WO2024041597A1 - 一种云台 - Google Patents

一种云台 Download PDF

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Publication number
WO2024041597A1
WO2024041597A1 PCT/CN2023/114605 CN2023114605W WO2024041597A1 WO 2024041597 A1 WO2024041597 A1 WO 2024041597A1 CN 2023114605 W CN2023114605 W CN 2023114605W WO 2024041597 A1 WO2024041597 A1 WO 2024041597A1
Authority
WO
WIPO (PCT)
Prior art keywords
pan
tilt
handle
axis arm
protrusion
Prior art date
Application number
PCT/CN2023/114605
Other languages
English (en)
French (fr)
Inventor
陈顾
高飞
王得成
陆利芬
Original Assignee
影石创新科技股份有限公司
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 影石创新科技股份有限公司 filed Critical 影石创新科技股份有限公司
Publication of WO2024041597A1 publication Critical patent/WO2024041597A1/zh

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Classifications

    • 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
    • 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
    • F16M11/043—Allowing translations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis

Definitions

  • This application relates to the technical field of photography auxiliary equipment, and in particular to a pan/tilt.
  • a typical pan/tilt usually consists of a fixed component for fixing the camera, a handle component for the user to hold, and a rotating component that can rotate around one or more axes. It uses electronic devices such as motors located inside to achieve functions such as camera angle adjustment, camera remote control, and maintaining stable shooting.
  • the pan/tilt In order to meet the needs of photography, the pan/tilt usually has a larger size.
  • many gimbals are designed to be foldable.
  • traditional gimbals require relatively cumbersome operations during the opening and folding process, which brings inconvenience to the daily use of the gimbal.
  • the folding platform includes: a handle, the handle includes a first end and a second end far away from each other; a folding structure, the folding structure is connected to the first end of the handle; the folding structure can be unfolded Switching between the state and the folded state so that at least a portion of the folded structure is away from the second end of the handle or in contact with the second end of the handle; a locking structure; the locking structure is configured To lock the folding structure on the second end of the handle in the folded state.
  • the folding structure includes: a plurality of pivot arms that are rotationally connected; wherein the pivot arms at least include: a first pivot arm that is rotationally connected to the first end of the handle; state, the second shaft arm is in contact with the second end of the handle.
  • the second shaft arm includes a first end and a second end that are far away from each other; and is rotationally connected to the first shaft arm; wherein the first end of the second shaft arm is connected to the first end of the second shaft arm.
  • One axis arm is rotatably connected; the second end of the second axis arm is in contact with the second end of the handle when in the folded state.
  • the locking structure includes: a first locking mechanism, the first locking mechanism is provided at the second end of the handle; a second locking mechanism, the second locking mechanism is provided on the second shaft arm; wherein the first locking mechanism and the second locking mechanism are paired; in the unfolded state, the first locking mechanism and the second locking mechanism The locking mechanisms are disengaged from each other, and in the folded state, the second locking mechanism and the first locking mechanism are engaged so that the folding structure is fixed to the second end of the handle. locking.
  • the first locking mechanism is a recess provided at the second end of the handle;
  • the second locking mechanism is an elastic body;
  • the elastic body has elastic deformation ability, and can be The surface of the second axis arm protrudes outward; wherein, in the folded state, the elastic colloid is extruded and accommodated in the depression, forming a damping that limits the rotation of the handle in the length direction.
  • the shape of the elastomer includes: a prism or a prism; the recess is a blind hole opened at the second end of the handle; wherein the blind hole has a shape similar to that of the elastomer.
  • the adapted shape and/or the blind hole has a preset size to allow the elastomer to be received within the blind hole.
  • At least a portion of the inner wall of the recess is provided with threads to form an accessory assembly interface; wherein the accessory assembly interface is configured to allow at least one accessory to be detachably installed in the expanded state. the second end of the handle.
  • the first locking mechanism and the second locking mechanism are magnetic bodies that attract each other.
  • the pan/tilt also includes: an equipment fixing mechanism; the equipment fixing mechanism is provided on the second axis arm and is configured to accommodate and fix at least one shooting device.
  • the device fixing mechanism is disposed on a surface of the second axis arm away from the locking structure, so that the device fixing mechanism faces away from the handle in the folded state. direction.
  • the device fixing mechanism is detachably provided on the second axis arm through at least one of the following methods: magnetic attraction, locking, snapping, threaded connection, and bonding.
  • the first axis arm includes: a rotating component; the rotating component is sleeved on the first end of the handle and can rotate around the length direction of the handle; the rotating component has an The rotation center of the rotating component, the connecting part extending outward; the first axis arm body; one end of the first axis arm body is rotationally connected to the connecting part, and the other end of the first axis arm body is connected to the The second shaft arm is rotationally connected; wherein, the first shaft arm body can rotate around the connecting portion to move the second shaft arm away from or close to the second end of the handle.
  • the first axis arm further includes: a stop protrusion; the stop protrusion is provided at an end of the first axis arm body close to the connection part; an angle limit protrusion ; The angle limiting protrusion is provided on the connecting part; wherein the stop protrusion abuts the angle limiting protrusion to limit the relationship between the first shaft arm body and the rotating component relative rotation.
  • the angle limiting protrusion includes: a starting protrusion and a termination protrusion; the starting protrusion and the termination protrusion surround the connecting portion along the first axis arm body.
  • the rotation direction is respectively set on the surface of the connecting part; wherein, in the unfolded state, the starting protrusion abuts the stop protrusion; in the folded state, the end protrusion Contact with the stop protrusion.
  • the first axis arm further includes: a plurality of limiting protrusions; the limiting protrusions are provided at an end of the first axis arm body that is rotationally connected to the connecting portion; a plurality of limiting protrusions position groove; the limit groove is paired with the limit protrusion and is located on the surface of the connecting part close to the first axis arm body; wherein the connecting part surrounds the first
  • the limiting protrusion is locked in the limiting groove
  • the target angle includes: a first target angle when the pan/tilt is in an unfolded state and a first target angle when the pan/tilt is in an extended state. The second target angle of the folded state.
  • connection part includes: a rotation shaft; the end of the rotation shaft extends to the first shaft arm body; the first shaft arm body is provided with an axis hole for the rotation shaft to pass through. ; Limiting mechanism; the limiting mechanism is annular and is sleeved on the rotating shaft; wherein, A plurality of the limiting grooves are provided on the limiting mechanism, and a plurality of the limiting protrusions are provided around the shaft hole.
  • the limiting protrusion is a prism-shaped protrusion; the limiting groove is adapted to the prism-shaped protrusion and includes at least one set of inclined side walls; wherein, one set of The inclined side walls are arranged oppositely along the rotation direction of the first axis arm body about the connecting part.
  • the pan/tilt also includes: a switch component; the switch component can be switched between an on state and an off state to enable the pan/tilt to start or turn off; a trigger mechanism; the trigger mechanism In conjunction with the first axis arm, it is configured to: when the first axis arm rotates to a target angle, apply a mechanical force to the switch component so that the switch component is between the on and off states.
  • Switch between; the target angle at least includes: a first target angle when the pan/tilt is in an unfolded state and a second target angle when the pan/tilt is in a folded state.
  • the cloud platform further includes: a sound-generating component; the sound-generating component is configured to: in response to the switch component switching from the off state to the on state and/or the switch component switching from the on state to the on state. When switched to the disconnected state, the preset sound effect is emitted.
  • the sound-generating component includes: a heading motor housed inside the first axis arm.
  • the switch assembly includes: at least one pair of contacts and a transmission member; the transmission member is configured to: make the at least one pair of contacts contact through a mechanical force acting on the transmission member.
  • the triggering mechanism includes: a cam; the cam is provided in the first shaft arm; wherein the cam contacts the transmission member within at least part of the rotation angle range, and moves toward the transmission member. The parts exert mechanical force.
  • the beneficial effects of the folding pan-tilt provided by the embodiments of the present application are: through the specific locking structure design, various components of the pan-tilt can be locked and fixed through simple and convenient operations after folding. Compared with traditional gimbals, users do not need to perform cumbersome operations when folding and opening the gimbal, which effectively improves the user experience.
  • Figure 1 is a schematic diagram of a pan/tilt provided by an embodiment of the present application, showing the situation in a folded state;
  • Figure 2 is a schematic diagram of a pan/tilt provided by an embodiment of the present application, showing the pan/tilt in a folded state from the perspective of direction A1;
  • Figure 3 is a schematic diagram of a pan/tilt provided by an embodiment of the present application, showing the pan/tilt in a folded state from the perspective of direction A2;
  • Figure 4 is a schematic diagram of a pan/tilt provided by an embodiment of the present application, showing the situation in an expanded state;
  • Figure 5 is a schematic structural diagram of the first axis arm provided by the embodiment of the present application.
  • Figure 6 is an exploded structural schematic diagram of the first axis arm provided by the embodiment of the present application, showing the first axis arm body and rotating components from one of the viewing angles;
  • Figure 7 is an exploded structural schematic diagram of the first axis arm provided by the embodiment of the present application, showing the first axis arm body and rotating components from another perspective;
  • Figure 8 is an exploded schematic diagram of the first axis arm provided by the embodiment of the present application, showing the exploded structure of the first axis arm body and rotating parts;
  • Figure 9 is a schematic structural diagram of a cam provided by an embodiment of the present application.
  • Fig. 10 is a front view of the cam shown in Fig. 9 in the i direction.
  • first and second are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features; therefore, the terms “first”, “second” and “second” are limited to “first", “second” and “second”.
  • the “second” feature may explicitly or implicitly include one or more of the features; “plurality” means two or more; “and/or” includes one or more related listed items. any and all combinations of. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.
  • the relative positions of the various components that make up the gimbal can change, so that the space or volume occupied by the gimbal can be changed, thereby adapting to different needs for shooting and carrying.
  • the term "folded state” is used to indicate that the gimbal is in a non-use state that takes up less space and is easy to carry, while the term “expanded state” is used to indicate that the gimbal is in a non-use state. Usage conditions that take up a large amount of space.
  • the platform 1 provided by the embodiment of the present application includes: a handle 10 , a folding structure 20 and a locking structure 30 .
  • the handle 10 is a part for the user to hold. It can be in the shape of a cylinder or other strip extending along its length. In this embodiment, for convenience of distinction, the two ends of the handle 10 that are far away from each other along the length direction X1 are respectively called the "first end” and the "second end”.
  • the folding structure 20 is a deformable part composed of a plurality of movably connected components. It can switch between the unfolded state and the folded state by changing the relative position between the components. In the unfolded state, at least a portion of the folding structure 20 will be away from the second end of the handle to facilitate the use of the gimbal. In the folded state, the corresponding part of the folding structure 20 can be recovered to contact the second end of the handle, thereby reducing the space occupied by the platform.
  • the locking structure 30 is a locking device that realizes mutual locking between two components. Specifically, any suitable implementation form can be selected and used according to the needs of the actual situation, as long as the folding structure can be locked on the second end of the handle in the folded state.
  • One of the advantageous aspects of the gimbal provided by the embodiment of the present application is that the gimbal can be folded and locked through simple operations, effectively simplifying the user's operating steps and bringing a good user experience to the user.
  • the folding structure 20 may include a plurality of pivot arms that are rotationally connected. These axle arms are rotationally connected to each other, allowing the gimbal to rotate in multiple different axis directions.
  • the first axis arm 21 and the second axis arm 22 are taken as an example for description. However, those skilled in the art can understand that a larger number of axis arms can also be selected to provide the pan/tilt with more freedom of movement according to actual needs.
  • the first shaft arm 21 is a component rotatably connected to the first end of the handle 10 .
  • any suitable method can be used to achieve the rotational connection with the handle 10 , as long as it can rotate relative to the handle 10 .
  • the second axis arm 22 is a component that is in contact with the second end of the handle 10 in the folded state and is away from the second end of the handle in the unfolded state. It is similar to the handle 10 and can also be a bar-shaped component with a certain length and a first end and a second end that are far away from each other. In this embodiment, the end of the second shaft arm 22 that contacts the second end of the handle when in the folded state may be called a second end.
  • the folding structure is composed of a first axis arm and a second axis arm
  • the first end of the second axis arm 22 is rotationally connected to the first axis arm 21, and the second end of the second axis arm 22 is The part in contact with the second end of the handle.
  • the above-mentioned locking structure 30 may include a first locking mechanism 31 and a second locking mechanism 32 that are paired.
  • first locking mechanism 31 and the second locking mechanism 32 can be respectively provided on the second end and the second shaft arm of the handle.
  • the first locking mechanism 31 and the second locking mechanism 32 can engage with each other so that the second shaft arm is locked at the second end of the handle.
  • the first locking mechanism and the second locking mechanism are disengaged from each other, and when switched to the folded state, the first locking mechanism and the second locking mechanism contact and lock with each other.
  • the first locking mechanism 31 is provided at the second end of the handle and the second locking mechanism 32 is provided at the second shaft arm for description.
  • the first locking mechanism 31 may be a recess provided at the second end of the handle, such as a countersunk hole.
  • the second locking mechanism 32 may protrude from the surface of the second shaft arm and be an elastomer with elastic deformation capability, such as silicone and rubber.
  • the elastic body can be extruded and fixed in the depression to form a damping that limits the rotation of the handle 10 around its own length direction X1.
  • the second axis arm can be easily locked on the handle through the elastic body and the depression. Moreover, this locking method can also ensure that there will be no relative rotation between the handle and the second axis arm, ensuring the locking effect of the gimbal in the folded state.
  • the second locking mechanism 32 may also be an elastic body with a non-circular shape, such as an elastic body with a prism or prism shape.
  • the first locking mechanism 31 may be a blind hole opened at the second end of the handle.
  • the blind hole may have a shape that matches the elastomer or a suitable size to allow the elastomer to be received in the blind hole to achieve an interference fit between the two.
  • the above-mentioned prism or prism-shaped elastomer can provide a better fixing and locking effect to avoid relative rotation between the handle and the second axis arm.
  • At least part of the inner wall of the recess may also be provided with threads to form an accessory assembly interface.
  • the accessory assembly interface can allow at least one accessory to be detachably installed on the handle to help realize other auxiliary functions of the gimbal.
  • the accessory may be any suitable type of auxiliary equipment, such as a tripod or a fixed clip.
  • first locking mechanism and second locking mechanism are only used to limit the position where the locking mechanism is set, and do not need to limit its specific implementation.
  • first locking mechanism and the second locking mechanism may also be two magnetic bodies that attract each other, and the fixed connection between the two is achieved through magnetic adsorption.
  • the magnetic body may be a magnet that can form a magnetic field by itself, or a metal substance that can be magnetized by a magnet, which is not specifically limited here.
  • One of the advantageous aspects of the gimbal provided by the embodiment of the present application is that the use of magnetic bodies to attract each other can provide great convenience for the user's operation. It only needs to swing the second axis arm to the corresponding position. locking.
  • the pan/tilt may further include: a device fixing mechanism 40 .
  • the device fixing mechanism 40 is a component used to accommodate and fix at least one shooting device 2 (for example, a mobile phone or a camera). It can also choose to use any suitable type of fixing mechanism according to the needs of the actual situation, as long as it can be adapted to the size of the shooting equipment.
  • the equipment fixing mechanism 40 can be detachably fixed on the second axis arm.
  • any suitable detachable connection method can be selected and used according to the needs of the actual situation, including but not limited to magnetic attraction, locks, buckles, threaded connections, and adhesives.
  • Such a detachable design is conducive to convenient replacement of different equipment fixing mechanisms 40 to adapt to the fixation of different shooting equipment.
  • the device fixing mechanism 40 may be disposed on a surface of the second shaft arm 22 that is away from the locking structure 30 .
  • the second locking mechanism 32 and the device fixing mechanism 40 may be respectively disposed on two opposite surfaces of the second shaft arm 22 .
  • the surface on which the second locking mechanism 32 is provided is called the "first surface”
  • the surface on which the device fixing mechanism 40 is provided is called the "second surface”.
  • One of the advantageous aspects of the pan/tilt provided by the embodiments of the present application is that the design of the above-mentioned equipment fixing mechanism can prevent the shooting equipment fixed on the pan/tilt from interfering with the components of the pan/tilt such as the axis arm during the folding process and after folding. . Therefore, there is no need to disassemble the shooting device 2, and it can be carried and stored together with the pan/tilt in a folded state, which greatly improves the convenience of use and brings a good use experience to the user.
  • pan/tilt 1 in the embodiment of this application. A detailed description will be given below with reference to the pan/tilt in the folded state shown in FIG. 1 and the pan/tilt in the unfolded state shown in FIG. 4 .
  • the pan/tilt 1 now has a longer total length (approximately equal to the sum of the lengths of the handle 10 and the first axis arm 21), which can meet the user's needs for selfies or other similar photography.
  • the first axis arm 21 can be rotated relative to the handle 10 so that the two are close to each other. As shown in FIG. 1 , in the folded state, the projection of the first axis arm 21 overlaps the handle 10 , so that the total length of the pan/tilt 1 is significantly shortened (approximately equal to the length of the first axis arm 21 ) for convenience. Carrying effect.
  • the above-mentioned situation represented by “the projection of the first axis arm 21 overlaps the handle 10” will be described in detail.
  • the surface where the first axis arm 21 is close to the handle 10 is called the third surface
  • the surface where the first axis arm 21 is away from the handle 10 is called the fourth surface. surface.
  • the orthographic projection of the handle 10 will fall within the range of the first surface of the first axis arm 21.
  • At least part of the first shaft arm 21 is blocked by the handle 10; as shown in FIG. 3, when viewed from the direction A2 facing the fourth surface of the first shaft arm 21, most of the handle 10 is covered by the first shaft arm 20. Occlusion. Therefore, in this embodiment, the term "projection overlap" of the first axis arm 21 and the handle 10 is used to indicate that the two components are close to each other in the length direction, thereby achieving the effect of folding to reduce the length.
  • the second end of the handle 10 When in the folded state, the second end of the handle 10 will be in contact with at least a part of the second shaft arm 22 .
  • This can be specifically achieved by setting up a suitable structural design, for example, the handle has a suitable length or the second axis arm 22 is inclined toward the handle, which is not specifically limited here.
  • the second locking mechanism 32 located on the second shaft arm 22 may be disposed in a region where the second shaft arm 22 contacts the second end of the handle 10 . Thereby, the second locking mechanism 32 can engage and lock with the first locking mechanism 31 , thereby ensuring that both the first axis arm 21 and the second axis arm 22 can maintain a fixed position in the folded state without rotating. Or move.
  • the device fixing mechanism 40 can always be kept facing away from the handle, so that the shooting device clamped and fixed therein will not interfere with the folding and there is no need to specifically take out the shooting device.
  • the first axis arm 21 may include: a rotating component 211 and a first axis arm body 212 .
  • the rotating component 211 is rotatably mounted on the first end of the handle 10 . It also has a self-rotation center, and an outwardly extending connecting portion 213 is used for rotational connection with the first shaft arm body 212 .
  • the rotating component 211 is sleeved on the handle 10 and can rotate around the rotation center X21 (ie, the length direction of the handle). There is also a rotational connection between the first axis arm body 212 and the connecting part 213, which allows the first axis arm body 212 to rotate around the rotation axis X22, so that the second axis arm located at the other end can move away from or approach the location. the second end of the handle. Therefore, through the additionally provided rotating component 21, the platform can have degrees of freedom on the rotation axes X21 and X22.
  • the first shaft arm 21 may further include: a plurality of limiting protrusions 214 and limiting grooves 215 .
  • the limiting protrusion 214 is provided at one end of the first shaft arm body 212 and the connecting part 213 that is rotationally connected.
  • the limiting groove 215 is paired with the limiting protrusion 214 and is located on the surface of the connecting part close to the first shaft arm body.
  • target angle is used to represent the rotation angle of the first axis arm body 212 . It includes a first target angle when the pan/tilt is in an unfolded state and a second target angle when the pan/tilt is in a folded state.
  • One of the advantageous aspects of the gimbal according to the embodiment of the present application is that through the additional limiting protrusions and limiting grooves, the gimbal can be reliably switched between the folded state and the unfolded state without unnecessary swings. Or misaligned to ensure the reliability of the gimbal.
  • the connecting part 213 includes a connecting housing 213a, a rotating shaft 213b and a limiting mechanism 213c.
  • the connecting housing 213a is a hollow housing connected between the rotation center X21 of the rotating component 211 and the first axis arm body 212; the rotating shaft 213b extends along the length of the connecting housing 213a from the rotation center Direction X22 extends outward. As shown in Figure 7, The end of the rotation shaft 213b away from the rotation center X21 passes through the shaft hole 212a preset in the first shaft arm body 212 and then extends into the first shaft arm body 22.
  • an interlayer annular receiving chamber 213d can be formed between at least a part of the rotation shaft 213b accommodated in the connecting housing 213a and the connecting housing 213a.
  • the outer shape of the limiting mechanism 213c presents an annular shape that is adapted to the rotating shaft 213b or the annular receiving chamber 213d.
  • the limiting mechanism 213c is sleeved on the rotating shaft 213b through a through hole opened in its center and is fixedly received in the annular receiving chamber 213d. Please refer to FIG. 6 and FIG. 7 together.
  • a plurality of limiting protrusions 214 are provided on the edge of the shaft hole 212a of the first shaft arm body 212.
  • the limiting mechanism 213c is provided with a plurality of limiting grooves 215, and the plurality of limiting grooves 215 are provided on the surface of the annular limiting mechanism 213c.
  • the limiting protrusion 214 may be a prism-shaped protrusion.
  • the limiting groove 215 includes at least one set of inclined side walls 215 a that are adapted to the prism-shaped protrusions.
  • the set of inclined side walls 215 a are arranged oppositely along the rotation direction of the first axis arm body 212 around the connecting portion 213 .
  • the inclined side wall 215a can facilitate the prism-shaped limiting protrusion 215 to slide into and out of the limiting groove 215. out to avoid getting stuck.
  • the user can apply external force to the rotating component 211 or the first axis arm body 212 to cause the rotating component 211 to rotate relative to the first axis arm body 212.
  • the rotating component 211 rotates, for each limiting recess As for the groove 215, it is a process of successively blocking with several limiting protrusions 214.
  • the mutual locking of the limiting groove 215 and the limiting protrusion 214 can keep the relative position between the rotating component 211 and the first shaft arm body 212 stable after each rotation of the rotating component 211 to avoid rocking.
  • the number of limiting grooves 215 or limiting protrusions 214 is four, which may be distributed around the circumferential edge of the limiting mechanism 213c or the shaft hole 212a.
  • the limiting groove 215 and the limiting protrusion 214 can be arranged asymmetrically. Each time an engagement occurs, for the rotating component 211 and the first shaft arm body 212, the rotating component 211 or the handle 10 is opposite to each other. The angle of rotation of the first axis arm body 212 is 180 degrees.
  • the number of the limiting protrusions 214 or the limiting grooves 215 can also be two, Three, five or even more.
  • the rotation angle of each rotation of the rotating component 211 relative to the first axis arm body 212 will be smaller. It is beneficial to accurately adjust the relative position (angle) relationship between the handle 10 and the first axis arm 21 .
  • the first connection part 213 also includes a rotation angle limiting protrusion (starting protrusion 213e, ending protrusion 213f).
  • the rotation angle limiting protrusion is disposed on the connection shell.
  • the surface of the body 213a; accordingly, the first axis arm body 212 is provided with a stop protrusion 212b at one end close to the rotating component 211, and the stop protrusion 212b is protrudingly provided on the first axis arm body 212 The side between the first surface and the second surface.
  • the rotation angle limiting protrusion can contact the stop protrusion 212b, thereby limiting the rotating component 211 or the handle 10 relative to the first axis arm body 212. Spin continues to occur.
  • the rotation angle limiting protrusion includes a starting protrusion 213e and an end protrusion 213f.
  • the starting protrusion 213e and the end protrusion 213f are respectively distributed along the circumferential surface of the connection housing 213a. The two ends of the housing 213a in the same radial direction are connected.
  • the platform When the starting protrusion 213e contacts the stop protrusion 212b, the platform is in a folded state.
  • the stop protrusion 213f When the stop protrusion 213f is in contact with the stop protrusion 212b, the pan/tilt 1 is in the unfolded state.
  • the rotating member 211 rotates in the first rotation direction relative to the first shaft arm body 212. (for example, counterclockwise) rotates 180 degrees, and the pan/tilt 1 gradually changes from the folded state to the unfolded state during this process.
  • the rotating member 211 rotates in the second rotation direction relative to the first shaft arm body 212. (for example, clockwise) rotates 180 degrees, and the pan/tilt 1 gradually changes from the unfolded state to the folded state during this process.
  • the pan/tilt may be an auxiliary device with a built-in circuit module (not shown) that can provide one or more functions.
  • the circuit module can be communicatively connected with the shooting device 2, so that the user can indirectly trigger the shooting device 2 to implement corresponding functions by pressing the function button or switch on the handle 10, such as turning on the shooting device 2, Shoot, record, pause, shut down, etc.
  • circuit module is not limited in this application. The details can be set by technicians according to actual needs. It can be understood that for a gimbal with a built-in circuit module, there are two different operating states: “on” and “off” depending on whether the circuit module is started to operate.
  • the pan/tilt may also include: a switch component 50 and a trigger mechanism 60 .
  • the switch assembly 50 is a component capable of switching between an on state and an off state. It is connected to the built-in circuit module of the gimbal to start or shut down the gimbal accordingly.
  • the triggering mechanism 60 is a movable mechanism linked with the first axis arm 21.
  • the first axis arm 21 rotates to a target angle, it can apply a mechanical force to the switch assembly 50 to switch it between the on and off states.
  • the target angle includes a first target angle when the pan/tilt is in an unfolded state and a second target angle when the pan/tilt is in a folded state.
  • pan/tilt provides two motion states of the pan/tilt being activated or closed are realized when the pan/tilt switches between the unfolded state and the folded state. linkage between.
  • the switch assembly 50 may include at least one pair of contacts (not shown) and a transmission member 51 .
  • the transmission member 51 can connect or disconnect at least one pair of contacts through the mechanical force acting on the transmission member 51, thereby controlling the startup and shutdown of the pan/tilt.
  • the transmission member may be a push pin, a button, a lever, a roller or other similar power transmission components.
  • the triggering mechanism 60 is mainly implemented by the cam 61 .
  • the cam 61 is a component provided in the first axis arm. It can contact the transmission member 51 within at least a part of the rotation angle range, thereby exerting a mechanical force on the transmission member 51 .
  • the above-mentioned cam 61 can choose to use any suitable type of assembly method to achieve linkage with the first shaft arm 21 according to the needs of the actual situation.
  • the cam 61 is assembled and fixed to the end of the rotating shaft 213b by some connectors (such as threaded connections).
  • the cam structure can trigger the switch assembly when the pan/tilt is in the unfolded state to realize automatic start of the pan/tilt, and when the pan/tilt is in the folded state, it can be activated as the pan/tilt is folded.
  • the rotation of the rotating shaft 211b breaks away from the contact with the transmission member, causing the switch assembly to automatically reset, thereby realizing automatic closing of the pan/tilt.
  • the pan/tilt head may also include additional sound-generating components.
  • the sound-generating component can be contained in any suitable component of the pan/tilt, such as the first axis arm, the second axis arm or the handle.
  • the sound-emitting component can be linked to the startup and shutdown states of the pan/tilt, and in response to the switch component switching from the off state to the on state and/or the switch component switching from the on state to the off state, Play a preset sound effect.
  • specific sound effects such as specific beeps or prompts, according to actual needs, which are not specifically limited here.
  • the sound-generating component may be an electrical component electrically connected to the circuit module in the gimbal.
  • the sound-producing component may also be a mechanical bell, a bell or a similar sound-producing mechanism.
  • the triggering mechanism is coupled with it in a manner similar to that of the switch component, and can also apply mechanical force to the sound-emitting component to make it sound when the first axis arm rotates to the target angle.
  • the pan/tilt may also include several motors. Under the control of the circuit module, the motor can drive the rotation of each axis arm in the folding structure to keep the shooting device in an ideal shooting position (for example, as a stabilizer to keep the shooting device stable during movement).
  • a yaw motor 23 may be provided in the rotating component 211 of the first shaft arm 21
  • a pitch motor 24 may be arranged in the first shaft arm body 212 of the first shaft arm 21 .
  • the heading motor 23 is used to drive the first axis arm 21 to rotate relative to the handle 10 to achieve rotation around X21 (ie, the heading axis).
  • the pitch motor 24 is used to drive the second axis arm 22 to rotate relative to the first axis arm 21 to achieve rotation around X23 (ie, the pitch axis).
  • the sound-generating component may include the above-mentioned heading motor 23.
  • the heading motor 23 is powered on and activated to emit a specific sound effect to remind the user that the gimbal is powered on.
  • the rotating component 211 rotates relative to the first axis arm body 212.
  • the transmission member 51 of the switch assembly 50 gradually moves from the proximal portion L1 of the cam 61 relative to the cam 61 Sliding to the telecentric part L2, the transmission member 51 of the switch assembly is immediately triggered to make the switch enter the on state, and the pan/tilt is automatically turned on.
  • the proximal portion L1 of the cam 61 refers to the portion on the sliding trajectory of the cam 61 that is closest to the rotation center O of the cam 61
  • the distal portion L2 of the cam 61 refers to the cam 61
  • Both the proximal part L1 and the distal part L2 may be an arc.
  • the radius R1 of the proximal part L1 is smaller than the radius R2 of the distal part L2.
  • the proximal part L1 and the distal part L2 together form at least part of the sliding track of the cam 61 .
  • the sliding track is formed by the contact point of the cam 61 with the transmission member 51 when it rotates.

Abstract

本申请实施例涉及摄影辅助设备技术领域，公开了一种云台。其包括：手柄，所述手柄包括相互远离的第一端部和第二端部；折叠结构，所述折叠结构连接于所述手柄的第一端部；所述折叠结构能够在展开状态和折叠状态之间切换，以使所述折叠结构的至少一部分远离或与所述手柄的第二端部相接触；锁止结构；所述锁止结构被配置为：在所述折叠状态下，将所述折叠结构锁定在所述手柄的第二端部上。这样的设计通过简单的操作就能够实现云台锁止固定，避免折叠结构的不同部件之间发生相对转动，提高了云台折叠展开时的使用便捷性，给用户带来了良好的使用体验。

Description

一种云台 技术领域
本申请涉及摄影辅助设备技术领域，特别涉及一种云台。
背景技术
随着科技的发展与社会的进步、社交自媒体的发达，许多摄影辅助设备开始被广泛的使用，用以提升摄影质量并丰富拍摄方式。其中，云台是其中一种被广泛使用的摄影辅助设备。典型的云台通常由固定安置摄像机的固定部件、供使用者握持的手柄部件以及可绕一个或者多个轴向旋转的旋转部件所组成。其通过位于内部的电机等电子设备来实现诸如摄像角度调节、摄像机远程控制以及保持拍摄稳定等的功能。
云台为了满足摄像的需要，通常具有较大的尺寸。为便于携带，许多云台会被设计为可折叠的形式。但传统的云台在打开和折叠的过程中需要进行较为繁琐的操作，为云台的日常使用带来不便。
发明内容
基于此，有必要针对传统可折叠云台存在的操作繁琐的问题，提供一种便于操作的云台。
为解决上述技术问题，本申请实施方式采用的其中一个技术方案是：一种折叠云台。该折叠云台包括：手柄，所述手柄包括相互远离的第一端部和第二端部；折叠结构，所述折叠结构连接于所述手柄的第一端部；所述折叠结构能够在展开状态和折叠状态之间切换，以使所述折叠结构的至少一部分远离所述手柄的第二端部或与所述手柄的第二端部相接触；锁止结构；所述锁止结构被配置为：在所述折叠状态下，将所述折叠结构锁定在所述手柄的第二端部上。
在一些实施例中，所述折叠结构包括：若干个转动连接的轴臂；其中，所述轴臂至少包括：与所述手柄的第一端部转动连接的第一轴臂以及在所述折叠状态时，与所述手柄的第二端部相接触的第二轴臂。
在一些实施例中，所述第二轴臂包括相互远离的第一末端和第二末端；与所述第一轴臂转动连接；其中，所述第二轴臂的第一末端与所述第一轴臂转动连接；所述第二轴臂的第二末端在折叠状态时，与所述手柄的第二端部相接触。
在一些实施例中，所述锁止结构包括：第一锁止机构，所述第一锁止机构设置在所述手柄的第二端部；第二锁止机构，所述第二锁止机构设置在所述第二轴臂上；其中，所述第一锁止机构和所述第二锁止机构配对设置；在所述展开状态下，所述第一锁止机构和所述第二锁止机构相互脱离，并且在所述折叠状态下，所述第二锁止机构和所述第一锁止机构相接合，以使所述折叠结构被固定在所述手柄的第二端部上保持锁定。
在一些实施例中，所述第一锁止机构为设置在所述手柄的第二端部的凹陷；所述第二锁止机构为弹性体；所述弹性体具有弹性形变能力，自所述第二轴臂的表面向外突出；其中，在所述折叠状态下，所述弹性胶体被挤压收容在所述凹陷内，形成限制所述手柄绕长度方向旋转的阻尼。
在一些实施例中，所述弹性体的形状包括：棱柱或棱台；所述凹陷为开设在所述手柄的第二端部的盲孔；其中，所述盲孔具有与所述弹性体相适配的形状和/或所述盲孔具有预设的尺寸，以允许所述弹性体被收容在所述盲孔内。
在一些实施例中，所述凹陷的至少一部分内壁设置有螺纹，形成配件装配接口；其中，所述配件装配接口被配置为：在所述展开状态下，允许至少一个配件可拆卸的安装在所述手柄的第二端部。
在一些实施例中，所述第一锁止机构和所述第二锁止机构为相互吸引的磁性体。
在一些实施例中，所述云台还包括：设备固定机构；所述设备固定机构设置在所述第二轴臂上，被配置为：收容固定至少一个拍摄设备。
在一些实施例中，所述设备固定机构设置在所述第二轴臂与所述锁止结构相背离的表面，以使所述设备固定机构在所述折叠状态下，朝向远离所述手柄的方向。
在一些实施例中，所述设备固定机构通过如下的至少一种方式可拆卸的设置在所述第二轴臂上：磁吸、锁扣、卡扣、螺纹连接、粘接。
在一些实施例中，所述第一轴臂包括：转动部件；所述转动部件套设在所述手柄的第一端部，可绕所述手柄的长度方向旋转；所述转动部件具有自所述转动部件的旋转中心，向外延伸的连接部分；第一轴臂本体；所述第一轴臂本体的一端与所述连接部分转动连接，所述第一轴臂本体的另一端与所述第二轴臂转动连接；其中，所述第一轴臂本体可绕所述连接部分旋转，以使所述第二轴臂远离或者接近所述手柄的第二端部。
在一些实施例中，所述第一轴臂还包括：止位凸起；所述止位凸起设置在所述第一轴臂本体与所述连接部分相接近的一端；角度限位凸起；所述角度限位凸起设置在所述连接部分；其中，所述止位凸起与所述角度限位凸起相抵接，以限制所述第一轴臂本体与所述转动部件之间的相对旋转。
在一些实施例中，所述角度限位凸起包括：起始凸起和终止凸起；所述起始凸起和所述终止凸起沿所述第一轴臂本体绕所述连接部分的旋转方向，分别设置在所述连接部分的表面；其中，在所述展开状态时，所述起始凸起与所述止位凸起相抵接；在所述折叠状态时，所述终止凸起与所述止位凸起相抵接。
在一些实施例中，所述第一轴臂还包括：若干个限位凸起；所述限位凸起设置在所述第一轴臂本体与所述连接部分转动连接的一端；若干个限位凹槽；所述限位凹槽与所述限位凸起配对设置，位于所述连接部分与所述第一轴臂本体相接近的表面；其中，在所述连接部分绕所述第一轴臂本体旋转至目标角度时，所述限位凸起卡止在所述限位凹槽内；所述目标角度包括：所述云台处于展开状态的第一目标角度和所述云台处于折叠状态的第二目标角度。
在一些实施例中，所述连接部分包括：旋转轴；所述旋转轴的末端延伸至所述第一轴臂本体；所述第一轴臂本体开设有供所述旋转轴穿过的轴孔；限位机构；所述限位机构呈环形，套设在所述旋转轴上；其中， 若干个所述限位凹槽设置在所述限位机构上，若干个所述限位凸起围绕所述轴孔设置。
在一些实施例中，所述限位凸起为棱台状凸起；所述限位凹槽与所述棱台状凸起相适配，包括至少一组倾斜的侧壁；其中，一组所述倾斜的侧壁沿所述第一轴臂本体绕所述连接部分的旋转方向相对设置。
在一些实施例中，所述云台还包括：开关组件；所述开关组件能够在接通状态和断开状态之间切换，以使所述云台启动或者关闭；触发机构；所述触发机构与所述第一轴臂联动，被配置为：在所述第一轴臂旋转至目标角度时，向所述开关组件施加机械作用力，以使所述开关组件在接通和断开状态之间切换；所述目标角度至少包括：所述云台处于展开状态的第一目标角度和所述云台处于折叠状态的第二目标角度。
在一些实施例中，所述云台还包括：发声组件；所述发声组件被配置为：响应于所述开关组件从断开状态切换为接通状态和/或所述开关组件从接通状态切换为断开状态的情形，发出预设的音效。
在一些实施例中，所述发声组件包括：被收容在所述第一轴臂内部的航向电机。
在一些实施例中，所述开关组件包括：至少一对触点以及传动件；所述传动件被配置为：通过作用于所述传动件的机械作用力，令至少一对所述触点接通或断开；所述触发机构包括：凸轮；所述凸轮设置在所述第一轴臂内；其中，所述凸轮在至少一部分旋转角度范围内与所述传动件相接触，向所述传动件施加机械作用力。
本申请实施例提供的折叠云台的有益效果是：通过特定的锁止结构设计，可以通过简单便捷的操作来实现对云台折叠后，各个部件的锁止固定。其相对于传统的云台而言，使用者折叠和打开云台的过程中不需要进行繁琐的操作，有效的提升了使用体验。
附图说明
一个或多个实施例通过与之对应的附图进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本申请实施例提供的云台的示意图，示出了处于折叠状态的情形；
图2是本申请实施例提供的云台的示意图，示出了在方向A1的视角下，处于折叠状态的云台；
图3是本申请实施例提供的云台的示意图，示出了在方向A2的视角下，处于折叠状态的云台；
图4是本申请实施例提供的云台的示意图，示出了处于展开状态的情形；
图5是本申请实施例提供的第一轴臂的结构示意图；
图6是本申请实施例提供的第一轴臂的分解结构示意图，示出了其中一个视角下的第一轴臂本体和转动部件；
图7是本申请实施例提供的第一轴臂的分解结构示意图，示出了另一个视角下的第一轴臂本体和转动部件；
图8是本申请实施例提供的第一轴臂的分解示意图，示出了第一轴臂本体和转动部件的分解结构；
图9是本申请实施例提供的凸轮的结构示意图；
图10是图9所示的凸轮，在i方向上的正视图。
附图标记说明：
1.云台，10.手柄，20.折叠结构，30.锁止结构，40.设备固定机构，
2.拍摄设备，21.第一轴臂，22.第二轴臂，23.航向电机，24.俯仰电机，211.转动部件，212.第一轴臂本体，213.连接部分，214.限位凸起，215.限位凹槽，213a.连接壳体，213b.旋转轴，213c.收容腔室，213d.限位机构，213e.起始凸起，213f.终止凸起，212a.轴孔；212b.止位凸起，31.第一锁止机构，32.第二锁止机构，50.开关组件，51.传动件，60.触发机构，61.凸轮。
具体实施方式
下面结合具体实施例对本申请进行详细说明，应该强调的是，下述说明仅仅是示例性的，而不是为了限制本申请的范围及其应用。
需要说明的是，除非另有明确的规定和限定，本说明书所使用的术语“中心”、“纵向”、“横向”、“上”、“下”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，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；可以是直接相连，也可以通过中间媒介间接相连。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量；由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征；“多个”的含义是两个或两个以上；“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。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。
组成云台的各个部件之间能够发生相对位置变化，从而使云台占用的空间或者体积得以变化，从而能够适应于拍摄和携带的不同需要。在本申请中，为便于陈述说明，使用“折叠状态”这样的术语来表示云台处于占用空间体积较小，便于携带的非使用状态，而使用“展开状态”这样的术语来表示云台处于占用空间体积较大的使用状态。
如图1所示，本申请实施例提供的云台1包括：手柄10、折叠结构20以及锁止结构30。
其中，手柄10是供使用者握持的部分。其可以呈圆柱状或者沿长度方向延伸的其他条形。在本实施例中，为便于区分，将手柄10沿的长度方向X1上相互远离的两端分别称为“第一端部”和“第二端部”。
折叠结构20是由多个活动连接的部件组成的可变形部分。其通过部件之间的相对位置变化，能够在展开状态和折叠状态之间切换。在展开状态时，折叠结构20的至少一部分会远离手柄的第二端部，以便于云台的使用。而在折叠状态下，折叠结构20的相应部分则能够回收至与手柄的第二端部相接触，从而缩小云台的占用空间。
锁止结构30是实现两个部件之间相互锁定的锁定装置。其具体可以根据实际情况的需要而选择使用任何合适的实现形式，只要能够在折叠状态时，将所述折叠结构锁定在手柄的第二端部上即可。
本申请实施例提供的云台的其中一个有利方面是：通过简单的操作即可实现云台的折叠锁止，有效的简化了用户的操作步骤，给用户带来了良好的使用体验感。
在一些实施例中，该折叠结构20可以包括若干个转动连接的轴臂。这些轴臂相互间均采用转动连接，从而使云台具备在多个不同轴线方向上的旋转自由度。在本实施例中以第一轴臂21和第二轴臂22为例进行描述。但本领域技术人员可以理解，还可以根据实际情况的需要而选择设置更多数量的轴臂以使云台具备更多的活动自由度。
其中，第一轴臂21是与手柄10的第一端部转动连接的部件。其具体可以采用任何合适的方式实现与手柄10之间的转动连接，只需要使其能够相对于手柄10旋转即可。
第二轴臂22是在折叠状态与手柄10的第二端部相接触，并且在展开状态时，远离所述手柄的第二端部的部件。其与手柄10相类似，也可以是具有一定长度的条形部件，具有相互远离的第一末端和第二末端。在本实施例中，第二轴臂22在折叠状态时与手柄的第二端部相接触的一端可以被称为第二末端。
具体的，在折叠结构由第一轴臂和第二轴臂组成的情况下，第二轴臂22的第一末端与第一轴臂21转动连接，第二轴臂22的第二末端则是与手柄的第二端部相接触的部分。
在一些实施例中，上述锁止结构30可以包括相配对设置的第一锁止机构31和第二锁止机构32。
其中，第一锁止机构31和第二锁止机构32可以分别设置在手柄的第二端部和第二轴臂上。在折叠状态下，第一锁止机构31和第二锁止机构32可以相互接合从而使第二轴臂被锁定在手柄的第二端部。换言之，在展开状态下，第一锁止机构和第二锁止机构会相互脱离，而在切换为折叠状态时，第一锁止机构和第二锁止机构则相互接触并锁定。在本实施例中，以第一锁止机构31设置在手柄的第二端部，第二锁止机构32设置在第二轴臂为例进行描述。本领域技术人员可以理解的是，还可以根据实际情况的需要而将两个锁止机构的设置位置互换。
具体的，第一锁止机构31可以是设置在手柄的第二端部的凹陷，例如沉头孔。相应地，第二锁止机构32可以突出于第二轴臂的表面，具有弹性形变能力的弹性体，例如硅胶和橡胶。
在实际的锁止固定过程中，弹性体可以被挤压固定在凹陷内，形成限制手柄10绕自身长度方向X1旋转的阻尼。
本申请实施例提供的云台其中一个有利方面是：通过弹性体和凹陷可以方便的将第二轴臂锁定在手柄上。而且，该锁定方法还可以保证手柄和第二轴臂之间不会发生相对转动，确保了云台在折叠状态下的锁定效果。
在一些实施例中，第二锁止机构32还可以是一些外形为非圆的弹性体，例如外形为棱柱或棱台的弹性体。相应的，第一锁止机构31可以是开设在手柄的第二端部的盲孔。该盲孔可以具有与弹性体相适配的外形或者具有合适的尺寸，以允许弹性体被收容在盲孔内，实现两者之间的过盈配合。上述棱柱或棱台外形的弹性体可以提供更好的固定锁止作用，以避免手柄和第二轴臂之间的相对旋转。
在一些实施例中，上述凹陷的至少一部分内壁上还可以设置有螺纹从而形成配件装配接口。该配件装配接口能够允许至少一个配件可拆卸的安装在手柄上，帮助实现云台的其他辅助功能。具体的，该配件可以是任何合适类型的辅助设备，例如三脚架或者固定卡夹。
在云台处于展开状态的实际使用过程中，其他的配件可以通过螺纹连接的方式，旋拧固定在手柄的第二端部。而在不使用的情况下，该配件则通过反向旋拧的方式从手柄中拆卸，并进而使云台切换为折叠状态。
应当说明的是，上述“第一锁止机构”和“第二锁止机构”仅用于限定锁止机构所设置的位置，而不用对其具体实现进行限定。例如，第一锁止机构和第二锁止机构还可以是两个相互吸引的磁性体，通过磁力吸附作用来实现两者之间的固定连接。其中，该磁性体可以是自身能够形成磁场的磁铁，也可以是能够被磁铁磁化的金属物质，在此不作具体限定。
本申请实施例提供的云台的其中一个有利方面是：采用磁性体相互吸合的方式能够为使用者的操作提供极大的便利，只需要将第二轴臂摆动至相应的位置即可完成锁定。
在一些实施例中，如图1所示，该云台还可以包括：设备固定机构40。
其中，设备固定机构40是用于收容固定至少一个拍摄设备2(例如手机、摄相机)的部件。其同样也可以根据实际情况的需要而选择使用任何合适类型的固定机构，只需要能够与拍摄设备的尺寸相适配即可。例如，如图1所示的抱爪式的夹持件。
具体的，该设备固定机构40可以可拆卸的固定在第二轴臂上。具体可以根据实际情况的需要而选择使用任何合适的可拆卸连接方式，包括但不限于磁吸、锁扣、卡扣、螺纹连接以及粘接等。这样的可拆卸设计有利于方便的更换不同的设备固定机构40，以便于适应不同拍摄设备的固定。
在一些实施例中，该设备固定机构40可以设置在第二轴臂22与锁止结构30相背离的表面。换言之，第二锁止机构32和设备固定机构40可以分别被布置在第二轴臂22的两个相对的表面。在本实施例中，为便于阐述而将设置了第二锁止机构32的表面称为“第一表面”，将设置了设备固定机构40的表面称为“第二表面”。如图1所示，通过将第二锁止机构32和设备固定机构40分别设置在第一表面和第二表面的方式，可以使设备固定机构40在折叠状态下，保持朝向远离手柄的方向。
本申请实施例提供的云台的其中一个有利方面是：上述设备固定机构的设计可以使得固定在云台上的拍摄设备在折叠过程和折叠以后，不会对轴臂等云台的部件产生干涉。由此，无需拆卸拍摄设备2，并且可以与处于折叠状态的云台一起被携带和收纳，极大的提高了使用便捷性，给用户带来了良好的使用体验感。
为充分说明本申请实施例的云台1的工作过程。以下结合图1所示的处于折叠状态的云台和图4所示的处于展开状态的云台进行详细描述。
如图4所示，在云台处于展开状态时，第一轴臂21和手柄10相互远离。云台1此时具有较长的总长度(近似等于手柄10和第一轴臂21的长度之和)，可以满足使用者对自拍或者其他类似的一些摄影需求。
在结束拍摄，需要对云台1进行折叠时，可以使第一轴臂21相对于手柄10旋转，使得两者之间相互接近。如图1所示，在折叠状态下，第一轴臂21的投影与手柄10重叠，从而使得云台1的总长度被显著的缩短(近似等于第一轴臂21的长度)，以达到便利携带的效果。
具体的，以图2和图3所示为例，对上述“第一轴臂21投影与手柄10重叠”所表示的情形进行详细描述。其中，为方便陈述，将云台处于折叠状态时，第一轴臂21与手柄10相接近的表面称为第三表面，并且将第一轴臂21与手柄10相背离的表面称为第四表面。如图2所示，在折叠状态时，从正视于第一轴臂21的第三表面的方向A1上看，手柄10的正投影会落在第一轴臂21的第一表面的范围内，第一轴臂21的至少一部分被手柄10所遮挡；如图3所示，从正视于第一轴臂21的第四表面的方向A2上看，手柄10的大部分被第一轴臂20所遮挡。由此，在本实施例中，使用第一轴臂21和手柄10的投影重叠这样的术语来表示两个部件在长度方向上相互接近，达到折叠缩小长度的效果。
请继续参阅图1，处于折叠状态时，手柄10的第二端部会与第二轴臂22的至少一部分相接触。其具体可以通过设置合适的结构设计来实现，例如手柄具有合适的长度或者第二轴臂22朝向手柄倾斜，在此不作具体限定。
位于第二轴臂22的第二锁止机构32可以被设置在第二轴臂22与手柄10的第二端部相接触的区域。由此，使第二锁止机构32能够与第一锁止机构31相互接合并锁定，进而确保第一轴臂21和第二轴臂22都能够在折叠状态时保持固定的位置，不发生转动或者移动。
另外，在整个折叠过程中，设备固定机构40可以始终保持朝向远离手柄的方向，使得被夹持固定在其中的拍摄设备不会对折叠产生干涉从而无需特别的将拍摄设备取出。
在一些实施例中，如图5所示，第一轴臂21可以包括：转动部件211和第一轴臂本体212。
其中，转动部件211可转动地装配套设在手柄10的第一端部。其还具有一个自旋转中心，向外延伸的连接部分213用以与第一轴臂本体212转动连接。
转动部件211套设在手柄10上，可以发生绕旋转中心X21(即手柄的长度方向)的旋转。第一轴臂本体212与连接部分213之间也为转动连接，可以使第一轴臂本体212发生绕旋转轴X22的旋转，从而使位于另一端的第二轴臂能够随之远离或者接近所述手柄的第二端部。由此，通过额外设置的转动部件21，可以使云台具有旋转轴X21和X22上的自由度。
在一些实施例中，如图6和图7所示，第一轴臂21还可以包括：若干个限位凸起214和限位凹槽215。
其中，限位凸起214设置在第一轴臂本体212与连接部分213转动连接的一端。限位凹槽215与限位凸起214配对设置，位于连接部分与所述第一轴臂本体相接近的表面。当连接部分213绕第一轴臂本体212旋转至目标角度时，限位凸起214会卡止在限位凹槽215内，以帮助第一轴臂本体212可靠的旋转至特定角度。
在本实施例中，使用“目标角度”这样的术语来表示第一轴臂本体212的旋转角度。其包括云台处于展开状态时的第一目标角度和云台处于折叠状态时的第二目标角度。
本申请实施例的云台的其中一个有利方面是：通过额外设置的限位凸起和限位凹槽，可以使云台可靠的在折叠状态和展开状态下切换，不会发生不必要的摆动或者错位，确保云台的使用可靠性。
在一些实施例中，请继续参阅图6，连接部分213包括连接壳体213a、旋转轴213b和限位机构213c。
其中，连接壳体213a是连接于转动部件211的旋转中心X21和第一轴臂本体212之间的中空壳体；旋转轴213b自转动部件211的旋转中心X21沿着连接壳体213a的长度方向X22向外延伸。如图7所示， 旋转轴213b相离于旋转中心X21的末端穿过预设于第一轴臂本体212的轴孔212a后延伸至第一轴臂本体22内。
具体的，收容于连接壳体213a内的至少一部分旋转轴213b与连接壳体213a之间能够形成夹层的环状收容腔室213d。限位机构213c的外形呈现与旋转轴213b或环状收容腔室213d相互适配的环形。限位机构213c通过开设于其中心的通孔套设在旋转轴213b并且被固定收容在环状收容腔室213d内。请一并参阅图6和图7，第一轴臂本体212的轴孔212a的边沿设置有若干个限位凸起214。相应地，限位机构213c设置有若干个限位凹槽215，若干个限位凹槽215设置于环形的限位机构213c的表面。
在一些实施例中，限位凸起214可以为棱台状凸起。限位凹槽215则包括至少一组与棱台状凸起相适配的倾斜的侧壁215a，一组倾斜的侧壁215a沿第一轴臂本体212绕连接部分213的旋转方向相对设置。当转动部件211与第一轴臂本体212发生相对转动时，倾斜的侧壁215a可以方便棱台状的限位凸起215滑入限位凹槽215内以及从从限位凹槽215内滑出，避免卡死。
在实际使用过程中，使用者可以向转动部件211或第一轴臂本体212施加外力，令转动部件211相对于第一轴臂本体212发生转动，转动部件211转动时，对于每一个限位凹槽215而言，是陆续与几个限位凸起214发生卡止的过程。限位凹槽215与限位凸起214相互卡止可以使转动部件211在发生每一次转动后保持转动部件211与第一轴臂本体212之间的相对位置稳定，避免晃动。
在一些实施例中，限位凹槽215或限位凸起214的数量为四个，可以分布于限位机构213c或轴孔212a的圆周边沿。具体的，该限位凹槽215和限位凸起214可以呈非对称式设置在每发生一次卡合时，对于转动部件211与第一轴臂本体212而言，转动部件211或手柄10相对于第一轴臂本体212转动的角度为180度。
可以理解的是，限位凸起214或限位凹槽215的数量还可以是两个、 三个、五个甚至更多，当限位凹槽215或限位凸起214的数量越多时，转动部件211相对于第一轴臂本体212发生的每一次转动的转动角度就越小，越有利于准确地调节手柄10与第一轴臂21之间的相对位置(角度)关系。
在一些实施例中，请继续参阅图6，第一连接部分213还包括旋转角度限位凸起(起始凸起213e、终止凸起213f)，旋转角度限位凸起凸出设置于连接壳体213a的表面；与此相适配的，第一轴臂本体212上接近转动部件211的一端设置有止位凸起212b，止位凸起212b凸出设置于位于第一轴臂本体212的第一表面与第二表面之间的侧面。在转动部件211相对于第一轴臂本体212发生转动时，旋转角度限位凸起可以与止位凸起212b相抵接，从而起到限制转动部件211或手柄10相对于第一轴臂本体212继续发生旋转。
具体的，旋转角度限位凸起包括起始凸起213e和终止凸起213f，本申请实施例中，起始凸起213e和终止凸起213f沿着连接壳体213a的周向表面分别分布于连接壳体213a的同一径向的两端。
其中，当起始凸起213e与止位凸起212b相抵接时，云台处于折叠状态。当终止凸起213f与止位凸起212b相抵接时，云台1处于展开状态。在由起始凸起213e与止位凸起212b相抵接，变换为终止凸起213f与止位凸起212b相抵接的过程中，转动部件211相对于第一轴臂本体212往第一旋转方向(例如逆时针方向)旋转了180度，云台1在这个过程中由折叠状态逐渐变换为展开状态。
另外，由终止凸起213f与止位凸起212b相抵接变换为起始凸起213e与止位凸起212b相抵接的过程中，转动部件211相对于第一轴臂本体212往第二旋转方向(例如顺时针)旋转了180度，云台1在这个过程中由展开状态逐渐变换为折叠状态。
在一些实施例中，云台可以是内置有电路模块(未示出)，能够提供一种或者多种功能的辅助设备。例如，该电路模块可以与拍摄设备2通信连接，以使用户可以通过按下手柄10上的功能按钮或者开关便可以间接地触发拍摄设备2实现相应的功能，例如实现拍摄设备2的开机、 拍摄、录制、暂停、关机等。
应当说明的是，在本申请中不对电路模块的具体实现进行限定。其具体可以由技术人员根据实际情况的需要而设置。可以理解的是，对于内置有电路模块的云台而言，其根据电路模块是否启动运行而存在有“启动”和“关闭”两种不同的运行状态。
在一些实施例中，如图8所示，该云台还可以包括：开关组件50和触发机构60。
其中，开关组件50是能够在接通状态和断开状态之间切换的部件。其连接到云台内置的电路模块之中从而相应的使云台启动或者关闭。
触发机构60是与第一轴臂21联动的活动机构，其能够在第一轴臂21旋转到目标角度时，向开关组件50施加机械作用力从而使其在接通和断开状态之间切换。如以上实施例所描述的，该目标角度包括了云台处于展开状态的第一目标角度和所述云台处于折叠状态的第二目标角度。
本申请实施例提供的云台的其中一个有利方面是：通过额外设置的触发机构和开关组件，实现了云台在展开状态和折叠状态之间切换时，与云台启动或者关闭两种运动状态之间的联动。
在一些实施例中，开关组件50可以包括至少一对触点(未示出)以及传动件51。传动件51可以通过作用于传动件51的机械作用力令至少一对触点接通或断开，进而实现对云台启动和关闭的控制。具体的，该传动件可以是按销、按钮、杠杆、滚轮等类似的动力传递部件。
触发机构60则主要由凸轮61所实现。凸轮61是设置在第一轴臂内的部件。其能够在至少一部分旋转角度范围内与传动件51相接触，从而向传动件51施加机械作用力。
上述凸轮61可以根据实际情况的需要而选择使用任何合适类型的装配方式实现与第一轴臂21的联动。例如，凸轮61被一些连接件(例如螺纹连接)装配固定于旋转轴213b的末端。
本申请实施例提供的云台的其中一个有利方面是：通过凸轮结构可以在云台处于展开状态时触发开关组件实现云台的自动启动，并且在云台处于折叠状态时，使其可以随着旋转轴211b的转动脱离与传动件的接触，令开关组件自动复位从而实现云台的自动关闭。
在一些实施例中，该云台还可以包括额外的发声组件。该发声组件可以被收容在云台内任何合适的部件之内，例如第一轴臂内、第二轴臂内或者手柄内。
其中，该发声组件能够与云台的启动和关闭状态联动，响应于所述开关组件从断开状态切换为接通状态和/或所述开关组件从接通状态切换为断开状态的情形，发出预设的音效。本领域技术人员可以根据实际情况的需要而选择设置具体的音效，例如特定的蜂鸣声或者提示音，在此不作具体限定。
具体的，该发声组件可以是电性连接至云台中电路模块的电器元件。由此，随着云台因开关组件的状态变化而触发启动上电，可以相应的发出音效。可替代地，该发声组件还可以是机械式的响铃、铃铛或者类似的发声机构。触发机构与其相接合，采用与开关组件相类似地方式，同样能在第一轴臂旋转至目标角度时，向发声组件施加机械作用力以使其发声。
在一些实施例中，云台还可以包括若干个电机。该电机能够在电路模块的控制下，驱动折叠结构中各个轴臂的旋转以使拍摄设备保持理想的拍摄位置(例如，作为稳定器，保持拍摄设备在移动过程中的稳定)。
如图7和图8所示，在第一轴臂21的转动部件211内可以设置有航向电机23，在第一轴臂21的第一轴臂本体212内则可以布置有俯仰电机24。
其中，航向电机23用于驱动第一轴臂21相对于手柄10发生旋转运动，实现绕X21(即航向轴)的旋转。俯仰电机24用于驱动第二轴臂22相对于第一轴臂21发生旋转运动，实现绕X23(即俯仰轴)的旋转。具体的，该发声组件可以包括上述的航向电机23。例如，随着云台切换为开机状态，航向电机23上电启用从而发出特定的音效，提示使用者云台已经开机。
以下结合具体场景，对本申请实施例提供的云台在展开状态和折叠状态下的自动开启和关闭的控制过程进行详细描述。在本实施例中，以云台处于展开状态时，云台自动开启以及云台处于折叠状态时，云台自动关闭为例进行描述。
在云台1的折叠状态与展开状态之间的变换过程中，转动部件211相对于第一轴臂本体212发生转动。在由折叠状态变换为展开状态时，随着转动部件211与第一轴臂本体212之间转动的进行，开关组件50的传动件51相对于凸轮61而言逐渐从凸轮61的近心部分L1滑动到远心部分L2，开关组件的传动件51随即被触发使开关进入接通状态，云台自动开启。
而在由展开状态变换为折叠状态时，随着转动部件211与第一轴臂本体212之间转动的进行，开关组件的传动件51相对于凸轮61逐渐从凸轮61的远心部分L2滑动到近心部分L1，开关组件的传动件51上的机械作用力撤除，随即使开关组件复位，云台自动关闭。
如图9和图10，应当说明的是，上述凸轮61的近心部分L1是指凸轮61的滑动轨迹上距离凸轮61的旋转中心O最近的部分，凸轮61的远心部分L2是指凸轮61的滑动轨迹上距离凸轮61的旋转中心O最远的部分。近心部分L1和远心部分L2均可以是一段圆弧，近心部分L1的半径R1小于远心部分L2的半径R2，近心部分L1和远心部分L2共同构成凸轮61的至少一部分滑动轨迹。滑动轨迹由凸轮61转动时与传动件51的接触点相接触形成。
以上内容是结合具体/优选的实施方式对本申请作出的进一步详细说明，不能认定本申请的具体实施只限于这些说明。对本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，而这些都属于本申请的保护范围。

Claims (21)

  1. 一种云台，其特征在于，包括：
    手柄，所述手柄包括相互远离的第一端部和第二端部；
    折叠结构，所述折叠结构连接于所述手柄的第一端部；
    所述折叠结构能够在展开状态和折叠状态之间切换，以使所述折叠结构的至少一部分远离所述手柄的第二端部或与所述手柄的第二端部相接触；
    锁止结构；所述锁止结构被配置为：在所述折叠状态下，将所述折叠结构锁定在所述手柄的第二端部上。
  2. 如权利要求1所述的云台，其特征在于，所述折叠结构包括：若干个转动连接的轴臂；
    其中，所述轴臂至少包括：与所述手柄的第一端部转动连接的第一轴臂以及在所述折叠状态时，与所述手柄的第二端部相接触的第二轴臂。
  3. 如权利要求2所述的云台，其特征在于，所述第二轴臂包括相互远离的第一末端和第二末端；与所述第一轴臂转动连接；
    其中，所述第二轴臂的第一末端与所述第一轴臂转动连接；所述第二轴臂的第二末端在折叠状态时，与所述手柄的第二端部相接触。
  4. 如权利要求2所述的云台，其特征在于，所述锁止结构包括：
    第一锁止机构，所述第一锁止机构设置在所述手柄的第二端部；
    第二锁止机构，所述第二锁止机构设置在所述第二轴臂上；
    其中，所述第一锁止机构和所述第二锁止机构配对设置；
    在所述折叠状态下，所述第二锁止机构和所述第一锁止机构相接合，以使所述折叠结构被固定在所述手柄的第二端部上。
  5. 如权利要求4所述的云台，其特征在于，所述第一锁止机构为设置在所述手柄的第二端部的凹陷；所述第二锁止机构为弹性体；所述弹性体具有弹性形变能力，自所述第二轴臂的表面向外突出；
    其中，在所述折叠状态下，所述弹性胶体被挤压收容在所述凹陷内，形成限制所述手柄绕长度方向旋转的阻尼。
  6. 如权利要求5所述的云台，其特征在于，所述弹性体的形状包括：棱柱或棱台；所述凹陷为开设在所述手柄的第二端部的盲孔；
    其中，所述盲孔具有与所述弹性体相适配的形状和/或所述盲孔具有预设的尺寸，以允许所述弹性体被收容在所述盲孔内。
  7. 如权利要求5所述的云台，其特征在于，所述凹陷的至少一部分内壁设置有螺纹，形成配件装配接口；
    其中，所述配件装配接口被配置为：在所述展开状态下，允许至少一个配件可拆卸的安装在所述手柄的第二端部。
  8. 如权利要求4所述的云台，其特征在于，所述第一锁止机构和所述第二锁止机构为相互吸引的磁性体。
  9. 如权利要求2所述的云台，其特征在于，所述云台还包括：设备固定机构；所述设备固定机构设置在所述第二轴臂上，被配置为：收容固定至少一个拍摄设备。
  10. 如权利要求9所述的云台，其特征在于，所述设备固定机构设置在所述第二轴臂与所述锁止结构相背离的表面，以使所述设备固定机构在所述折叠状态下，朝向远离所述手柄的方向。
  11. 如权利要求9所述的云台，其特征在于，所述设备固定机构通过如下的至少一种方式可拆卸的设置在所述第二轴臂上：磁吸、锁扣、卡扣、螺纹连接、粘接。
  12. 如权利要求2所述的云台，其特征在于，所述第一轴臂包括：
    转动部件；所述转动部件套设在所述手柄的第一端部，可绕所述手柄的长度方向旋转；所述转动部件具有自所述转动部件的旋转中心，向外延伸的连接部分；
    第一轴臂本体；所述第一轴臂本体的一端与所述连接部分转动连接，所述第一轴臂本体的另一端与所述第二轴臂转动连接；
    其中，所述第一轴臂本体可绕所述连接部分旋转，以使所述第二轴臂远离或者接近所述手柄的第二端部。
  13. 如权利要求12所述的云台，其特征在于，所述第一轴臂还包括：
    止位凸起；所述止位凸起设置在所述第一轴臂本体与所述连接部分相接近的一端；
    角度限位凸起；所述角度限位凸起设置在所述连接部分；
    其中，所述止位凸起与所述角度限位凸起相抵接，以限制所述第一轴臂本体与所述转动部件之间的相对旋转。
  14. 如权利要求13所述的云台，其特征在于，所述角度限位凸起包括：起始凸起和终止凸起；
    所述起始凸起和所述终止凸起沿所述第一轴臂本体绕所述连接部分的旋转方向，分别设置在所述连接部分的表面；
    其中，在所述展开状态时，所述起始凸起与所述止位凸起相抵接；在所述折叠状态时，所述终止凸起与所述止位凸起相抵接。
  15. 如权利要求12所述的云台，其特征在于，所述第一轴臂还包括：
    若干个限位凸起；所述限位凸起设置在所述第一轴臂本体与所述连接部分转动连接的一端；
    若干个限位凹槽；所述限位凹槽与所述限位凸起配对设置，位于所述连接部分与所述第一轴臂本体相接近的表面；
    其中，在所述连接部分绕所述第一轴臂本体旋转至目标角度时，所述限位凸起卡止在所述限位凹槽内；
    所述目标角度包括：所述云台处于展开状态的第一目标角度和所述云台处于折叠状态的第二目标角度。
  16. 如权利要求15所述的云台，其特征在于，所述连接部分包括：
    旋转轴；所述旋转轴的末端延伸至所述第一轴臂本体；所述第一轴臂本体开设有供所述旋转轴穿过的轴孔；
    限位机构；所述限位机构呈环形，套设在所述旋转轴上；
    其中，若干个所述限位凹槽设置在所述限位机构上，若干个所述限位凸起围绕所述轴孔设置。
  17. 如权利要求15所述的云台，其特征在于，所述限位凸起为棱台状凸起；所述限位凹槽与所述棱台状凸起相适配，包括至少一组倾斜的侧壁；
    其中，一组所述倾斜的侧壁沿所述第一轴臂本体绕所述连接部分的旋转方向相对设置。
  18. 如权利要求2所述的云台，其特征在于，其特征在于，所述云台还包括：
    开关组件；所述开关组件能够在接通状态和断开状态之间切换，以使所述云台启动或者关闭；
    触发机构；所述触发机构与所述第一轴臂联动，被配置为：在所述第一轴臂旋转至目标角度时，向所述开关组件施加机械作用力，以使所述开关组件在接通和断开状态之间切换；
    所述目标角度至少包括：所述云台处于展开状态的第一目标角度和所述云台处于折叠状态的第二目标角度。
  19. 如权利要求18所述的云台，其特征在于，所述云台还包括：发声组件；
    所述发声组件被配置为：响应于所述开关组件从断开状态切换为接通状态和/或所述开关组件从接通状态切换为断开状态的情形，发出预设的音效。
  20. 如权利要求19所述的云台，其特征在于，所述发声组件包括：被收容在所述第一轴臂内部的航向电机。
  21. 如权利要求18所述的云台，其特征在于，所述开关组件包括：至少一对触点以及传动件；所述传动件被配置为：通过作用于所述传动件的机械作用力，令至少一对所述触点接通或断开；
    所述触发机构包括：凸轮；所述凸轮设置在所述第一轴臂内；
    其中，所述凸轮在至少一部分旋转角度范围内与所述传动件相接触，向所述传动件施加机械作用力。
PCT/CN2023/114605 2022-08-25 2023-08-24 一种云台 WO2024041597A1 (zh)

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