WO2023097451A1 - 云台 - Google Patents
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- WO2023097451A1 WO2023097451A1 PCT/CN2021/134441 CN2021134441W WO2023097451A1 WO 2023097451 A1 WO2023097451 A1 WO 2023097451A1 CN 2021134441 W CN2021134441 W CN 2021134441W WO 2023097451 A1 WO2023097451 A1 WO 2023097451A1
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- WIPO (PCT)
- Prior art keywords
- limiting
- rotating
- limiting part
- limiting portion
- cloud platform
- Prior art date
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- 230000000670 limiting effect Effects 0.000 claims abstract description 662
- 230000005489 elastic deformation Effects 0.000 claims description 21
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 239000013013 elastic material Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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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
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
Definitions
- the present application relates to the field of cloud platform technology, in particular to a position limiting structure of the platform.
- a pan/tilt (or called a stabilizer) is usually used to connect the shooting equipment, so as to avoid the shaking of the shooting equipment from affecting the picture quality, and the shooting angle of the shooting equipment can be adjusted.
- Traditional gimbals include one-axis, two-axis, and three-axis gimbals.
- a three-axis gimbal generally includes three motors, which are the pitch axis (Pitch axis) motor that controls the pitch motion of the gimbal carrier, the yaw axis (Yaw axis) motor that controls the translational motion of the gimbal carrier, and the motor that controls the gimbal.
- the rolling axis (Roll axis) motor for the rolling motion of the carrier.
- These motors can drive the corresponding pan/tilt parts to rotate according to instructions, and the relative rotating parts can rotate freely relative to each other in the non-working state. This will cause relative movement between the gimbal carrier of the gimbal, such as a mobile phone, and each axis arm in the non-working state, resulting in bumping.
- some traditional handheld gimbals have shaft locking mechanisms, these shaft locking mechanisms take up a lot of space and are cumbersome to use.
- a cloud platform includes at least one rotating assembly, and the rotating assembly includes:
- the fixing part including a first operating surface
- a rotating member the rotating member includes a second operating surface, the second operating surface is arranged opposite to the first operating surface along the axial direction of the rotating assembly and can rotate relative to the first operating surface, so that the The rotating part can rotate relative to the fixed part;
- the limiting structure can limit the rotating assembly at a predetermined position, so that the rotating assembly can be switched between a limiting state and a releasing state, and the limiting structure includes:
- a first limiting portion disposed on one of the first operating surface of the fixing member and the second operating surface of the rotating member;
- the second limiting portion and the third limiting portion are both arranged on the other of the first operating surface of the fixing member and the second operating surface of the rotating member, and are connected to the first operating surface of the rotating member.
- a limit part cooperates;
- the first limiter, the second limiter, and the third limiter extend axially from the first operation surface or the second operation surface, and the second limiter part can go over the first limiting part, so that the rotating assembly is at the predetermined position, so that the rotating assembly can switch from the release state to the limiting state, when the rotating assembly is in the In the limiting state, the third limiting portion abuts against the first limiting portion.
- the first limiting part when the rotating assembly is in the limiting state, the first limiting part forms a locking relationship with the second limiting part and the third limiting part .
- the first limiting part is locked between the second limiting part and the third limiting part .
- the first limiting part includes a first limiting part arranged on one of the first operating surface of the fixing part and the second operating surface of the rotating part a sub-section and a second limiting sub-section, the first limiting sub-section and the second limiting sub-section are spaced apart around the circumferential direction of the first operation surface or the second operation surface;
- the second limiting part and the third limiting part are arranged on the first operating surface and the second limiting part in a manner of cooperating with the first limiting subsection and the second limiting subsection on the other of the operating surfaces.
- the first limiting sub-parts and the second limiting sub-parts are symmetrically distributed about the rotation axis of the fixing part and the rotating part, and the second The limiting portion and the third limiting portion are symmetrically distributed about the rotation axes of the fixing piece and the rotating piece.
- the first limiting sub-part is set to abut against the third limiting part and limit the rotation of the third limiting part in the first direction
- the second limiting part The seat portion is arranged to abut against the third limiting portion so that the second limiting portion restricts the third limiting portion from rotating in a second direction opposite to the first direction.
- the first limiting portion includes a first protrusion provided on the fixing member, and the first protrusion extends from the fixing member toward the rotating member;
- the first limiting portion includes a first protruding portion disposed on the rotating member, and the first protruding portion extends from the rotating member toward the fixing member.
- the fixed part includes a housing that cooperates with the rotating part, and the first protrusion is disposed on a side wall of the housing and faces from the side wall to the said rotating member extension;
- the rotating member includes a rotating member housing, and the first protrusion is disposed on an end wall of the rotating member housing and extends from the end wall toward the fixing member.
- the first protrusion is an arc-shaped boss, and the arc-shaped boss is formed along the circumferential direction of the fixing member at the first operation of the fixing member. face; or
- the arc-shaped boss is formed on the second operating surface of the rotating member along the circumferential direction of the rotating member.
- the second limiting part includes a telescopic part arranged on the rotating part or the fixing part, and the telescopic part can be in the protruding position and the retracting position movement between.
- the telescopic portion includes an elastic limiter
- the elastic limiter includes an accommodating portion and an elastic unit arranged in the rotating member or the fixing member, so The elastic unit is at least partially disposed in the accommodating portion, and can protrude from the accommodating portion so as to abut against the edge of the first limiting portion when in the predetermined position.
- the elastic unit includes an elastic body and a positioning piece, the end of the elastic body is fixed on the end wall of the accommodating part, and the positioning piece is arranged on the elastic body. The end of the body away from the end wall.
- the elastic body includes a spring, and/or, the positioning member includes a ball.
- the second limiting part includes a second protrusion provided on the rotating part or the fixing part, and the second protrusion is connected to the first limiting part.
- the coefficient of friction between the parts is smaller than the coefficient of friction between the first limiting part and the third limiting part.
- the first limiting portion includes a first elastic limiting portion, and the first elastic limiting portion can abut against the second limiting portion to undergo elastic deformation, Until the second limiting portion passes over the first limiting portion and resumes elastic deformation.
- the second limiting portion includes a second elastic limiting portion, and the second elastic limiting portion can abut against the first limiting portion to undergo elastic deformation, Until the second limiting portion passes over the first limiting portion and resumes elastic deformation.
- the third limiting portion includes a third protrusion provided on the rotating member, and the third protrusion extends from the rotating member toward the fixing member;
- the third limiting part includes a third protrusion disposed on the fixing part, and the third protrusion extends from the fixing part toward the rotating part.
- the third protrusion is an arc-shaped boss, and the arc-shaped boss is formed on the second operation of the rotating member along the circumferential direction of the rotating member. face; or
- the arc-shaped boss is formed on the first operating surface of the fixing member along the circumferential direction of the fixing member.
- the rotating member includes a rotating member housing, and the second limiting portion and the third limiting portion are arranged on the rotating member housing; or
- the fixing part includes a housing matched with the rotating part, and the second limiting part and the third limiting part are arranged on the housing.
- the second limiting portion and the third limiting portion extend from the rotating member housing along the axial direction of the rotating member toward the fixing member;
- the second limiting portion and the third limiting portion extend from the housing toward the rotating member along an axial direction of the rotating member.
- the relative motion trajectories of the first limiting portion and the third limiting portion have overlapping portions in the axial direction and the radial direction of the rotating assembly of the pan/tilt so that when the rotating member and the fixing member are relatively rotated to the predetermined position, the first limiting portion and the third limiting portion can abut against each other.
- a sliding groove is provided on the second operating surface of the rotating member or the first operating surface of the fixing member, and the second limiting portion and The third limiting part is arranged in the sliding groove, and when the rotating assembly is in a released state, the first limiting part can move in the sliding groove.
- the second aspect of the present application relates to a cloud platform, which includes at least one rotating assembly, and the at least one rotating assembly includes: a fixed part and a rotating part that can rotate relative to the fixed part; wherein, the cloud
- the table also includes a limit structure, the limit structure can limit the fixed part and the rotating part at a predetermined position, and the limit structure includes:
- the second limiting portion is opposite to the first limiting portion along the axial direction of the rotating assembly
- a third limiting part provided on the rotating part or the fixing part, the third limiting part is arranged adjacent to the second limiting part or the first limiting part;
- the first limiting part, the second limiting part and the third limiting part extend from the fixed part or the rotating part along the axial direction of the rotating assembly, and the rotating part When rotating to a predetermined position relative to the fixing member, the first limiting part is between the second limiting part and the third limiting part, or the second limiting part is in the Between the first limiting part and the third limiting part, so that the rotating part is at a predetermined position relative to the fixing part;
- the relative movement tracks of the first limiting part and the second limiting part have overlapping parts in the axial direction and the radial direction of the rotating shaft of the pan/tilt, so that the rotating part and the fixed part When the member is relatively rotated to the limit state, the first limit portion and the second limit portion can abut against each other.
- the first limiting portion includes a first elastic limiting portion, and the first elastic limiting portion can abut against the second limiting portion to undergo elastic deformation, Until the second limiting portion passes over the first limiting portion and resumes elastic deformation.
- the second limiting portion includes a second elastic limiting portion, and the second elastic limiting portion can abut against the first limiting portion to undergo elastic deformation, Until the second limiting portion passes over the first limiting portion and resumes elastic deformation.
- the first limiting part, the second limiting part and/or the third limiting part are arc-shaped bosses, and the arc-shaped bosses are along The circumferential direction of the rotating assembly is set.
- the coefficient of friction between the first limiting portion and the second limiting portion is smaller than that between the first limiting portion and the third limiting portion coefficient of friction;
- the coefficient of friction between the first limiting portion and the second limiting portion is smaller than the coefficient of friction between the second limiting portion and the third limiting portion.
- a slide groove is provided on the first operating surface of the rotating member opposite to the fixed member, and the second limiting portion and the third limiting portion are provided In the chute, when the rotating assembly is in a released state, the first limiting part can move in the chute; or
- a slide groove is provided on the second operating surface of the fixed piece opposite to the rotating piece, and the first limiting portion and the third limiting portion are arranged in the sliding groove, when the rotating When the assembly is in a released state, the second limiting part can move in the sliding groove.
- the position limitation of the relative moving parts in the non-working state of the pan/tilt is realized by different limit parts respectively arranged on the fixed part and the rotating part, thereby providing safety protection for the rotating assembly and preventing damage due to the relative movement of the moving parts. result in damage to components.
- the first limiting part is arranged on the first operating surface of the fixed part, and the second limiting part and the third limiting part are arranged on the second operating surface opposite to the first operating surface of the rotating part
- the second A limiting portion is arranged opposite to the second limiting portion and the third limiting portion along the axial direction of the rotating assembly, thereby reducing the space occupied by the limiting portion in the radial direction of the rotating assembly, so that the rotating The structure of the component is more compact, so that the structure of the pan head adopting this rotating component is more reasonable and compact.
- FIG. 1 is a schematic diagram of a rotating assembly of a pan/tilt according to an embodiment of the present application
- Fig. 2 is a sectional view of the rotating assembly shown in Fig. 1;
- Fig. 3 is a first perspective view of the rotating assembly shown in Fig. 1 viewed obliquely from above;
- Fig. 4 is a second perspective view of the rotating assembly shown in Fig. 1 viewed obliquely from below;
- Fig. 5 is a partial cross-sectional view showing the first state of the limiting structure of the rotating assembly
- Fig. 6 is a partial cross-sectional view showing the second state of the limiting structure of the rotating assembly
- Fig. 7 is a partial cross-sectional view showing a third state of the limiting structure of the rotating assembly
- Fig. 8 is a schematic cross-sectional view of a position-limiting structure according to an embodiment of the present application.
- Fig. 9 is a schematic cross-sectional view of a position-limiting structure according to an embodiment of the present application.
- Fig. 10 is a partial perspective view of a rotating member according to an embodiment of the present application.
- Fig. 11 is a partial perspective view of a fixing member according to an embodiment of the present application.
- 100 rotating assembly; 110: fixed part; 112: first operating surface; 114: housing; 120: rotating part; 122: second operating surface; 124: rotating part shell; 126: chute; 140: limit structure ;142: first limiting part; 144: second limiting part; 146: third limiting part; 1442: accommodating part; 1444: elastic unit; 1446: elastic body; ; 220: rotating member; 240: limiting structure; 242: first limiting part; 244: second limiting part; 246: third limiting part.
- first and second are used for description purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, a feature defined as “first” or “second” may explicitly or implicitly include one or more of said features.
- “plurality” means two or more, unless otherwise specifically defined.
- connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection.
- Connected, or integrally connected may be mechanically connected, may be electrically connected or may communicate with each other; may be directly connected, or indirectly connected through an intermediary, may be internal communication between two components or interaction between two components relation.
- the present application provides a pan/tilt, which can be a handheld pan/tilt, or an airborne pan/tilt, or other forms of pan/tilt, and the pan/tilt can be a single-axis pan/tilt or a multi-axis PTZ.
- the pan/tilt includes at least one rotating assembly 100, through which the relative position and/or orientation of the pan/tilt carrier can be adjusted.
- the pan/tilt may include three rotating components, so that the pan/tilt carrier can be rotated and adjusted along the three axis directions of the pan/tilt. As shown in FIG.
- the rotating assembly 100 may include a fixed part 110 and a rotating part 120 , wherein one end of the fixing part 110 may cooperate with the rotating part 120 , so that the rotating part 120 may rotate relative to the fixing part 110 .
- the axis of rotation of the rotating member 120 relative to the fixing member 110 may be defined as the axial direction of the rotating assembly 100 .
- the fixed member 110 of the rotating assembly 100 may include a first operating surface 112.
- the first operating surface 112 is a circular surface. Since the rotating member 120 is generally configured as a circle, therefore Setting the first operating surface 112 of the fixed part 110 that cooperates with it into a circular shape is beneficial to the design and manufacture of the fixed part 110 and the rotating part 120 .
- the rotating member 120 of the rotating assembly 100 may include a second operating surface 122, the second operating surface 122 is arranged opposite to the first operating surface 112 along the axial direction of the rotating assembly 100 and can rotate relative to the first operating surface 112, so that the rotating The piece 120 can rotate relative to the fixing piece 110 .
- the second operating surface 122 of the rotating member 120 is also configured in a circular shape, so as to be able to cooperate with the first operating surface 112 .
- the rotating assembly 100 also includes a limiting structure 140, which can limit the rotating assembly 100 at a predetermined position, so that the rotating assembly 100 can switch between the limiting state and the releasing state, and also That is to say, the limiting structure 140 can limit the position of the relative rotation of the fixed part 110 and the rotating part 120 of the rotating assembly 100, so that the relative movement between the two cannot be performed.
- the position limiting structure 140 can also release the position limitation of the fixing part 110 and the rotating part 120, so that the two can move relative to each other.
- the limiting structure 140 may include limiting parts respectively provided on the fixing part 110 and the rotating part 120, specifically, the limiting structure 140 includes a first limiting part 142 and a clamping part for clamping the first limiting part 142 at a predetermined position.
- the second limiting part 144 and the third limiting part 146 can limit the first limiting part 142 and the second limiting part 142 by clamping the first limiting part 142 between the second limiting part 144 and the third limiting part 146. Relative movement between the limiting portion 144 and the third limiting portion 146 .
- the relative positioning between the fixed part 110 and the rotating part 120 can be realized by a single first limiting part 142 , that is to say, the first limiting part 142 includes a first operation along the fixing part 110 A single limiting portion arranged in the circumferential direction of the surface 112 .
- the position portion 146 is arranged on the second operating surface 122 of the rotating member 120, and passes through the first limiting portion 142 provided on the first operating surface 112 and the second limiting portion 144 arranged on the second operating surface 122 respectively. and the third limiting portion 146 realize the limiting function between the first operation surface 112 and the second operation surface 122 .
- the first limiting portion 142 extends axially from the first operating surface 112
- the second limiting portion 144 and the third limiting portion 146 extend axially from the second operating surface 122
- the second limiting portion 144 can go over the first A limiting part 142, so that the rotating assembly 100 is at a predetermined position, so that the rotating assembly 100 can switch from the release state to the limiting state.
- the third limiting part 146 abuts against the first A limited part. That is to say, when the rotating assembly 100 is in the released state, the second limiting portion 144 and the third limiting portion 146 are located on the same side of the first limiting portion 142 , as shown in FIG. 5 .
- FIG. 6 shows the process of the second limiting portion 144 passing over the first limiting portion 142
- the position limitation of the relative moving parts in the non-working state of the pan/tilt is realized by the different limit parts respectively arranged on the fixed part 110 and the rotating part 120, thereby providing safety protection for the rotating assembly 100 and preventing Damage to components due to relative movement of moving parts.
- the first limiting portion 142 is disposed on the first operating surface 112 of the fixing member 110
- the second limiting portion 144 and the third limiting portion 146 are disposed on the second limiting portion of the rotating member 120 opposite to the first operating surface 112 .
- the first limiting portion 142, the second limiting portion 144, and the third limiting portion 146 are arranged opposite to each other along the axial direction of the rotating assembly 100, thereby reducing
- the space occupied by the radial direction of the rotating assembly 100 makes the rotating assembly 100 have a more compact size in the radial direction, for example, a motor with a smaller diameter can be used.
- the first limiting portion 142 may include a first protruding portion disposed on the fixing member 110 , and the first protruding portion moves from the fixing member 110 along the rotation assembly 100
- the axial direction of the shaft extends toward the rotating member 120
- the first protrusion extends toward the rotating member 120 so as to form a cooperative relationship with the second limiting portion 144 and the third limiting portion 146 disposed on the rotating member 120 .
- the fixed part 110 of the rotating assembly 100 can be a part of the handle of the hand-held pan-tilt or a part of the shaft arm of the pan-tilt, the fixed part 110 includes a housing 114 that cooperates with the rotating part 120, and the first protrusion It may be disposed on the side wall of the housing 114 and extend from the side wall toward the rotating member 120 along the axial direction of the rotating assembly 100 .
- the rotating part 120 of the rotating assembly 100 may be a part of another shaft arm of the platform or a part of a part used to connect the load in the platform, the rotating part 120 may include a rotating part housing 124, and the second limit The position portion 144 and the third limiting portion 146 can be disposed on the rotating member housing 124 .
- the fixed part 110 can be controlled to rotate moderately relative to the rotating part 120, so that the second limiting part 144 passes over the first limiting part 142, so that the first limiting part 142 clamps
- the first limiting part 142 is held between the second limiting part 144 and the third limiting part 146, thereby restricting the further movement of the first limiting part 142, so that the rotating assembly 100 is in a limiting state.
- first protrusion may be an arc-shaped boss formed on the first operating surface 112 of the fixing member 110 along the circumferential direction of the fixing member 110, and the arc-shaped boss may have a smooth top , so that they can pass over each other smoothly when they move relative to the second limiting portion 144 .
- the second limiting part 144 of the limiting structure 140 may include a telescopic part arranged on the rotating part housing 124 of the rotating part 120, and the telescopic part can move between a protruding position and a retracting position, as shown in FIG. 5- 7.
- the retractable part By providing the retractable part, the second limiting part 144 can be in the retracted position in the process of going over the first limiting part 142, so as to get over the first limiting part 142, and be in a convex position after going over the first limiting part 142. extended position so as to form an abutting relationship with the first limiting portion 142 .
- the stretchable portion includes an elastic limiter
- the elastic limiter includes an accommodating portion 1442 and an elastic unit 1444 disposed in the rotating member 120
- the elastic unit 1444 is at least partially disposed in the accommodating portion 1442 , and can protrude from the accommodating portion 1442 so as to abut against the edge of the first limiting portion 142 when in a predetermined position.
- the elastic unit 1444 can elastically contract when the second limiting portion 144 passes over the first limiting portion 142 , and elastically extend after the second limiting portion 144 passes over the first limiting portion 142 .
- the receiving part 1442 may be a recess formed in the fixing part 110 , or may be a separate receiving part formed independently of the fixing part 110 .
- the elastic unit 1444 may include an elastic body 1446 and a positioning piece 1448 , the end of the elastic body 1446 is fixed on the end wall of the accommodating portion 1442 , and the positioning piece 1448 is disposed on the end of the elastic body 1446 away from the end wall. That is to say, one end of the elastic body 1446 is fixedly disposed at the bottom of the accommodating portion 1442 , and the other end of the elastic body 1446 is fixedly connected to the positioning member 1448 , thereby providing elastic support for the positioning member 1448 . Further, the elastic body 1446 may include a spring, and the positioning member 1448 may include a ball.
- the elastic body 1446 may also include other elastic components other than springs, such as an elastic sheet; the positioning member 1448 may also include other positioning members except balls, such as a boss structure; in addition, the elastic The unit 1444 can also be a one-piece structure.
- the third limiting part 146 of the limiting structure 140 of the rotating assembly 100 of the pan/tilt may include a third protruding part arranged on the rotating part housing 124 of the rotating part 120.
- the third The protruding part extends from the rotating part 120 toward the fixing part 110 along the axial direction of the rotating assembly 100 , so as to cooperate with the first protruding part protruding from the fixing part 110 toward the rotating part 120 .
- the third protrusion can be configured as an arc-shaped boss formed on the second operating surface 122 of the rotating member 120 along the circumferential direction of the rotating member 120 .
- the third limiting portion 146 including the third protrusion and the second limiting portion 144 including the second protrusion are jointly disposed on the rotating member housing 124 of the rotating member 120 .
- the second limiting portion 144 and the third limiting portion 146 extend from the rotating member housing 124 toward the fixing member 110 along the axial direction of the rotating member.
- the relative movement tracks of the first limiting portion 142 and the second limiting portion 144 have overlapping parts in the axial direction and radial direction of the rotating assembly 100 of the pan/tilt, so that the rotating member 120
- the first limiting portion 142 and the second limiting portion 144 can abut against each other. Therefore, it can be ensured that the first limiting part 142 and the second limiting part 144 can meet during the relative movement of the fixing part 110 and the rotating part 120 .
- a sliding groove 126 may also be provided on the second operating surface 122 of the rotating member 120, as shown in FIG. 2 and FIG. , when the rotating assembly 100 is in the released state, the first limiting portion 142 can move in the slide groove 126 .
- Axial space can be provided for the cooperation of the first limiting portion 142 , the second limiting portion 144 and the third limiting portion 146 by providing the slide groove 126 .
- the rotation assembly 100 of the pan/tilt can pass through the first limiter 142 , the second limiter 144 and the third limiter 146 arranged on the oppositely arranged first operation surface 112 and second operation surface 122 . , providing a limiting function for the rotating part 120 and the fixing part 110 that can rotate relative to each other. Since the first operating surface 112 and the second operating surface 122 are opposite planes arranged along the axial direction of the rotating assembly 100, the first limiting part 142, the second limiting part 144 and the third limiting part 146 can The arrangement along the axial direction of the rotating assembly 100 can reduce the size of the rotating assembly 100 in the radial direction, making the structure of the rotating assembly 100 and the corresponding pan/tilt more compact.
- the first limiting portion 142 may include a first elastic limiting portion, and the first elastic limiting portion can abut against the second limiting portion 144 to elastically deform until the second limiting portion 144 goes over the first limiting portion 142 and resumes elastic deformation. That is to say, at this time, the first limiting portion 142 is an elastic member, such as an elastic member made of elastic material, and the structure and material of the second limiting portion 144 are not limited, and it can be the same as that of the first embodiment.
- the same telescopic part in the above can also be a fixed part, that is, a non-elastic part, such as a boss.
- the elastic deformation of the first limiting portion 142 is used to realize the spanning motion and mutual abutting action between the first limiting portion 142 and the second limiting portion 144 .
- Other features of the second embodiment are the same as those of the first embodiment, and will not be repeated here.
- the second limiting portion 144 is not the elastic limiting member including the accommodating portion 1442 and the elastic unit 1444 as described in the foregoing embodiments, but the second limiting portion 144 includes a second elastic limiting
- the second elastic limiting portion can be made of an elastic material such as rubber, and the second elastic limiting portion can abut against the first limiting portion 142 to elastically deform until the second limiting portion 144 goes over the first limiting portion 142 and resumes elastic deformation.
- the first limiting portion 142 is not limited at this time, for example, it may be the above-mentioned first elastic limiting portion, or may be a non-elastic component.
- the elasticity of the second limiting portion 144 as the second elastic limiting portion is used to realize the spanning and abutting actions of the second limiting portion 144 relative to the first limiting portion 142 .
- the materials and structures of the first limiting portion 142 , the second limiting portion 144 and the third limiting portion 146 are not limited.
- the second limiting portion 144 of the limiting structure 140 may include a second protrusion disposed on the rotating member 120 , and the coefficient of friction between the second protrusion and the first limiting portion 142 is smaller than that between the first limiting portion 142 and the first limiting portion 142 .
- the coefficient of friction between the third limiting parts 146 are not limited.
- the second limiting portion 144 can pass over the first limiting portion 142 while the third limiting portion 146 cannot pass over the first limiting portion 142 when the same force is applied, so that the first The limiting portion 142 can be clamped between the second limiting portion 144 and the third limiting portion 146 .
- the first limiting portion 142 is disposed on the second operation surface 122 of the rotating member 120 instead of the first operation surface 112 of the fixing member 110 .
- the second limiting portion 144 and the third limiting portion 146 are disposed on the first operating surface 112 of the fixing member 110 and cooperate with the first limiting portion 142 . That is to say, in this application, the first limiting portion 142 needs to be disposed on different components from the second limiting portion 144 and the third limiting portion 146 .
- the first limiting portion 142 may include a first protrusion disposed on the rotating member 120, the first protrusion extending from the rotating member 120 toward the fixing member 110 along the axial direction of the rotating assembly 100, the first The protruding portion extends toward the fixing member 110 so as to form a matching relationship with the second limiting portion 144 and the third limiting portion 146 disposed on the fixing member 110 .
- the rotating member 120 of the rotating assembly 100 includes a rotating member housing 124 , and the first protrusion may be disposed on an end wall of the rotating member housing 124 and extend from the end wall toward the fixing member 110 along the axial direction of the rotating assembly 100 .
- the fixing part 110 of the rotating assembly 100 may include a housing 114 matched with the rotating part 120 , and the second limiting part 144 and the third limiting part 146 may be disposed on the housing 114 of the fixing part 110 .
- the fixed part 110 can be controlled to rotate moderately relative to the rotating part 120, so that the first limiting part 142 passes over the second limiting part 144 to be clamped on the second limiting part 144 and the third limiting portion 146 , thereby restricting the further movement of the first limiting portion 142 , so that the rotating assembly 100 is in a limiting state.
- the first protrusion is an arc-shaped boss formed on the second operating surface 122 of the rotating member 120 along the circumferential direction of the rotating member 120.
- the arc-shaped boss may have a smooth top, Therefore, they can pass over each other smoothly when they move relative to the second limiting portion 144 .
- the second limiting portion 144 of the limiting structure 140 includes a telescopic portion disposed on the casing 114 of the fixing member 110 , and the telescopic portion can move between a protruding position and a retracting position.
- the retractable part By providing the retractable part, the second limiting part 144 can be in the retracted position in the process of going over the first limiting part 142, and in the protruding position after passing over the first limiting part 142, so as to be compatible with the first limiting part.
- the portion 142 forms an abutting relationship.
- the stretchable portion includes an elastic limiter
- the elastic limiter includes an accommodating portion and an elastic unit disposed in the fixing member 110
- the elastic unit is at least partially disposed in the accommodating portion, and can protrude from the accommodating portion to When it is at a predetermined position, it abuts against the edge of the first limiting portion 142 .
- the elastic unit can elastically shrink when the second limiting portion 144 passes over the first limiting portion 142 , and elastically protrude after the second limiting portion 144 passes over the first limiting portion 142 .
- the accommodating part may be a recess formed in the fixing part 110 , or may be a separate part formed independently of the fixing part 110 .
- the third limiting portion 146 of the limiting structure 140 of the rotation assembly 100 of the pan/tilt may include a third protruding portion arranged on the housing 114 of the fixing member 110 , and the third protruding portion extends from the fixing member 110 along the The axial direction of the rotating assembly 100 extends toward the rotating member 120 so as to cooperate with the first protrusion protruding from the rotating member 120 toward the fixing member 110 .
- the third protruding portion is configured as an arc-shaped boss, and the arc-shaped boss is formed on the first operating surface 112 of the fixing member 110 along the circumferential direction of the fixing member 110 .
- the third limiting portion 146 including the third protrusion is disposed on the housing 114 of the fixing member 110 similarly to the second limiting portion 144 including the second protrusion.
- the second limiting portion 144 and the third limiting portion 146 extend from the housing 114 of the fixing member 110 toward the rotating member 120 along the axial direction of the rotating member.
- the relative movement tracks of the first limiting portion 142 and the second limiting portion 144 have overlapping parts in the axial direction and radial direction of the rotating assembly 100 of the pan/tilt, so that the rotating member 120 and the fixing member 110 When the relative rotation reaches a predetermined position, the first limiting portion 142 and the second limiting portion 144 can abut against each other. Therefore, it can be ensured that the first limiting part 142 and the second limiting part 144 can meet during the relative movement of the fixing part 110 and the rotating part 120 .
- a sliding groove may also be provided on the first operating surface 112 of the fixing member 110, the second limiting portion 142 and the third limiting portion 144 are arranged in the sliding groove, when the rotating assembly 100 is in the released state, the first The limiting part 142 can move in the sliding groove 126 .
- Axial space can be provided for the cooperation of the first limiting portion 142 , the second limiting portion 144 and the third limiting portion 146 by providing the slide groove 126 .
- the first limiting portion 142 may also be configured to include a first elastic limiting portion, for example, it may be a mechanical elastic structure, or a material elastic structure, that is, a component made of elastic material.
- the second limiting portion 144 may also be configured to include a second elastic limiting portion, such as a second elastic limiting portion made of elastic material.
- the second limiting portion 144 of the limiting structure 140 may include a second protrusion disposed on the fixing member 110 , and similarly, the gap between the second protrusion and the first limiting portion 142
- the coefficient of friction is smaller than the coefficient of friction between the first limiting portion 142 and the third limiting portion 146 . Therefore, it can be ensured that the second limiting portion 144 can pass over the first limiting portion 142 while the third limiting portion 146 cannot pass over the first limiting portion 142 under the condition of applying the same force.
- the present application also provides a pan/tilt, the pan/tilt includes at least one rotating assembly, generally, the pan/tilt includes three rotating assemblies, and the at least one rotating assembly includes a fixed part and can be relatively fixed A rotating piece that rotates.
- at least a part of the motor may be disposed in the rotating part, and the motor is used to drive the rotating part to rotate, so as to drive the pan-tilt carrier or other rotating parts (such as the shaft arm of the pan-tilt) on the rotating part to rotate.
- the cloud platform also includes a limiting structure 240, as shown in Figure 8 and Figure 9, showing a schematic cross-sectional view of the limiting structure 240, the limiting structure 240 can limit the fixed part 210 and the rotating part 220 at a predetermined position, In order to make the gimbal have a stable attitude in the non-working state.
- the limiting structure 240 includes three limiting parts, that is, a first limiting part 242, a second limiting part 244 and a third limiting part 246.
- the first limiting part 242 is arranged on the fixing part 210, and the second limiting part
- the bit part 244 is arranged on the rotating part 220, and the second limiting part 244 is arranged opposite to the first limiting part 242 along the axial direction of the rotating assembly, and the third limiting part 246 is arranged on the rotating part 220 or the fixed part 210,
- the third limiting portion 246 is arranged adjacent to the second limiting portion 244 or the first limiting portion 242, that is to say, the third limiting portion 246 can be arranged on the rotating member 220, as shown in FIG.
- the third limiting portion 246 may also be disposed on the fixing member 210 , and in this case is disposed adjacent to the first limiting portion 242 , as shown in FIG. 9 .
- the first limiting part 242, the second limiting part 244 and the third limiting part 246 extend from the fixed part 210 or the rotating part 220 along the axial direction of the rotating assembly. The direction of the axis of rotation of the piece 210.
- the second limiting portion 244 is between the first limiting portion 242 and the third limiting portion 246 between, so that the rotating member 220 is at a predetermined position relative to the fixing member 210 .
- one stopper is provided on one of the relatively rotating fixed part and the rotating part, and two stoppers are provided on the other, through two
- the clamping effect of the limiting part on one limiting part realizes the relative limitation of the positions of the fixed part and the rotating part, thereby providing protection for the pan/tilt. Since the fixed part and the rotating part are stacked in the axial direction of the rotating part, the limiting part arranged on the fixing part and the limiting part arranged on the rotating part can be oppositely arranged in the axial direction, thereby making The rotating assembly occupies less space in the radial direction of the rotating member, making the structure of the rotating assembly more compact, thus making the structure of the pan head adopting this rotating assembly more reasonable and compact.
- first limiting portion 242 may include a first elastic limiting portion, and the first elastic limiting portion can abut against the second limiting portion 244 to elastically deform until the second limiting portion 244 crosses the first limiting portion.
- the position part 242 recovers the elastic deformation.
- it is not necessary to specifically limit the second limiting portion 244 it is only required that the first limiting portion 242 has sufficient elasticity.
- the second limiting part 244 can also be set to include a second elastic limiting part, and the second elastic limiting part can abut against the first limiting part 242 to elastically deform until the second limiting part 244 crosses the first limiting part.
- the position part 242 recovers the elastic deformation. In this case, it is not necessary to specifically limit the first limiting portion 242 , it is only required that the second limiting portion 244 has sufficient elasticity.
- first limiting portion 242 , the second limiting portion 244 and/or the third limiting portion 246 may be arc-shaped bosses, and the arc-shaped bosses are arranged along the circumferential direction of the rotating assembly.
- each limiting portion can extend along the circumferential direction of the rotating component, thereby facilitating the design of the limiting portion and saving the space occupied by the limiting portion.
- the coefficient of friction between the first limiting portion 242 and the second limiting portion 244 is smaller than that between the first limiting portion 242 and the third limiting portion 246
- the coefficient of friction between, as shown in Figure 8, the first limiting part 242, the second limiting part 244 and the third limiting part 246 can be set in the form of friction fit, that is, the first limiting part 242 and The second limiting part does not need to have greater elasticity, but only needs to have a certain frictional force;
- the friction coefficient between the position portions 244 is smaller than the friction coefficient between the second limit portion 244 and the third limit portion 246 .
- the relative motion loci of the first limiting portion 242 and the second limiting portion 244 have overlapping portions in the axial direction and radial direction of the rotation axis of the pan/tilt, so as to When the rotating member 220 and the fixing member 210 are relatively rotated to a limited state, the first limiting portion 242 and the second limiting portion 244 can abut against each other.
- a sliding groove is provided on the first operating surface of the rotating member 220 opposite to the fixing member 210, and the second limiting portion 244 and the third limiting portion 246 are arranged in the sliding groove.
- the first limiting part 242 can move in the sliding groove; or, a sliding groove is provided on the second operating surface of the fixed part 210 opposite to the rotating part 220, and the first limiting part 242 and the third limiting part 246 is disposed in the sliding groove, and when the rotating assembly is in a released state, the second limiting part 244 can move in the sliding groove.
- the first limiting portion 142 may include two parts disposed on the first operating surface 112 of the fixing member 110 , that is, the first limiting portion 142 is not the aforementioned embodiment.
- the single part or single component described in the example but two spacer parts arranged around the circumferential direction of the first operation surface 112 of the fixing member 110, that is, the first limiter part 1422 and the second limiter part. Section 1424.
- the second limiting portion 144 and the third limiting portion 146 are spaced apart around the circumferential direction of the second operating surface 122 in a manner of cooperating with the first limiting sub-portion 1422 and the second limiting sub-portion 1424 respectively.
- the first limit sub-part 1422 is set against the third limit part 146 and restricts the rotation of the third limit part 146 in the first direction
- the second limit sub-part 1424 is set against the third limit part 146 and makes The second limiting part 1424 limits the third limiting part 146 to rotate in a second direction opposite to the first direction.
- the first limiting subsection 1422 and the second limiting subsection 1424 are symmetrically distributed about the rotation axis of the housing 114 of the fixing member 110 , that is, the first limiting subsection
- the included angle between the sub-section 1422 and the second limiting sub-section 1424 in the circumferential direction of the housing 114 is approximately 180°.
- the angle between the first limiting subsection 1422 and the second limiting subsection 1424 is not limited thereto, for example, the angle between the two can be 10°, 20° , 30°, 60°, 90°, 120°, 150°, etc., the relative rotation range between the rotating member 120 and the fixing member 110 can be limited by specifically defining the angle between the two.
- the second limiting portion 144 and the third limiting portion 146 can be arranged on the rotating member in such a manner as to cooperate with the first limiting sub-section 1422 and the second limiting sub-section 1424 of the first limiting portion 142 respectively. 120 on the second operating surface 122 .
- the second limiting portion 144 and the third limiting portion 146 are arranged substantially centrally symmetrically with respect to the rotation axis of the rotating member 120, so that the second limiting portion 144 and the first limiting portion
- the third limiting section 146 cooperates with the other one of the first limiting subsection 1422 and the second limiting subsection 1424 .
- the first limiting sub-section 1422 and the second limiting sub-section 1424 of the first limiting part 142 are respectively located on both sides of the connecting line between the second limiting part 144 and the third limiting part 146 , that is, the first limiting sub-part 1422 is located between the first side of the second limiting part 144 and the third limiting part 146, and the second limiting sub-part 1424 is located between the second limiting part 144 and the third limiting part 144 between the other side of portion 146.
- the third limiting part 146 can freely move between the first limiting subsection 1422 and the second limiting subsection 1424. rotate.
- the rotating part 120 can be rotated relative to the fixed part 110 so that the second limiting part 144 is gradually approaching the first limiting part 1422 along the first direction until the second limiting part 144 abuts against the first limiting subsection 1422, at this time, the rotating member 120 continues to rotate relative to the fixed piece 110, and the second limiting part 144 can move beyond the first limiting subsection 1422 , and make the second limiter 144 abut against the first limiter 1422 after crossing the first limiter 1422 , at this time the third limiter 146 can be just in contact with the second limiter 1424 abut against, thereby restricting the third limiting part 146 from continuing to rotate in the first direction through the second limiting subsection 14
- the first limiting sub-section 1422 can also provide the limiting function for the third limiting part 146 here, that is, when the pan/tilt is in an idle state and the rotating part 120 needs to be locked, the rotating part 120 can be relatively fixed.
- the member 110 rotates, so that the second limiting part 144 moves along the second direction gradually approaching the second limiting subsection 1424 until the second limiting part 144 abuts against the second limiting subsection 1424, at this time
- the second limiting part 144 can move over the second limiting subsection 1424, and after passing over the second limiting subsection 1424, the second limiting part 144 and the first
- the two limiting sub-parts 1424 abut against each other, and at this time the third limiting part 146 can just abut against the first limiting sub-part 1422 , thus passing through the gap between the first limiting sub-part 1422 and the third limiting part 146
- the limiting action between them restricts the rotating member 120 to continue to
- first limiting part 142 By setting the first limiting part 142 to include two limiting parts, the first limiting subsection 1422 and the second limiting subsection 1424, and setting the first limiting subsection 1422 and the second limiting subsection 1424
- the relative rotation between the rotating part 120 and the fixing part 110 can be limited within a certain angle range by being spaced approximately 180° apart.
- the relative rotation angle between the two is approximately 180°.
- the angle between the first limiting subsection 1422 and the second limiting subsection 1424 can also be set to other angles, such as 30°, 40°, 60°, 90°, 120°, 150° or any other angle.
- the first limiting portion 142 including the first limiting sub-section 1422 and the second limiting sub-section 1424 can also be provided on the rotating member 120
- the second limiting portion 144 and the third limiting portion 146 can be disposed on the fixing member 110 .
- the structures of the second limiting part 144 and the interacting first limiting subsection 1422 and the second limiting subsection 1424 are similar to those of the above-mentioned embodiments, and will not be repeated here.
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Abstract
一种云台，该云台包括至少一个转动组件（100），转动组件（100）包括：固定件（110），其包括第一操作面（112）；转动件（120），其包括第二操作面（122），第二操作面（122）与第一操作面（112）沿转动组件（100）的轴向相对设置并且能够相对于第一操作面（112）转动，使得转动件（120）能够相对于固定件（110）转动；以及限位结构（140），其能够将转动组件（100）限制在预定位置处，以使得转动组件（100）在限位状态和释放状态之间切换。
Description
本申请涉及云台技术领域，具体地涉及云台的限位结构。
为了增强拍摄设备的稳定性，通常采用云台(或称为稳定器)连接拍摄设备，以避免拍摄设备的抖动而影响画质，并且可以调节拍摄设备的拍摄角度。传统云台包括一轴、两轴、三轴云台等。例如，三轴云台一般包括三个电机，分别为控制云台载体的俯仰运动的俯仰轴(Pitch轴)电机、控制云台载体的平移运动的偏航轴(Yaw轴)电机以及控制云台载体的横滚运动的横滚轴(Roll轴)电机。这些电机可以驱动对应的云台部件按指令转动，在非工作状态下各个相对旋转部件可以相对于彼此自由转动。这将使得云台在非工作状态下其所搭载的比如为手机的云台载体与各个轴臂之间发生相对运动，从而产生磕碰现象。尽管有些传统的手持云台具有轴锁机构，但这些锁轴机构占用空间大，使用较为繁琐。
发明内容
有鉴于此，需要提出一种云台，以解决上述相关问题。
根据本申请的第一方面，提供一种云台，所述云台包括至少一个转动组件，所述转动组件包括：
固定件，所述固定件包括第一操作面；
转动件，所述转动件包括第二操作面，所述第二操作面与所述第一操作面沿所述转动组件的轴向相对设置并且能够相对于所述第一操作面转动，使得所述转动件能够相对于所述固定件转动；以及
限位结构，所述限位结构能够将所述转动组件限制在预定位置处，以使得所述转动组件在限位状态和释放状态之间切换，所述限位结构包括：
第一限位部，设置在所述固定件的所述第一操作面和所述转动件的所述第二操作面中的一者上；
第二限位部和第三限位部，均设置在所述固定件的所述第一操作面和所述转动件 的所述第二操作面中的另一者上，并与所述第一限位部相配合；
其中，所述第一限位部、所述第二限位部、所述第三限位部自所述第一操作面或所述第二操作面沿轴向延伸，所述第二限位部能够越过所述第一限位部，以使所述转动组件处于所述预定位置处，从而使得所述转动组件能够从所述释放状态切换到所述限位状态，在所述转动组件处于所述限位状态时，所述第三限位部抵靠所述第一限位部。
根据本申请的云台的一个实施例，所述转动组件处于所述限位状态时，所述第一限位部与所述第二限位部和所述第三限位部形成卡止关系。
根据本申请的云台的一个实施例，所述转动组件处于所述限位状态时，所述第一限位部卡止在所述第二限位部与所述第三限位部之间。
根据本申请的云台的一个实施例，所述第一限位部包括设置在固定件的第一操作面和所述转动件的所述第二操作面中的一者上的第一限位子部和第二限位子部，所述第一限位子部和所述第二限位子部围绕所述第一操作面或所述第二操作面的圆周方向间隔开设置；
所述第二限位部和第三限位部以分别与所述第一限位子部和所述第二限位子部相配合的方式设置在所述第一操作面和所述第二操作面中的另一者上。
根据本申请的云台的一个实施例，所述第一限位子部和所述第二限位子部关于所述固定件和所述转动件的转动轴线中心对称地分布，所述第二限位部和第三限位部关于所述固定件和所述转动件的转动轴线中心对称地分布。
根据本申请的云台的一个实施例，所述第一限位子部设置成抵靠所述第三限位部并限制所述第三限位部沿第一方向旋转，所述第二限位子部设置成抵靠所述第三限位部并使得所述第二限位子部限制所述第三限位部沿与所述第一方向相反的第二方向旋转。
根据本申请的云台的一个实施例，所述第一限位部包括设置在所述固定件上的第一突起部，所述第一突起部从所述固定件朝向所述转动件延伸；或
所述第一限位部包括设置在所述转动件上的第一突起部，所述第一突起部从所述转动件朝向所述固定件延伸。
根据本申请的云台的一个实施例，所述固定件包括与所述转动件配合的壳体，所述第一突起部设置在所述壳体的侧壁上并从所述侧壁朝向所述转动件延伸；或
所述转动件包括转动件外壳，所述第一突起部设置在所述转动件外壳的端壁上并 从所述端壁朝向所述固定件延伸。
根据本申请的云台的一个实施例，所述第一突起部为弧形凸台，所述弧形凸台沿着所述固定件的圆周方向形成在所述固定件的所述第一操作面上；或
所述弧形凸台沿着所述转动件的圆周方向形成在所述转动件的所述第二操作面上。
根据本申请的云台的一个实施例，所述第二限位部包括设置在所述转动件或所述固定件上的可伸缩部，所述可伸缩部能够在凸伸位置和缩回位置之间运动。
根据本申请的云台的一个实施例，所述可伸缩部包括弹性限位件，所述弹性限位件包括设置在所述转动件或所述固定件中的容置部和弹性单元，所述弹性单元至少部分设置在所述容置部内，且能够从所述容置部内伸出以便在处于所述预定位置时抵靠所述第一限位部的边缘。
根据本申请的云台的一个实施例，所述弹性单元包括弹性体和定位件，所述弹性体的端部固定在所述容置部的端壁上，所述定位件设置在所述弹性体的远离所述端壁的端部。
根据本申请的云台的一个实施例，所述弹性体包括弹簧，和/或，所述定位件包括滚珠。
根据本申请的云台的一个实施例，所述第二限位部包括设置在所述转动件或所述固定件上的第二突起部，所述第二突起部与所述第一限位部之间的摩擦系数小于所述第一限位部与所述第三限位部之间的摩擦系数。
根据本申请的云台的一个实施例，所述第一限位部包括第一弹性限位部，所述第一弹性限位部能够与所述第二限位部抵接而发生弹性形变，直至所述第二限位部越过所述第一限位部而恢复弹性形变。
根据本申请的云台的一个实施例，所述第二限位部包括第二弹性限位部，所述第二弹性限位部能够与所述第一限位部抵接而发生弹性形变，直至所述第二限位部越过所述第一限位部而恢复弹性形变。
根据本申请的云台的一个实施例，所述第三限位部包括设置在所述转动件上的第三突起部，所述第三突起部从所述转动件朝向所述固定件延伸；或
所述第三限位部包括设置在所述固定件上的第三突起部，所述第三突起部从所述固定件朝向所述转动件延伸。
根据本申请的云台的一个实施例，所述第三突起部为弧形凸台，所述弧形凸台沿 着所述转动件的圆周方向形成在所述转动件的所述第二操作面上；或
所述弧形凸台沿着所述固定件的圆周方向形成在所述固定件的所述第一操作面上。
根据本申请的云台的一个实施例，所述转动件包括转动件外壳，所述第二限位部和所述第三限位部设置在所述转动件外壳上；或
所述固定件包括与所述转动件配合的壳体，所述第二限位部和所述第三限位部设置在所述壳体上。
根据本申请的云台的一个实施例，所述第二限位部和所述第三限位部从所述转动件外壳沿转动件的轴向方向朝向所述固定件延伸；或
所述第二限位部和所述第三限位部从所述壳体沿转动件的轴向方向朝向所述转动件延伸。
根据本申请的云台的一个实施例，所述第一限位部和所述第三限位部的相对运动轨迹在所述云台的转动组件的轴向方向和径向方向上具有重叠部分，以使所述转动件和所述固定件在相对旋转到所述预定位置时，所述第一限位部和所述第三限位部能够相互抵靠。
根据本申请的云台的一个实施例，在所述转动件的所述第二操作面上或所述固定件的所述第一操作面上设置有滑槽，所述第二限位部和所述第三限位部设置在所述滑槽内，当所述转动组件处于释放状态时，所述第一限位部能够在所述滑槽内运动。
本申请的第二方面涉及一种云台，所述云台包括至少一个转动组件，所述至少一个转动组件包括：固定件以及能够相对于所述固定件转动的转动件；其中，所述云台还包括限位结构，所述限位结构能够将所述固定件和所述转动件限制在预定位置处，所述限位结构包括：
设置在所述固定件上的第一限位部；
设置在所述转动件上的第二限位部，所述第二限位部与所述第一限位部沿所述转动组件的轴向相对设置；以及
设置在所述转动件或所述固定件上的第三限位部，所述第三限位部与所述第二限位部或所述第一限位部相邻设置；
其中，所述第一限位部、所述第二限位部和所述第三限位部自所述固定件或所述转动件沿所述转动组件的轴向延伸，在所述转动件相对于所述固定件旋转至预定位置时，所述第一限位部处于所述第二限位部与所述第三限位部之间，或者，所述第二限 位部处于所述第一限位部与所述第三限位部之间，从而使得所述转动件相对于所述固定件处于预定位置处；
所述第一限位部和所述第二限位部的相对运动轨迹在所述云台的旋转轴的轴向方向和径向方向上具有重叠部分，以使所述转动件和所述固定件在相对旋转到限位状态时，所述第一限位部和所述第二限位部能够相互抵靠。
根据本申请的云台的一个实施例，所述第一限位部包括第一弹性限位部，所述第一弹性限位部能够与所述第二限位部抵接而发生弹性形变，直至所述第二限位部越过所述第一限位部而恢复弹性形变。
根据本申请的云台的一个实施例，所述第二限位部包括第二弹性限位部，所述第二弹性限位部能够与所述第一限位部抵接而发生弹性形变，直至所述第二限位部越过所述第一限位部而恢复弹性形变。
根据本申请的云台的一个实施例，所述第一限位部、所述第二限位部和/或所述第三限位部为弧形凸台，所述弧形凸台沿着所述转动组件的圆周方向设置。
根据本申请的云台的一个实施例，所述第一限位部与所述第二限位部之间的摩擦系数小于所述第一限位部与所述第三限位部之间的摩擦系数；或
所述第一限位部与所述第二限位部之间的摩擦系数小于所述第二限位部与所述第三限位部之间的摩擦系数。
根据本申请的云台的一个实施例，在所述转动件的与所述固定件相对的第一操作面上设置有滑槽，所述第二限位部和所述第三限位部设置在所述滑槽内，当所述转动组件处于释放状态时，所述第一限位部能够在所述滑槽内运动；或
在所述固定件的与所述转动件相对的第二操作面上设置有滑槽，所述第一限位部和所述第三限位部设置在所述滑槽内，当所述转动组件处于释放状态时，所述第二限位部能够在所述滑槽内运动。
通过分别设置在固定件和转动件上的不同的限位部实现了云台非工作状态下的相对运动部件的位置限定，由此为转动组件提供了安全保护，防止由于运动部件的相对运动而导致的部件的损坏。此外，由于第一限位部设置在固定件的第一操作面上，第二限位部和第三限位部设置在转动件的与第一操作面相对的第二操作面上，因此第一限位部与第二限位部和第三限位部沿着转动组件的轴向方向相对地设置，由此可以减小限位部在转动组件的径向方向所占据的空间，使得转动组件的结构更加紧凑，从而使得采用这种转动组件的云台的结构更加合理和紧凑。
图1为根据本申请的一个实施例的云台的转动组件的示意图；
图2为图1所示的转动组件的剖视图；
图3为图1所示的转动组件从斜上方看的第一立体视图；
图4为图1所示的转动组件从斜下方看的第二立体视图；
图5为示出转动组件的限位结构的第一状态的局部剖视图；
图6为示出转动组件的限位结构的第二状态的局部剖视图；
图7为示出转动组件的限位结构的第三状态的局部剖视图；
图8为根据本申请的一个实施例的限位结构的示意性剖视图；
图9为根据本申请的一个实施例的限位结构的示意性剖视图；
图10为根据本申请的一个实施例的转动件的局部立体视图；
图11为根据本申请的一个实施例的固定件的局部立体视图。
附图标记说明：
100：转动组件；110：固定件；112：第一操作面；114：壳体；120：转动件；122：第二操作面；124：转动件外壳；126：滑槽；140：限位结构；142：第一限位部；144：第二限位部；146：第三限位部；1442：容置部；1444：弹性单元；1446：弹性体；1448：定位件；210：固定件；220：转动件；240：限位结构；242：第一限位部；244：第二限位部；246：第三限位部。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要理解的是，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。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请的描述中，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信；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申请中的具体含义。
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申请的不同结构。为了简化本申请的公开内容，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申请。此外，本申请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，本申请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。
下面详细描述本申请的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在一些实施例中，本申请提供一种云台，该云台可以是手持云台，也可以是机载云台，或者其他形式的云台，该云台可以是单轴云台或多轴云台。该云台包括至少一个转动组件100，可以通过至少一个转动组件100调节云台载体的相对位置和/或朝向。通常情况下，云台可以包括三个转动组件，以使云台载体沿着云台的三个轴线方向进行旋转调节。如图1所示，转动组件100可以包括固定件110和转动件120，其中固定件110的一端可以与转动件120配合，从而转动件120可以相对于固定件110旋转。可以将转动件120相对于固定件110旋转的旋转轴线定义为转动组件100的轴向。在此，转动组件100的固定件110可以包括第一操作面112，有利地，在某些实施例中，该第一操作面112为圆形表面，由于转动件120通常配置为圆形，因此将与其配合的固定件110的第一操作面112设置成圆形有利于固定件110与转动件120的设计与制造。转动组件100的转动件120则可以包括第二操作面122，第二操作面122与第一操作面112沿转动组件100的轴向相对设置并且能够相对于第一操作面112转动，以使得转动件120能够相对于固定件110转动。在此，转动件120的第二操作面122也设置成圆形，由此能够与第一操作面112进行配合。
进一步地，根据本申请的转动组件100还包括限位结构140，该限位结构140能 够将转动组件100限制在预定位置处，以使得转动组件100在限位状态和释放状态之间切换，也就是说，该限位结构140能够将转动组件100的相对旋转的固定件110和转动件120进行位置限定，以使两者之间不能相对运动。限位结构140也能够解除对固定件110与转动件120的位置限定，以使两者能够相对运动。限位结构140可以包括分别设置在固定件110和转动件120上的限位部，具体地，限位结构140包括第一限位部142以及在预定位置处夹持第一限位部142的第二限位部144和第三限位部146，通过第二限位部144和第三限位部146将第一限位部142夹持其间，能够限制第一限位部142与第二限位部144和第三限位部146之间的相对运动。在一些实施例中，通过单个第一限位部142即可实现固定件110与转动件120之间的相对限位，也就是说，第一限位部142包括沿固定件110的第一操作面112的圆周方向设置的单个限位部分。
在根据本申请的一个实施例中，如图3-4所示，第一限位部142设置在固定件110的第一操作面112上，相应地，第二限位部144和第三限位部146则设置在转动件120的第二操作面122上，通过分别设置在第一操作面112上的第一限位部142与设置在第二操作面122上的第二限位部144和第三限位部146，实现了第一操作面112与第二操作面122之间的限位作用。第一限位部142自第一操作面112沿轴向延伸，第二限位部144和第三限位部146自第二操作面122沿轴向延伸，第二限位部144能够越过第一限位部142，以使转动组件100处于预定位置处，从而使得转动组件100能够从释放状态切换到限位状态，在转动组件100处于限位状态时，第三限位部146抵靠第一限位部。也就是说，在转动组件100处于释放状态时，第二限位部144和第三限位部146位于第一限位部142的同一侧，如图5所示。而当使转动件120和固定件110相对旋转一定角度以使第二限位部144越过第一限位部142，图6示出第二限位部144越过第一限位部142的过程，在第二限位部144越过第一限位部142之后与第三限位部146分别位于第一限位部142的两侧时，第二限位部144和第三限位部146将第一限位部142夹持其间，如图7所示，从而限制第一限位部142相对于第二限位部144和第三限位部146的运动，由此限制固定件110和转动件120之间的相对转动，使转动组件100处于限位状态，即第一限位部142与第二限位部144和第三限位部146形成卡止关系。也就是说，在第二限位部144越过第一限位部142后，转动组件100处于限位状态，第一限位部142卡止在第二限位部144与第三限位部146之间，以实现转动组件100的限位。
通过分别设置在固定件110和转动件120上的不同的限位部实现了云台非工作状 态下的相对运动部件的位置限定，由此为转动组件100提供了安全保护，防止在非工作状态下由于运动部件的相对运动而导致的部件的损坏。此外，由于第一限位部142设置在固定件110的第一操作面112上，第二限位部144和第三限位部146设置在转动件120的与第一操作面112相对的第二操作面122上，因此，第一限位部142与第二限位部144、第三限位部146沿着转动组件100的轴向方向相对地设置，由此可以减小限位部在转动组件100的径向方向所占据的空间，从而使得转动组件100在径向方向上具有更加紧凑的尺寸，比如可以采用直径更小的电机。
在如图1、图2和图4所示的实施例中，第一限位部142可以包括设置在固定件110上的第一突起部，该第一突起部从固定件110沿转动组件100的轴向朝向转动件120延伸，第一突起部朝向转动件120延伸以便与设置在转动件120上的第二限位部144和第三限位部146形成配合关系。
在某些实施例中，转动组件100的固定件110可以是手持云台的手柄的一部分或者是云台轴臂的一部分，固定件110包括与转动件120配合的壳体114，第一突起部可以设置在壳体114的侧壁上并从侧壁沿转动组件100的轴向朝向转动件120延伸。在某些实施例中，转动组件100的转动件120可以是云台另一轴臂的一部分或者是云台中用于连接负载的部件的一部分，转动件120可以包括转动件外壳124，第二限位部144和第三限位部146可以设置在转动件外壳124上。当根据本申请的云台处于非工作状态时，可以控制固定件110相对于转动件120适度旋转，以使第二限位部144越过第一限位部142，从而第一限位部142夹持在第二限位部144与第三限位部146之间，由此限制第一限位部142的进一步运动，从而使转动组件100处于限位状态。
进一步地，第一突起部可以为弧形凸台，该弧形凸台沿着固定件110的圆周方向形成在固定件110的第一操作面112上，该弧形凸台可以具有平滑的顶部，由此在与第二限位部144发生相对运动时能够平滑地彼此越过。
限位结构140的第二限位部144可以包括设置在转动件120的转动件外壳124上的可伸缩部，该可伸缩部能够在凸伸位置和缩回位置之间运动，如图5-7所示。通过提供可伸缩部能够使第二限位部144在越过第一限位部142的过程中处于缩回位置，从而越过第一限位部142，而在越过第一限位部142之后处于凸伸位置，以便与第一限位部142形成抵靠关系。
进一步地，如图5所示，可伸缩部包括弹性限位件，该弹性限位件包括设置在转动件120中的容置部1442和弹性单元1444，弹性单元1444至少部分设置在容置部1442 内，且能够从容置部1442内伸出以便在处于预定位置时抵靠第一限位部142的边缘。该弹性单元1444可以在第二限位部144越过第一限位部142时弹性地收缩，而在第二限位部144越过第一限位部142之后弹性地延伸。在此，容置部1442可以是形成在固定件110内的凹部，也可以是独立于固定件110形成的单独的容纳部件。
弹性单元1444可以包括弹性体1446和定位件1448，弹性体1446的端部固定在容置部1442的端壁上，定位件1448设置在弹性体1446的远离端壁的端部。也就是说，弹性体1446的一端固定地设置在容置部1442的底部，弹性体1446的另一端与定位件1448固定地连接，由此能够为定位件1448提供弹性支撑。进一步地，弹性体1446可以包括弹簧，定位件1448则可以包括滚珠。在一些实施例中，弹性体1446也可以包括除弹簧之外的其他弹性部件，比如为弹性片；定位件1448也可以包括除滚珠之外的其他定位件，比如为凸台结构；另外，弹性单元1444还可以为一体结构。
根据本申请的云台的转动组件100的限位结构140的第三限位部146可以包括设置在转动件120的转动件外壳124上的第三突起部，如图3所示，该第三突起部从转动件120沿转动组件100的轴向朝向固定件110延伸，从而能够与从固定件110朝向转动件120凸伸的第一突起部进行配合。该第三突起部可以设置为弧形凸台，该弧形凸台沿着转动件120的圆周方向形成在转动件120的第二操作面122上。包括第三突起部的第三限位部146与包括第二突起部的第二限位部144共同地设置在转动件120的转动件外壳124上。第二限位部144和第三限位部146从转动件外壳124沿转动件的轴向方向朝向固定件110延伸。
在此需要进一步说明的是，第一限位部142与第二限位部144的相对运动轨迹在云台的转动组件100的轴向方向和径向方向上具有重叠部分，以使转动件120和固定件110在相对旋转到预定位置时，第一限位部142和第二限位部144能够相互抵靠。由此能够确保固定件110和转动件120在相对运动过程中，第一限位部142和第二限位部144能够相遇。
进一步地，还可以在转动件120的第二操作面122上设置有滑槽126，如图2和图3所示，第二限位部142和第三限位部144设置在滑槽126内，当转动组件100处于释放状态时，第一限位部142能够在滑槽126内运动。通过设置滑槽126能够为第一限位部142与第二限位部144和第三限位部146的相互配合提供轴向空间。
根据本申请的云台的转动组件100能够通过设置在相对布置的第一操作面112和第二操作面122上的第一限位部142与第二限位部144和第三限位部146，为能够相 对旋转的转动件120和固定件110提供限位功能。由于第一操作面112和第二操作面122为沿转动组件100的轴向方向布置的相对平面，由此使得第一限位部142与第二限位部144和第三限位部146能够沿着转动组件100的轴向方式设置，从而能够减小转动组件100的径向方向的尺寸，使得转动组件100以及相应的云台的结构更加紧凑。
在一些实施例中，第一限位部142可以包括第一弹性限位部，所述第一弹性限位部能够与第二限位部144抵接而发生弹性形变，直至第二限位部144越过第一限位部142而恢复弹性形变。也就是说，此时第一限位部142为弹性部件，比如可以为弹性材料制成的弹性部件，而对第二限位部144的结构和材料不作限定，其可以为与第一实施例中相同的可伸缩部，也可以为固定部件，即非弹性部件，比如为凸台。利用第一限位部142的弹性变形实现第一限位部142与第二限位部144之间的跨越动作和相互抵靠作用。该第二实施例的其他特征与第一实施例相同，在此不再赘述。
在一些实施例中，第二限位部144并非如前述实施例中所述的包括容置部1442和弹性单元1444的弹性限位件，而是该第二限位部144包括第二弹性限位部，比如，该第二弹性限位部可以由例如为橡胶的弹性材料制成，第二弹性限位部能够与第一限位部142抵接而发生弹性形变，直至第二限位部144越过第一限位部142而恢复弹性形变。也就是说，此时对第一限位部142不作限定，比如其可以为上文所述的第一弹性限位部，也可以为非弹性部件。在一些实施例中，利用作为第二弹性限位部的第二限位部144的弹性实现第二限位部144相对于第一限位部142的跨越和抵靠动作。
在一些实施例中，对第一限位部142、第二限位部144和第三限位部146的材料和结构不作限定。限位结构140的第二限位部144可以包括设置在转动件120上的第二突起部，该第二突起部与第一限位部142之间的摩擦系数小于第一限位部142与第三限位部146之间的摩擦系数。由此能够确保在施加相同的作用力的情况下，第二限位部144能够越过第一限位部142，而第三限位部146不会越过第一限位部142，从而使第一限位部142能够被夹持在第二限位部144与第三限位部146之间。
在一些实施例中，第一限位部142设置在转动件120的第二操作面122上，而非设置在固定件110的第一操作面112上。相应地，第二限位部144和第三限位部146则设置在固定件110的第一操作面112上并与第一限位部142相配合。也就是说，在本申请中，第一限位部142与第二限位部144和第三限位部146需要设置在不同的部件上。
在一些实施例中，第一限位部142可以包括设置在转动件120上的第一突起部， 该第一突起部从转动件120沿转动组件100的轴向朝向固定件110延伸，第一突起部朝向固定件110延伸以便与设置在固定件110上的第二限位部144和第三限位部146形成配合关系。
转动组件100的转动件120包括转动件外壳124，第一突起部可以设置在转动件外壳124的端壁上并从端壁沿转动组件100的轴向朝向固定件110延伸。转动组件100的固定件110可以包括与转动件120配合的壳体114，第二限位部144和第三限位部146则可以设置在固定件110的壳体114上。当根据本申请的云台处于非工作状态时，可以控制固定件110相对于转动件120适度旋转，以使第一限位部142越过第二限位部144从而夹持在第二限位部144与第三限位部146之间，由此限制第一限位部142的进一步运动，从而使转动组件100处于限位状态。
进一步地，第一突起部为弧形凸台，该弧形凸台沿着转动件120的圆周方向形成在转动件120的第二操作面122上，该弧形凸台可以具有平滑的顶部，由此能够在与第二限位部144发生相对运动时能够平滑地彼此越过。
限位结构140的第二限位部144包括设置在固定件110的壳体114上的可伸缩部，该可伸缩部能够在凸伸位置和缩回位置之间运动。通过提供可伸缩部能够使第二限位部144在越过第一限位部142的过程中处于缩回位置，而在越过第一限位部142之后处于凸伸位置，以便与第一限位部142形成抵靠关系。
进一步地，可伸缩部包括弹性限位件，该弹性限位件包括设置在固定件110中的容置部和弹性单元，弹性单元至少部分设置在容置部内，且能够从容置部内伸出以便在处于预定位置时抵靠第一限位部142的边缘。该弹性单元可以在第二限位部144越过第一限位部142时弹性地收缩，而在第二限位部144越过第一限位部142之后弹性地凸伸。在此，容置部可以是形成在固定件110内的凹部，也可以是独立于固定件110形成的单独的部件。
根据本申请的云台的转动组件100的限位结构140的第三限位部146可以包括设置在固定件110的壳体114上的第三突起部，该第三突起部从固定件110沿转动组件100的轴向朝向转动件120延伸，从而能够与从转动件120朝向固定件110凸伸的第一突起部进行配合。该第三突起部设置为弧形凸台，该弧形凸台沿着固定件110的圆周方向形成在固定件110的第一操作面112上。包括第三突起部的第三限位部146与包括第二突起部的第二限位部144同样地设置在固定件110的壳体114上。第二限位部144和第三限位部146从固定件110的壳体114沿转动件的轴向方向朝向转动件120 延伸。
同样地，第一限位部142与第二限位部144的相对运动轨迹在云台的转动组件100的轴向方向和径向方向上具有重叠部分，以使转动件120和固定件110在相对旋转到预定位置时，第一限位部142和第二限位部144能够相互抵靠。由此能够确保固定件110和转动件120在相对运动过程中，第一限位部142和第二限位部144能够相遇。
进一步地，还可以在固定件110的第一操作面112上设置滑槽，第二限位部142和第三限位部144设置在滑槽内，当转动组件100处于释放状态时，第一限位部142能够在滑槽126内运动。通过设置滑槽126能够为第一限位部142与第二限位部144和第三限位部146的相互配合提供轴向空间。
在该实施例中，第一限位部142也可以设置成包括第一弹性限位部，比如其可以为机械弹性结构，也可以为材料弹性结构，即由弹性材料制成的部件。第二限位部144也可以设置成包括第二弹性限位部，比如为弹性材料制成的第二弹性限位部。
与第一实施例类似地，限位结构140的第二限位部144可以包括设置在固定件110上的第二突起部，同样地，第二突起部与第一限位部142之间的摩擦系数小于第一限位部142与第三限位部146之间的摩擦系数。由此可以确保在施加相同大小的作用力的情况下第二限位部144能够越过第一限位部142，而第三限位部146则不能越过第一限位部142。
在一些实施例中，本申请还提供一种云台，该云台包括至少一个转动组件，通常情况下，云台包括三个转动组件，所述至少一个转动组件包括固定件以及能够相对于固定件转动的转动件。在一些实施例中，转动件内可以设置电机的至少一部分，电机用于驱动转动件转动，以便带动转动件上的云台载体或其他转动件(例如云台轴臂)进行旋转。该云台还包括限位结构240，如图8和图9所示，示出限位结构240的示意性剖视图，该限位结构240能够将固定件210和转动件220限制在预定位置处，以使云台在非工作状态下具有稳定的姿态。该限位结构240包括三个限位部，即第一限位部242、第二限位部244和第三限位部246，第一限位部242设置在固定件210上，第二限位部244设置在转动件220上，且第二限位部244与第一限位部242沿转动组件的轴向相对设置，第三限位部246设置在转动件220或固定件210上，使得第三限位部246与第二限位部244或第一限位部242相邻设置，也就是说，第三限位部246可以设置在转动件220上，如图8所示，由此与第二限位部244相邻设置；另外，第三限位部246也可以设置在固定件210上，此时则与第一限位部242相邻设置，如图 9所示。第一限位部242、第二限位部244和第三限位部246自固定件210或转动件220沿转动组件的轴向延伸，转动组件的轴向指的是转动件220相对于固定件210旋转的轴线方向。在转动件220相对于固定件210旋转至预定位置时，在第三限位部246设置在转动件220上的情况下，第一限位部242处于第二限位部244与第三限位部246之间，如图8所示；或者，在第三限位部246设置在固定件210上的情况下，第二限位部244处于第一限位部242与第三限位部246之间，从而使得转动件220相对于固定件210处于预定位置处。在此，需要在固定件210和转动件220中的一者上设置一个限位部，并在另一者上设置两个限位部，以便在固定件210和转动件220相对运动过程中，使一个限位部夹持在另外两个限位部之间，即可实现对固定件210和转动件220之间的相对运动的限制，从而达到限位的目的。
根据本申请的实施例中所述的转动组件能够通过在相对旋转的固定件和转动件中的一者上设置一个限位部，并在另一者上设置两个限位部，通过两个限位部对一个限位部的夹持作用实现固定件和转动件的位置的相对限定，由此能够为云台提供保护作用。由于固定件和转动件沿转动件的轴向方向叠置地设置，由此设置在固定件上的限位部和设置在转动件上的限位部能够在轴向方向相对地设置，由此使得该转动组件在转动件的径向方向上占据更小的空间，使得转动组件的结构更加紧凑，从而使得采用这种转动组件的云台的结构更加合理和紧凑。
进一步地，第一限位部242可以包括第一弹性限位部，第一弹性限位部能够与第二限位部244抵接而发生弹性形变，直至第二限位部244越过第一限位部242而恢复弹性形变。在这种情况下，不必对第二限位部244进行具体限定，只需要第一限位部242具有足够弹性即可。
第二限位部244也可以设置成包括第二弹性限位部，第二弹性限位部能够与第一限位部242抵接而发生弹性形变，直至第二限位部244越过第一限位部242而恢复弹性形变。在这种情况下，不必对第一限位部242进行具体限定，只需要第二限位部244具有足够弹性即可。
另外，第一限位部242、第二限位部244和/或第三限位部246可以为弧形凸台，弧形凸台沿着转动组件的圆周方向设置。通过设置成弧形凸台能够使各个限位部沿着旋转部件的圆周方向延伸，从而便于限位部的设计，并且有利于节省限位部所占据的空间。
在第三限位部246设置在转动件220上的情况下，第一限位部242与第二限位部 244之间的摩擦系数小于第一限位部242与第三限位部246之间的摩擦系数，如图8所示，在此可以将第一限位部242与第二限位部244和第三限位部246设置成摩擦配合的形式，即第一限位部242和第二限位部无需具有较大弹性，只需要具有一定的摩擦力即可；或者，在第三限位部246设置在固定件210上的情况下，第一限位部242与第二限位部244之间的摩擦系数小于第二限位部244与第三限位部246之间的摩擦系数。
与前述实施例类似地，在该实施例中，第一限位部242和第二限位部244的相对运动轨迹在云台的旋转轴的轴向方向和径向方向上具有重叠部分，以使转动件220和固定件210在相对旋转到限位状态时，第一限位部242和第二限位部244能够相互抵靠。
在转动件220的与固定件210相对的第一操作面上设置有滑槽，第二限位部244和第三限位部246设置在所述滑槽内，当转动组件处于释放状态时，第一限位部242能够在所述滑槽内运动；或者，在固定件210的与转动件220相对的第二操作面上设置有滑槽，第一限位部242和第三限位部246设置在滑槽内，当转动组件处于释放状态时，第二限位部244能够在滑槽内运动。
在一些实施例中，如图10和图11所示，第一限位部142可以包括设置在固定件110的第一操作面112上的两个部分，即第一限位部142并非前述实施例中所述的单个部分或单一部件，而是围绕固定件110的第一操作面112的圆周方向间隔开设置的两个限位部分，即第一限位子部1422和第二限位子部1424。第二限位部144和第三限位部146以分别与第一限位子部1422和第二限位子部1424相配合的方式围绕第二操作面122的圆周方向间隔开设置。第一限位子部1422设置成抵靠第三限位部146并限制第三限位部146沿第一方向旋转，第二限位子部1424设置成抵靠第三限位部146并使得第二限位子部1424限制第三限位部146沿与第一方向相反的第二方向旋转。在如图10所示的实施例中，第一限位子部1422和第二限位子部1424关于固定件110的壳体114的转动轴线中心对称地分布，也就是说，第一限位子部1422和第二限位子部1424在壳体114的圆周方向上的夹角为大致180°。当然，在此仅以示例示出，第一限位子部1422和第二限位子部1424之间的夹角不限于此，比如，两者之间的夹角可以为10°、20°、30°、60°、90°、120°、150°等等，可以通过具体限定两者之间的夹角来限制转动件120与固定件110之间的相对于旋转范围。
相应地，第二限位部144和第三限位部146可以以分别与第一限位部142的第一 限位子部1422和第二限位子部1424相配合的方式设置在转动件120的第二操作面122上。在如图11所示的实施例中，第二限位部144和第三限位部146关于转动件120的旋转轴线基本中心对称地设置，以使第二限位部144与第一限位子部1422和第二限位子部1424中的一者配合的情况下，第三限位部146与第一限位子部1422和第二限位子部1424中的另一者配合。
以下将进一步说明具有如上实施例中所述的限位结构的云台的工作过程。在安装过程中使第一限位部142的第一限位子部1422和第二限位子部1424分别位于第二限位部144和第三限位部146之间的连线的两侧，即使得第一限位子部1422位于第二限位部144和第三限位部146的第一侧之间，第二限位子部1424位于第二限位部144和第三限位部146的另一侧之间。在云台的正常使用过程中，转动件120与固定件110之间发生相对旋转时，第三限位部146可以在第一限位子部1422和第二限位子部1424之间自由地旋转。当云台处于闲置状态需要锁定转动件120时，可以使转动件120相对于固定件110产生转动，以使第二限位部144沿着与第一限位子部1422逐渐靠近的第一方向运动，直至第二限位部144抵接第一限位子部1422，此时继续使转动件120相对于固定件110转动，则第二限位部144可以运动越过第一限位子部1422，并在越过第一限位子部1422之后使得第二限位部144与第一限位子部1422抵靠在一起，此时第三限位部146可以恰好与第二限位子部1424抵靠，由此通过第二限位子部1424限制第三限位部146继续沿第一方向旋转，同时第二限位部144以一定范围内的作用力抵靠第一限位子部1422，由此限制转动件120相对于固定件110沿与第一方向相反的第二方向旋转，从而实现了对转动件120与固定件110之间的相对旋转的限制。
当然，在此也可以通过第一限位子部1422为第三限位部146提供限位作用，即当云台处于闲置状态需要对转动件120进行锁定时，可以使转动件120相对于固定件110产生转动，以使第二限位部144沿着与第二限位子部1424逐渐靠近的第二方向运动，直至第二限位部144抵接第二限位子部1424，此时继续使转动件120相对于固定件110转动，则第二限位部144可以运动越过第二限位子部1424，并在越过第二限位子部1424之后使得第二限位部144与第二限位子部1424抵靠在一起，此时第三限位部146可以恰好与第一限位子部1422抵靠，由此通过第一限位子部1422与第三限位部146之间的限位作用限制转动件120相对于固定件110继续沿第二方向旋转，同时第二限位部144以一定范围内的作用力抵靠第二限位子部1424，由此限制转动件120相对于固定件110沿第一方向旋转，从而实现了对转动件120与固定件110之间的相 对旋转的限制。
通过将第一限位部142设置成包括第一限位子部1422和第二限位子部1424两个限位部分，并且将第一限位子部1422和第二限位子部1424设置成间隔大致180°的形式，能够将转动件120和固定件110之间的相对旋转限制在一定角度范围内，在此，两者之间的相对旋转角度为大致180°。在此也可以将第一限位子部1422和第二限位子部1424之间的夹角设置成其他角度，比如为30°、40°、60°、90°、120°、150°或其他任意角度。
在此需要说明的是，在该实施例中，与前述实施例类似地，包括第一限位子部1422和第二限位子部1424的第一限位部142还可以设置在转动件120上，相应地，第二限位部144和第三限位部146则可以设置在固定件110上。第二限位部144和与之相互作用的第一限位子部1422和第二限位子部1424的结构与上述实施例相似，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：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申请各实施例技术方案的范围。
Claims (28)
- 一种云台，其特征在于，所述云台包括至少一个转动组件，所述转动组件包括：固定件，所述固定件包括第一操作面；转动件，所述转动件包括第二操作面，所述第二操作面与所述第一操作面沿所述转动组件的轴向相对设置并且能够相对于所述第一操作面转动，使得所述转动件能够相对于所述固定件转动；以及限位结构，所述限位结构能够将所述转动组件限制在预定位置处，以使得所述转动组件在限位状态和释放状态之间切换，所述限位结构包括：第一限位部，设置在所述固定件的所述第一操作面和所述转动件的所述第二操作面中的一者上；第二限位部和第三限位部，均设置在所述固定件的所述第一操作面和所述转动件的所述第二操作面中的另一者上，并与所述第一限位部相配合；其中，所述第一限位部、所述第二限位部、所述第三限位部自所述第一操作面或所述第二操作面沿轴向延伸，所述第二限位部能够越过所述第一限位部，以使所述转动组件处于所述预定位置处，从而使得所述转动组件能够从所述释放状态切换到所述限位状态，在所述转动组件处于所述限位状态时，所述第三限位部抵靠所述第一限位部。
- 根据权利要求1所述的云台，其特征在于，所述转动组件处于所述限位状态时，所述第一限位部与所述第二限位部和所述第三限位部形成卡止关系。
- 根据权利要求2所述的云台，其特征在于，所述转动组件处于所述限位状态时，所述第一限位部卡止在所述第二限位部与所述第三限位部之间。
- 根据权利要求2所述的云台，其特征在于，所述第一限位部包括第一限位子部和第二限位子部，所述第一限位子部和所述第二限位子部围绕所述第一操作面或所述第二操作面的圆周方向间隔开设置；所述第二限位部和第三限位部以分别与所述第一限位子部和所述第二限位子部相配合的方式围绕所述第一操作面或所述第二操作面的圆周方向间隔开设置。
- 根据权利要求4所述的云台，其特征在于，所述第一限位子部和所述第二限位子部关于所述固定件和所述转动件的转动轴线中心对称地分布，所述第二限位部和第三限位部关于所述转动轴线中心对称地分布。
- 根据权利要求4所述的云台，其特征在于，所述第一限位子部设置成抵靠所述第三限位部并限制所述第三限位部沿第一方向旋转，所述第二限位子部设置成抵靠所述第三限位部并限制所述第三限位部沿与所述第一方向相反的第二方向旋转。
- 根据权利要求1所述的云台，其特征在于，所述第一限位部包括设置在所述固定件上的第一突起部，所述第一突起部从所述固定件沿所述轴向朝向所述转动件延伸；或所述第一限位部包括设置在所述转动件上的第一突起部，所述第一突起部从所述转动件沿所述轴向朝向所述固定件延伸。
- 根据权利要求7所述的云台，其特征在于，所述固定件包括与所述转动件配合的壳体，所述第一突起部设置在所述壳体的侧壁上并从所述侧壁沿所述轴向朝向所述转动件延伸；或所述转动件包括转动件外壳，所述第一突起部设置在所述转动件外壳的端壁上并从所述端壁沿所述轴向朝向所述固定件延伸。
- 根据权利要求7所述的云台，其特征在于，所述第一突起部为弧形凸台，所述弧形凸台沿着所述固定件的圆周方向形成在所述固定件的所述第一操作面上；或所述弧形凸台沿着所述转动件的圆周方向形成在所述转动件的所述第二操作面上。
- 根据权利要求1-9中任一项所述的云台，其特征在于，所述第二限位部包括设置在所述转动件或所述固定件上的可伸缩部，所述可伸缩部能够在凸伸位置和缩回位置之间运动。
- 根据权利要求10所述的云台，其特征在于，所述可伸缩部包括弹性限位件，所述弹性限位件包括设置在所述转动件或所述固定件中的容置部和弹性单元，所述弹性单元至少部分设置在所述容置部内，且能够从所述容置部内伸出以便在处于所述预定位置时抵靠所述第一限位部。
- 根据权利要求11所述的云台，其特征在于，所述弹性单元包括弹性体和定位件，所述弹性体的端部固定在所述容置部的端壁 上，所述定位件设置在所述弹性体的远离所述端壁的端部。
- 根据权利要求12所述的云台，其特征在于，所述弹性体包括弹簧，和/或，所述定位件包括滚珠。
- 根据权利要求1-9中任一项所述的云台，其特征在于，所述第二限位部包括设置在所述转动件或所述固定件上的第二突起部，所述第二突起部与所述第一限位部之间的摩擦系数小于所述第一限位部与所述第三限位部之间的摩擦系数。
- 根据权利要求1或2所述的云台，其特征在于，所述第一限位部包括第一弹性限位部，所述第一弹性限位部能够与所述第二限位部抵接而发生弹性形变，直至所述第二限位部越过所述第一限位部而恢复弹性形变。
- 根据权利要求1-9中任一项所述的云台，其特征在于，所述第二限位部包括第二弹性限位部，所述第二弹性限位部能够与所述第一限位部抵接而发生弹性形变，直至所述第二限位部越过所述第一限位部而恢复弹性形变。
- 根据权利要求1所述的云台，其特征在于，所述第三限位部包括设置在所述转动件上的第三突起部，所述第三突起部从所述转动件沿所述轴向朝向所述固定件延伸；或所述第三限位部包括设置在所述固定件上的第三突起部，所述第三突起部从所述固定件沿所述轴向朝向所述转动件延伸。
- 根据权利要求17所述的云台，其特征在于，所述第三突起部为弧形凸台，所述弧形凸台沿着所述转动件的圆周方向形成在所述转动件的所述第二操作面上；或所述弧形凸台沿着所述固定件的圆周方向形成在所述固定件的所述第一操作面上。
- 根据权利要求1所述的云台，其特征在于，所述转动件包括转动件外壳，所述第二限位部和所述第三限位部设置在所述转动件外壳上；或所述固定件包括与所述转动件配合的壳体，所述第二限位部和所述第三限位部设置在所述壳体上。
- 根据权利要求19所述的云台，其特征在于，所述第二限位部和所述第三限位部从所述转动件外壳沿转动件的轴向方向朝向 所述固定件延伸；或所述第二限位部和所述第三限位部从所述壳体沿转动件的轴向方向朝向所述转动件延伸。
- 根据权利要求1所述的云台，其特征在于，所述第一限位部和所述第三限位部的相对运动轨迹在所述云台的转动组件的轴向方向和径向方向上具有重叠部分，以使所述转动件和所述固定件在相对旋转到所述预定位置时，所述第一限位部和所述第三限位部能够相互抵靠。
- 根据权利要求1所述的云台，其特征在于，在所述转动件的所述第二操作面上或所述固定件的所述第一操作面上设置有滑槽，所述第二限位部和所述第三限位部设置在所述滑槽内，当所述转动组件处于释放状态时，所述第一限位部能够在所述滑槽内运动。
- 一种云台，所述云台包括至少一个转动组件，所述至少一个转动组件包括：固定件以及能够相对于所述固定件转动的转动件；其中，所述云台还包括限位结构，所述限位结构能够将所述固定件和所述转动件限制在预定位置处，所述限位结构包括：设置在所述固定件上的第一限位部；设置在所述转动件上的第二限位部，所述第二限位部与所述第一限位部沿所述转动组件的轴向相对设置；以及设置在所述转动件或所述固定件上的第三限位部，所述第三限位部与所述第二限位部或所述第一限位部相邻设置；其中，所述第一限位部、所述第二限位部和所述第三限位部自所述固定件或所述转动件沿所述转动组件的轴向延伸，在所述转动件相对于所述固定件旋转至预定位置时，所述第一限位部处于所述第二限位部与所述第三限位部之间，或者，所述第二限位部处于所述第一限位部与所述第三限位部之间，从而使得所述转动件相对于所述固定件处于预定位置处；所述第一限位部和所述第二限位部的相对运动轨迹在所述云台的旋转轴的轴向方向和径向方向上具有重叠部分，以使所述转动件和所述固定件在相对旋转到限位状态时，所述第一限位部和所述第二限位部能够相互抵靠。
- 根据权利要求23所述的云台，其特征在于，所述第一限位部包括第一弹性限位部，所述第一弹性限位部能够与所述第二限位部抵接而发生弹性形变，直至所述第二限位部越过所述第一限位部而恢复弹性形变。
- 根据权利要求23或24所述的云台，其特征在于，所述第二限位部包括第二弹性限位部，所述第二弹性限位部能够与所述第一限位部抵接而发生弹性形变，直至所述第二限位部越过所述第一限位部而恢复弹性形变。
- 根据权利要求23所述的云台，其特征在于，所述第一限位部、所述第二限位部和/或所述第三限位部为弧形凸台，所述弧形凸台沿着所述转动组件的圆周方向设置。
- 根据权利要求23所述的云台，其特征在于，所述第一限位部与所述第二限位部之间的摩擦系数小于所述第一限位部与所述第三限位部之间的摩擦系数；或所述第一限位部与所述第二限位部之间的摩擦系数小于所述第二限位部与所述第三限位部之间的摩擦系数。
- 根据权利要求23所述的云台，其特征在于，在所述转动件的与所述固定件相对的第一操作面上设置有滑槽，所述第二限位部和所述第三限位部设置在所述滑槽内，当所述转动组件处于释放状态时，所述第一限位部能够在所述滑槽内运动；或在所述固定件的与所述转动件相对的第二操作面上设置有滑槽，所述第一限位部和所述第三限位部设置在所述滑槽内，当所述转动组件处于释放状态时，所述第二限位部能够在所述滑槽内运动。
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| JP2021167628A (ja) * | 2020-04-10 | 2021-10-21 | スガツネ工業株式会社 | 回転支持装置 |
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| TW201020718A (en) * | 2008-11-17 | 2010-06-01 | Kye Systems Corp | Rotation mechanism for electronic device and electronic device having rotation mechanism |
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