳槽的两个相对的槽壁上均设置有转轴孔，两个所述转轴孔同轴；
    所述夹持臂的端部设有通孔，所述转轴穿过所述夹持臂的通孔并固定在两个所述转轴孔内。
  5. 根据权利要求1所述的遥控装置，其特征在于，所述两个相对的侧壁的端部均设有一个可伸缩件，并且所述可伸缩件的伸缩方向倾斜于所述侧壁；
    每个所述可伸缩件上均安装有一个所述夹持臂，所述夹持臂能够相对于所述可伸缩件运动到所述展开位置和所述收纳位置；
    当所述夹持臂处于所述展开位置时，所述可伸缩件处于滑出状态或者缩回状态；
    当所述夹持臂处于所述收纳位置时，所述可伸缩件处于缩回状态。
  6. 根据权利要求5所述的遥控装置，其特征在于，所述夹持臂能够相对于所述可伸缩件转动或者滑动。
  7. 根据权利要求6所述的遥控装置，其特征在于，所述可伸缩件包括滑 杆以及安装部，所述滑杆的一端穿设在所述壳体内并能相对于所述壳体滑动，所述滑杆的另一端固定所述安装部，所述安装部安装有所述夹持臂。
  8. 根据权利要求7所述的遥控装置，其特征在于，所述滑杆设有抵挡部并套设有弹性件，所述弹性件的两端分别与所述抵挡部及所述壳体的内壁抵顶，用于为所述可伸缩件提供复位力。
  9. 根据权利要求8所述的遥控装置，其特征在于，所述安装部包括连接板以及两个平行设置的悬臂，两个所述悬臂中的一个与所述连接板的一端固定，两个所述悬臂中的另一个与所述连接板的另一端固定，所述连接板与两个所述悬臂共同限定出用于安装所述夹持臂的安装槽，在所述可伸缩件处于缩回状态时，所述安装槽与所述容纳槽连通；
    所述滑杆与所述连接板固定并往背离所述悬臂的方向延伸。
  10. 根据权利要求9所述的遥控装置，其特征在于，所述悬臂和所述夹持臂中的一个设有滑道，所述悬臂与所述夹持臂中的另一个设有滑块，所述滑块滑设在所述滑道内。
  11. 根据权利要求9所述的遥控装置，其特征在于，每个所述悬臂均设有一个转轴孔，两个所述转轴孔同轴并安装有转轴，所述夹持臂的端部套装在所述转轴上并能够绕所述转轴转动。
  12. 根据权利要求3或4或11所述的遥控装置，其特征在于，所述转轴为弹性转轴；
    当所述夹持臂在外力的驱动下绕所述弹性转轴的旋转轴线往第一方向转动的角度小于预设角度时，所述弹性转轴用于提供使所述夹持臂往所述第一方向的相反方向转动的扭转力；
    当所述夹持臂绕所述弹性转轴的旋转轴线往第一方向转动的角度大于预设角度时，所述弹性转轴用于提供使所述夹持臂继续往所述第一方向转动的扭转力。
  13. 根据权利要求12所述的遥控装置，其特征在于，所述弹性转轴包括：转轴外套、弹性件、上离合齿轮、下离合齿轮以及中心轴；
    所述转轴外套安装在所述夹持臂上，所述中心轴穿设于所述转轴外套内，所述弹性件、上离合齿轮和下离合齿轮从上到下依次套设在所述中心轴上，所述弹性件的顶端与所述转轴外套抵顶，所述下离合齿轮与所述中心轴的头 部抵顶。
  14. 根据权利要求13所述的遥控装置，其特征在于，所述弹性件为弹簧。
  15. 根据权利要求1-11任一项所述的遥控装置，其特征在于，所述夹持臂用于夹持所述可移动终端的表面设有侧边卡槽，所述侧边卡槽与所述可移动终端相对的第一侧边和第二侧边的形状相匹配。
  16. 根据权利要求15所述的遥控装置，其特征在于，所述侧边卡槽内设有硅胶。
  17. 根据权利要求15所述的遥控装置，其特征在于，所述壳体用于与展开的两个所述夹持臂围合成夹持空间的前侧壁设有底边卡槽，所述底边卡槽与所述可移动终端的第三侧边的形状相匹配，所述第三侧边位于所述第一侧边和第二侧边之间。
  18. 根据权利要求17所述的遥控装置，其特征在于，所述底边卡槽内设有硅胶。
  19. 根据权利要求1-11任一项所述的遥控装置，其特征在于，所述夹持臂的长度小于或等于所述容纳槽的长度。
  20. 根据权利要求1-11任一项所述的遥控装置，其特征在于，所述夹持臂的形状与所述容纳槽的形状相匹配。
  21. 根据权利要求1-11任一项所述的遥控装置，其特征在于，所述夹持臂内容纳有通信模块，所述通信模块用于通信连接所述遥控装置和所述遥控装置的控制对象。
  22. 根据权利要求21所述的遥控装置，其特征在于，所述通信模块为天线模块。
  23. 根据权利要求22所述的遥控装置，其特征在于，所述夹持臂包括第一中心线和第二中心线，所述第一中心线垂直于所述第二中心线；所述天线模块的电路板倾斜于所述第二中心线设置。
  24. 根据权利要求23所述的遥控装置，其特征在于，所述第一中心线垂直于所述夹持臂的旋转轴线、且所述第一中心线在所述夹持臂收纳于所述容纳槽内时沿所述容纳槽的延伸方向延伸。
  25. 根据权利要求21所述的遥控装置，其特征在于，所述壳体与所述夹持臂设有过线孔，用于供连接所述通信模块的连接线穿过。
  26. 根据权利要求1-11任一项所述的遥控装置，其特征在于，所述壳体和/或夹持臂设有与所述可移动终端连接的触点或者端子。
  27. 一种遥控装置，其特征在于，包括：壳体和两个夹持臂；
    每一个所述夹持臂均安装在所述壳体上并且每一个所述夹持臂均能够相对于所述壳体在展开位置和收纳位置之间转动；
    当两个所述夹持臂都处于展开位置时，两个所述夹持臂与所述壳体共同限定出用于夹持可移动终端的夹持空间；
    当所述夹持臂在外力的驱动下相对于所述壳体往第一方向转动的角度小于预设角度时，所述夹持臂具有往所述第一方向的相反方向转动的扭转力；
    当所述夹持臂在外力的驱动下相对于所述壳体往第一方向转动的角度大于预设角度时，所述夹持臂具有继续往所述第一方向转动的扭转力。
  28. 根据权利要求27所述的遥控装置，其特征在于，所述夹持臂通过弹性转轴可转动地安装在所述壳体上，所述弹性转轴用于提供所述扭转力。
  29. 根据权利要求28所述的遥控装置，其特征在于，所述弹性转轴包括：转轴外套、弹性件、上离合齿轮、下离合齿轮以及中心轴；
    所述转轴外套安装在所述夹持臂上，所述中心轴安装在所述壳体上并穿设于所述转轴外套内，所述弹性件、上离合齿轮和下离合齿轮从上到下依次套设在所述中心轴上，所述弹性件的顶端与所述转轴外套抵顶，所述下离合齿轮与所述中心轴的头部抵顶。
  30. 根据权利要求29所述的遥控装置，其特征在于，所述弹性件为弹簧。
  31. 根据权利要求27-30任一项所述的遥控装置，其特征在于，两个所述夹持臂分别安装于所述壳体相对的两个侧壁。
  32. 根据权利要求27-30任一项所述的遥控装置，其特征在于，所述夹持臂内容纳有天线模块，所述天线模块用于通信连接所述遥控装置和所述遥控装置的控制对象。
  33. 一种遥控装置，其特征在于，包括：壳体和两个夹持臂；
    每一个所述夹持臂均安装在所述壳体上并且每一个所述夹持臂均能够相对于所述壳体在展开位置和收纳位置之间转动；
    当两个所述夹持臂都处于展开位置时，两个所述夹持臂与所述壳体共同限定出用于夹持可移动终端的夹持空间；
    所述夹持臂内容纳有通信模块，所述通信模块用于通信连接所述遥控装置和所述遥控装置的控制对象。
  34. 根据权利要求33所述的遥控装置，其特征在于，所述通信模块为天线模块。
  35. 根据权利要求34所述的遥控装置，其特征在于，所述夹持臂包括第一中心线和第二中心线，所述第一中心线垂直于所述第二中心线；所述天线模块的电路板倾斜于所述第二中心线设置。
  36. 根据权利要求35所述的遥控装置，其特征在于，所述夹持臂可转动地安装在所述壳体上，所述第一中心线垂直于所述夹持臂的旋转轴线。
  37. 根据权利要求36所述的遥控装置，其特征在于，所述壳体设有用于收纳所述夹持臂的容纳槽，所述第一中心线在所述夹持臂收纳于所述容纳槽内时沿所述容纳槽的延伸方向延伸。
  38. 根据权利要求37所述的遥控装置，其特征在于，所述容纳槽设于所述壳体的侧壁。
  39. 根据权利要求35所述的遥控装置，其特征在于，所述夹持臂能够沿第一方向相对于所述壳体滑动，所述第一中心线平行于所述第一方向。
  40. 根据权利要求39所述的遥控装置，其特征在于，所述夹持臂滑设于所述壳体的侧壁或者底壁。
  41. 根据权利要求33-40任一项所述的遥控装置，其特征在于，所述壳体与所述夹持臂设有过线孔，用于供连接所述通信模块的连接线穿过。
  42. 根据权利要求33-40任一项所述的遥控装置，其特征在于，所述壳体和/或夹持臂设有与所述可移动终端连接的触点或者端子。
  43. 一种遥控装置，其特征在于，包括壳体和两个夹持臂；
    每一个所述夹持臂均安装在所述壳体上并且每一个所述夹持臂均能够相对于所述壳体在展开位置和收纳位置之间转动；
    当两个所述夹持臂都处于所述收纳位置时，两个所述夹持臂位于所述壳体的不同侧；
    当两个所述夹持臂都处于所述展开位置时，两个所述夹持臂与所述壳体共同限定出用于夹持可移动终端的夹持空间。
  44. 根据权利要求43所述的遥控装置，其特征在于，每个所述夹持臂能 够旋转的角度均大于180度；
    当两个所述夹持臂都处于所述收纳位置时，两个所述夹持臂位于所述壳体的相对两侧。
  45. 根据权利要求43或44所述的遥控装置，其特征在于，所述夹持臂内容纳有天线模块，所述天线模块用于通信连接所述遥控装置和所述遥控装置的控制对象。
  46. 一种遥控套装，其特征在于，包括可移动平台以及权利要求1-45任一项所述的遥控装置。
PCT/CN2020/136247 2020-12-14 2020-12-14 遥控装置和遥控套装 WO2022126340A1 (zh)

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