WO2022021229A1

WO2022021229A1 - Gimbal shaft arm assembly, gimbal apparatus, and photographing apparatus

Info

Publication number: WO2022021229A1
Application number: PCT/CN2020/105905
Authority: WO
Inventors: 谢旻钊
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-07-30
Filing date: 2020-07-30
Publication date: 2022-02-03
Also published as: CN113748290A

Abstract

A gimbal shaft arm assembly (100), a gimbal apparatus (200), and a photographing apparatus (300). The gimbal shaft arm assembly (100) comprises a first connection arm (10), a second connection arm (20) rotatably connected to the first connection arm (10), and a limiting assembly; the limiting assembly comprises a first limiting member (31) and a second limiting member (32); the first limiting member (31) is provided on one of the first connection arm (10) and the second connection arm (20), and the second limiting member (32) is provided on the other one of the first connection arm and the second connection arm; and the first limiting member (31) and the second limiting member (32) are located on the same circular track. The gimbal shaft arm assembly (100) comprises a locked state and a free state; when the gimbal shaft arm assembly (100) is in the locked state, the second connection arm (20) rotates to a first position with respect to the first connection arm (10), and the first limiting member (31) and the second limiting member (32) abut against each other, so that the second connection arm (20) is in the locked state with respect to the first connection arm (10); and when the gimbal shaft arm assembly (100) is in the free state, the second connection arm (20) rotates to a second position with respect to the first connection arm (10), and the first limiting member (31) and the second limiting member (32) are separated from each other, so that the second connection arm (20) is in the free state with respect to the first connection arm (10). When the gimbal shaft arm assembly (100) is not used, by means of the cooperation of the first limiting member (31) and the second limiting member (32), the gimbal shaft arm assembly (100), the gimbal apparatus (200), and the photographing apparatus (300) can lock the first connection arm (10) and the second connection arm (20) with each other, and thus, a product is stable in shape, does not arbitrarily rotate, and is not easily damaged.

Description

云台轴臂组件、云台装置及拍摄装置Pan-tilt shaft arm assembly, pan-tilt device and photographing device

技术领域technical field

本申请涉及云台技术领域，尤其涉及一种云台轴臂组件、云台装置及拍摄装置。The present application relates to the technical field of gimbal, and in particular, to a gimbal shaft arm assembly, a gimbal device and a photographing device.

背景技术Background technique

影视行业摄像机在运动拍摄时，为了保证拍摄画面稳定，逐渐使用云台相机。云台使用后在收纳状态下，云台轴臂由于位置不固定会出现晃动或是自由转动的现象，使得产品形态不一致，容易损坏，影响用户体验。In order to ensure the stability of the shooting picture when the camera in the film and television industry is shooting in motion, the PTZ camera is gradually used. After the gimbal is used, in the storage state, the pivot arm of the gimbal will shake or rotate freely due to the unstable position, which makes the product shape inconsistent and easy to damage, which affects the user experience.

发明内容SUMMARY OF THE INVENTION

本申请提供一种云台轴臂组件、云台装置及拍摄装置。The present application provides a pan-tilt shaft arm assembly, a pan-tilt device and a photographing device.

具体地，本申请是通过如下技术方案实现的：Specifically, the application is achieved through the following technical solutions:

根据本申请的第一方面，提供一种云台轴臂组件，包括第一连接臂、与所述第一连接臂转动连接的第二连接臂以及限位组件；所述限位组件包括第一限位件和第二限位件，所述第一限位件设于所述第一连接臂和所述第二连接臂中的一者，所述第二限位件设于所述第一连接臂和所述第二连接臂中的另一者，所述第一限位件和所述第二限位件位于同一圆周轨道上；According to a first aspect of the present application, a pan-tilt shaft arm assembly is provided, including a first connecting arm, a second connecting arm rotatably connected to the first connecting arm, and a limit assembly; the limit assembly includes a first connecting arm. A limiting piece and a second limiting piece, the first limiting piece is arranged on one of the first connecting arm and the second connecting arm, and the second limiting piece is arranged on the first connecting arm the other of the connecting arm and the second connecting arm, the first limiting member and the second limiting member are located on the same circumferential track;

所述云台轴臂组件包括锁定状态和自由状态，所述云台轴臂组件处于所述锁定状态，所述第二连接臂相对所述第一连接臂转动至第一位置，所述第一限位件与所述第二限位件相互抵接，以使所述第二连接臂相对所述第一连接臂处于锁定状态；The pan-tilt shaft arm assembly includes a locked state and a free state, the pan-tilt shaft arm assembly is in the locked state, the second connecting arm rotates to a first position relative to the first connecting arm, and the first The limiting member abuts against the second limiting member, so that the second connecting arm is in a locked state relative to the first connecting arm;

所述云台轴臂组件处于所述自由状态，所述第二连接臂相对所述第一连接臂转动至第二位置，所述第一限位件与所述第二限位件相互分离，以使所述第二连接臂相对所述第一连接臂处于自由状态。The pan/tilt shaft arm assembly is in the free state, the second connecting arm rotates to a second position relative to the first connecting arm, the first limiting member and the second limiting member are separated from each other, so that the second connecting arm is in a free state relative to the first connecting arm.

根据本申请的第二方面，提供一种云台装置，包括至少一个云台轴臂组件，所述云台轴臂组件包括第一连接臂、与所述第一连接臂转动连接的第二连接臂以及限位组件；所述限位组件包括第一限位件和第二限位件，所述第一限位件设于所述第一连接臂和所述第二连接臂中的一者，所述第二限位件设于所述第一连接臂和所述第二连接臂中的另一者，所述第一限位件和所述第二限位件位于同一圆周轨道上；According to a second aspect of the present application, a pan-tilt device is provided, comprising at least one pan-tilt pivot arm assembly, the pan-tilt pivot arm assembly comprising a first connecting arm and a second connection rotatably connected to the first connecting arm An arm and a limit assembly; the limit assembly includes a first limit piece and a second limit piece, and the first limit piece is arranged on one of the first connecting arm and the second connecting arm , the second limiting member is arranged on the other of the first connecting arm and the second connecting arm, and the first limiting member and the second limiting member are located on the same circumferential track;

根据本申请的第三方面，提供拍摄装置，包括拍摄器和云台装置，所述云台装置包括至少一个云台轴臂组件，所述拍摄器装载于其中一个所述云台轴臂组件；According to a third aspect of the present application, a photographing device is provided, including a photographing device and a pan-tilt device, the pan-tilt device comprising at least one pan-tilt pivot arm assembly, and the camera is mounted on one of the pan-tilt pivot arm assemblies;

所述云台轴臂组件包括第一连接臂、与所述第一连接臂转动连接的第二连接臂以及限位组件；所述限位组件包括第一限位件和第二限位件，所述第一限位件设于所述第一连接臂和所述第二连接臂中的一者，所述第二限位件设于所述第一连接臂和所述第二连接臂中的另一者，所述第一限位件和所述第二限位件位于同一圆周轨道上；The pan-tilt shaft arm assembly includes a first connecting arm, a second connecting arm rotatably connected to the first connecting arm, and a limit assembly; the limit assembly includes a first limit piece and a second limit piece, The first limiting member is set in one of the first connecting arm and the second connecting arm, and the second limiting member is set in the first connecting arm and the second connecting arm The other one, the first limiting member and the second limiting member are located on the same circumferential track;

由以上本申请实施例提供的技术方案可见，本申请通过第一限位件和第二限位件的配合，在云台轴臂组件不需要使用时，能够将第一连接臂和第二连接臂相互锁定，使得产品形态稳定，不会随意转动，不易损坏。It can be seen from the technical solutions provided by the above embodiments of the present application that, through the cooperation of the first limiting member and the second limiting member, the first connecting arm and the second connecting arm can be connected when the gimbal shaft arm assembly does not need to be used. The arms are locked with each other, which makes the product form stable, will not rotate at will, and is not easy to be damaged.

附图说明Description of drawings

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

图1是本申请一实施例中的云台轴臂组件的局部剖面示意图。FIG. 1 is a partial cross-sectional schematic diagram of a pan/tilt arm assembly in an embodiment of the present application.

图2是本申请一实施例中的云台轴臂组件在另一状态的局部剖面示意图。FIG. 2 is a partial cross-sectional schematic diagram of the gimbal shaft arm assembly in another state according to an embodiment of the present application.

图3和图4是本申请一实施例中的云台轴臂组件在不同状态下限位组件的结构示意图。FIG. 3 and FIG. 4 are schematic structural diagrams of the position-limiting assembly of the gimbal shaft arm assembly in different states in an embodiment of the present application.

图5是本申请另一实施例中的云台轴臂组件的局部剖面示意图。FIG. 5 is a partial cross-sectional schematic diagram of a pan/tilt shaft arm assembly in another embodiment of the present application.

图6是本申请另一实施例中的云台轴臂组件在另一状态的局部剖面示意图。FIG. 6 is a partial cross-sectional schematic diagram of the pan/tilt shaft arm assembly in another state according to another embodiment of the present application.

图7至图9是本申请另一实施例中的云台轴臂组件在不同状态下限位组件的结构示意图。FIG. 7 to FIG. 9 are schematic structural diagrams of the position-limiting assembly of the gimbal shaft arm assembly in different states in another embodiment of the present application.

图10是本申请一实施例中的拍摄装置的立体示意图。FIG. 10 is a schematic perspective view of a photographing device in an embodiment of the present application.

具体实施方式detailed description

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做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。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

本申请提供一种云台轴臂组件、云台装置及拍摄装置。下面结合附图，对本申请的云台轴臂组件、云台装置及拍摄装置进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。The present application provides a pan-tilt shaft arm assembly, a pan-tilt device and a photographing device. The following describes the pan-tilt shaft arm assembly, pan-tilt device and photographing device of the present application in detail with reference to the accompanying drawings. The features of the embodiments and implementations described below may be combined with each other without conflict.

参见图1至图4所示，本申请实施例提供一种云台轴臂组件100，包括第一连接臂10、与所述第一连接臂10转动连接的第二连接臂20以及限位组件。云台轴臂组件100可以搭载相机等拍摄器，云台轴臂组件100工作时，第二连接臂20能够相对第一连接臂10转动，用以调节拍摄器的拍摄角度。可选地，所述第二连接臂20可以是轴臂，所述第一连接臂10可以是用于驱动所述轴臂转动的动力组件，拍摄器搭载在轴臂上。Referring to FIGS. 1 to 4 , an embodiment of the present application provides a pan-tilt shaft arm assembly 100 , which includes a first connecting arm 10 , a second connecting arm 20 rotatably connected to the first connecting arm 10 , and a limit assembly . The gimbal shaft arm assembly 100 can be equipped with a camera such as a camera. When the gimbal shaft arm assembly 100 is working, the second connecting arm 20 can rotate relative to the first connecting arm 10 to adjust the shooting angle of the camera. Optionally, the second connecting arm 20 may be a shaft arm, the first connecting arm 10 may be a power assembly for driving the shaft arm to rotate, and the camera is mounted on the shaft arm.

所述限位组件包括第一限位件31和第二限位件32，所述第一限位件31设于所述第一连接臂10和所述第二连接臂20中的一者，所述第二限位件32设于所述第一连接臂10和所述第二连接臂20中的另一者，所述第一限位件31和所述第二限位件32位于同一圆周轨道上。可以理解的，第一限位件31和第二限位件32位于同一圆周轨道上，能够保证第二连接臂20相对第一连接臂10转动的过程中，第一限位件31和第二限位件32能够相互接触到。在本实施例中，第一限位件31为凸台结构，设置于第一连接臂10，第二限位件32为凸台结构，设置于第二连接臂20。The limiting assembly includes a first limiting member 31 and a second limiting member 32 , the first limiting member 31 is disposed on one of the first connecting arm 10 and the second connecting arm 20 , The second limiting member 32 is disposed on the other of the first connecting arm 10 and the second connecting arm 20 , and the first limiting member 31 and the second limiting member 32 are located at the same on a circular orbit. It can be understood that, the first limiting member 31 and the second limiting member 32 are located on the same circular orbit, which can ensure that the first limiting member 31 and the second limiting member 31 and the second limiting member 31 and The limiting members 32 can be in contact with each other. In this embodiment, the first limiting member 31 is a boss structure and is disposed on the first connecting arm 10 , and the second limiting member 32 is a boss structure and is disposed on the second connecting arm 20 .

所述云台轴臂组件100包括锁定状态和自由状态。所述云台轴臂组件100处于锁定状态时，所述第二连接臂20相对所述第一连接臂10转动至第一位置，如图1和图3所示，所述第一限位件31与所述第二限位件32相互抵接，以使所述第二连接臂20相对所述第一连接臂10处于锁定状态。可以理解的，云台轴臂组件100不需要使用或是使用后在收纳状态下时，通过将第一连接臂10和第二连接臂20相互锁定，云台轴臂组件100不会随意转动，使得产品形态稳定，不易损坏。The pan/tilt shaft arm assembly 100 includes a locked state and a free state. When the pan-tilt shaft arm assembly 100 is in the locked state, the second connecting arm 20 rotates to the first position relative to the first connecting arm 10 , as shown in FIG. 1 and FIG. 3 , the first limiting member 31 and the second limiting member 32 abut against each other, so that the second connecting arm 20 is in a locked state relative to the first connecting arm 10 . It can be understood that when the gimbal shaft arm assembly 100 does not need to be used or is in the storage state after use, by locking the first connecting arm 10 and the second connecting arm 20 with each other, the gimbal shaft arm assembly 100 will not rotate at will, Makes the product shape stable and not easy to damage.

所述云台轴臂组件100处于自由状态时，所述第二连接臂20相对所述第一连接臂10转动至第二位置，带动第二限位件32朝远离第一限位件31的方向移动，使所述第一限位件31与所述第二限位件32相互分离，如图2和图4所示，使所述第二连接臂20相对所述第一连接臂10处于自由状态，从而使云台轴臂组件100能够正常使用。When the gimbal shaft arm assembly 100 is in a free state, the second connecting arm 20 rotates to the second position relative to the first connecting arm 10 , and drives the second limiting member 32 to move away from the first limiting member 31 . moving in the direction, so that the first limiting member 31 and the second limiting member 32 are separated from each other, as shown in FIG. 2 and FIG. free state, so that the pan-tilt shaft arm assembly 100 can be used normally.

通过上述设置，在云台轴臂组件100不需要使用时，将第二连接臂20转动至第一位置，通过第一限位件31和第二限位件32的配合，能够将第一连接臂10和第二连接臂20相互锁定，使得产品形态稳定，不会随意转动，不易损坏。云台轴臂组件100需要使用时，将第二连接臂20转动至第二位置，使第一连接臂10和第二连接臂20相互分离，云台轴臂组件100处于自由状态，使云台轴臂组件100可以正常使用。Through the above arrangement, when the gimbal shaft arm assembly 100 does not need to be used, the second connecting arm 20 can be rotated to the first position. The arm 10 and the second connecting arm 20 are mutually locked, so that the product has a stable shape, will not rotate at will, and is not easily damaged. When the gimbal shaft arm assembly 100 needs to be used, rotate the second connecting arm 20 to the second position, so that the first connecting arm 10 and the second connecting arm 20 are separated from each other, and the gimbal shaft arm assembly 100 is in a free state, so that the gimbal The axle arm assembly 100 can be used normally.

在一些可选的实施例中，第一限位件31和所述第二限位件32沿所述第二连接臂20的转动轴向至少部分重叠。在图中所示的例子中，第二连接臂20的转动轴向沿竖直方向，所述第一限位件31与所述第二限位件32沿所述第二连接臂20的转动轴向至少部分重叠，可以理解为是第一限位件31与第二限位件32沿竖直方向至少有部分是重叠的，能够保证第二连接臂20相对第一连接臂10转动的过程中，第二限位件32能够接触到第一限位件31。In some optional embodiments, the first limiting member 31 and the second limiting member 32 at least partially overlap along the rotational axis of the second connecting arm 20 . In the example shown in the figure, the rotation axis of the second connecting arm 20 is in the vertical direction, and the first limiting member 31 and the second limiting member 32 rotate along the rotation of the second connecting arm 20 The axial direction is at least partially overlapped, which can be understood as the fact that the first limiting member 31 and the second limiting member 32 are at least partially overlapped in the vertical direction, which can ensure the rotation process of the second connecting arm 20 relative to the first connecting arm 10 In the middle, the second limiting member 32 can contact the first limiting member 31 .

在一些可选的实施例中，第一限位件31和第二限位件32可以采用机械结构的方式相互锁定或解锁，也可以采用磁性吸引的方式相互锁定或解锁，也可以采用机械结构与磁性吸引两者相结合的方式相互锁定或解锁。In some optional embodiments, the first limiting member 31 and the second limiting member 32 can be locked or unlocked with each other by a mechanical structure, or can be locked or unlocked with each other by a magnetic attraction, or a mechanical structure can be used. Lock or unlock each other in combination with magnetic attraction.

结合图1至图4所示，在一些可选的实施例中，第一限位件31和第二限位件32采用磁性吸引的方式相互锁定或解锁。所述第二限位件32用于与所述第一限位件31相抵接的一端(图中所示为右端面)和所述第一限位件31用于与所述第二限位件32相抵接的一端(图中所示为左端面)中的一者设有第三磁体，所述第二限位件32用于与所述第一限位件31相抵接的一端和所述第一限位件31用于与所述第二限位件32相抵接的一端中的另一者设有磁体材料件。可选地，第三磁体可以采用磁铁，磁性材料件可以采用能够被磁铁所吸引的材料，例如铁、铜等材料。在其他实施例中，磁体材料件可以替换为与第三磁体磁性相反的第四磁体，增强与第三磁体的磁性吸引力。With reference to FIGS. 1 to 4 , in some optional embodiments, the first limiting member 31 and the second limiting member 32 are mutually locked or unlocked by means of magnetic attraction. The second limiting member 32 is used for abutting one end of the first limiting member 31 (shown as the right end face in the figure), and the first limiting member 31 is used for contacting the second limiting member 31 . One of the abutting ends of the pieces 32 (shown as the left end face in the figure) is provided with a third magnet, and the second limiting piece 32 is used for the end abutting with the first limiting piece 31 and the The other one of the ends of the first limiting member 31 for abutting with the second limiting member 32 is provided with a magnet material piece. Optionally, the third magnet can be a magnet, and the magnetic material piece can be a material that can be attracted by the magnet, such as iron, copper and other materials. In other embodiments, the piece of magnet material may be replaced with a fourth magnet that is magnetically opposite to the third magnet, enhancing the magnetic attractive force with the third magnet.

所述云台轴臂组件100不需要使用时，所述第二连接臂20能够相对所述第一连接臂10转动至第一位置，如图1和图3所示，所述第三磁体与所述磁性材料件相互吸附，通过所述第三磁体与所述磁性材料件之间的磁性吸引力以使所述第一限位件31与所述第二限位件32相互抵接，从而使所述第二连接臂20相对所述第一连接臂10处于锁定状态，云台轴臂组件100处于锁定状态。When the pan/tilt shaft arm assembly 100 is not in use, the second connecting arm 20 can be rotated to the first position relative to the first connecting arm 10. As shown in FIG. 1 and FIG. 3, the third magnet is connected to the first position. The magnetic material pieces are attracted to each other, and the first limiting piece 31 and the second limiting piece 32 are abutted against each other through the magnetic attraction force between the third magnet and the magnetic material piece, so that the The second connecting arm 20 is in a locked state relative to the first connecting arm 10, and the pan-tilt shaft arm assembly 100 is in a locked state.

所述云台轴臂组件100需要使用时，所述第二连接臂20能够克服所述第三磁体与所述磁性材料件之间的磁性吸引力相对所述第一连接臂10转动至第二位置，带动第二限位件32朝远离第一限位件31的方向移动，如图2和图4所示，使得所述第一限位件31与所述第二限位件32相互分离，从而使所述第二连接臂20相对所述第一连接臂10处于自由状态，云台轴臂组件100处于自由状态，使云台轴臂组件100能够正常使用。When the pan/tilt shaft arm assembly 100 needs to be used, the second connecting arm 20 can overcome the magnetic attraction between the third magnet and the magnetic material to rotate relative to the first connecting arm 10 to the second connecting arm 20 . position, drive the second limiting member 32 to move away from the first limiting member 31 , as shown in FIG. 2 and FIG. 4 , so that the first limiting member 31 and the second limiting member 32 are separated from each other , so that the second connecting arm 20 is in a free state relative to the first connecting arm 10 , and the gimbal shaft arm assembly 100 is in a free state, so that the gimbal shaft arm assembly 100 can be used normally.

参见图5至图9所示，在一些可选的实施例中，第一限位件31和第二限位件32采用机械结构的方式相互锁定或解锁。所述限位组件还可以包括第三限位件33，所述第三限位件33与所述第一限位件31设于所述第一连接臂10和所述第二连接臂20 中的同一者，并与所述第一限位件31位于同一圆周轨道上。在本实施例中，第一限位件31和第三限位件33设置于第一连接臂10，第二限位件32设置于第二连接臂20。第一限位件31、第二限位件32以及第三限位件33位于同一圆周轨道上，能够保证第二连接臂20相对第一连接臂10转动的过程中，第二限位件32与第一限位件31和第三限位件33能够相互接触到。Referring to FIGS. 5 to 9 , in some optional embodiments, the first limiting member 31 and the second limiting member 32 are locked or unlocked with each other by means of a mechanical structure. The limiting assembly may further include a third limiting member 33 , and the third limiting member 33 and the first limiting member 31 are provided in the first connecting arm 10 and the second connecting arm 20 . is the same one, and is located on the same circumferential track as the first limiting member 31 . In this embodiment, the first limiting member 31 and the third limiting member 33 are disposed on the first connecting arm 10 , and the second limiting member 32 is disposed on the second connecting arm 20 . The first limiting member 31 , the second limiting member 32 and the third limiting member 33 are located on the same circular orbit, which can ensure that the second limiting member 32 can be prevented during the rotation of the second connecting arm 20 relative to the first connecting arm 10 . The first limiting member 31 and the third limiting member 33 can be in contact with each other.

所述云台轴臂组件100不需要使用时，所述第二连接臂20能够相对所述第一连接臂10转动至第一位置，所述第二限位件32位于所述第一限位件31和所述第三限位件33之间，所述第二限位件32的两端分别与所述第一限位件31和所述第三限位件33相抵接，如图5和图7所示，所述第三限位件33对所述第二限位件32提供朝向所述第一限位件31方向的作用力，以使所述第一限位件31与所述第二限位件32相互抵接，从而使所述第二连接臂20相对所述第一连接臂10处于锁定状态，云台轴臂组件100处于锁定状态。When the pan/tilt shaft arm assembly 100 does not need to be used, the second connecting arm 20 can be rotated relative to the first connecting arm 10 to a first position, and the second limiting member 32 is located at the first limiting position Between the second limiting member 31 and the third limiting member 33, both ends of the second limiting member 32 abut with the first limiting member 31 and the third limiting member 33, respectively, as shown in FIG. 5 . As shown in FIG. 7 , the third limiting member 33 provides the second limiting member 32 with a force in the direction of the first limiting member 31 , so that the first limiting member 31 and the The second limiting members 32 abut each other, so that the second connecting arm 20 is in a locked state relative to the first connecting arm 10 , and the pan/tilt shaft arm assembly 100 is in a locked state.

所述云台轴臂组件100需要使用时，所述第二连接臂20能够克服所述第三限位件33与所述第二限位件32之间的作用力相对所述第一连接臂10转动，带动第二限位件32朝远离第一限位件31的方向移动，使得所述第一限位件31与所述第二限位件32相互分离，所述第二连接臂20转动至第二位置后如图6和图9所示，从而使所述第二连接臂20相对所述第一连接臂10处于自由状态，云台轴臂组件100处于自由状态，使云台轴臂组件100能够正常使用。When the pan-tilt shaft arm assembly 100 needs to be used, the second connecting arm 20 can overcome the force between the third limiting member 33 and the second limiting member 32 relative to the first connecting arm 10. Rotate to drive the second limiting member 32 to move away from the first limiting member 31, so that the first limiting member 31 and the second limiting member 32 are separated from each other, and the second connecting arm 20 After rotating to the second position, as shown in FIG. 6 and FIG. 9 , the second connecting arm 20 is in a free state relative to the first connecting arm 10 , and the pan/tilt shaft arm assembly 100 is in a free state, so that the pan/tilt shaft is in a free state. The arm assembly 100 can be used normally.

在一些可选的实施例中，所述第三限位件33包括主体部34和弹性部35，所述主体部34与所述第一限位件31设于所述第一连接臂10和所述第二连接臂20中的同一者，并与所述第一限位件31位于同一圆周轨道上。所述弹性部35连接于所述主体部34靠近所述第一限位件31的一侧，所述弹性部35与所述第二限位件32沿所述第二连接臂20的转动轴向至少部分重叠。在本实施例中，第一限位件31和主体部34设置于第一连接臂10，第二限位件32设置于第二连接臂20。可选地，主体部34可以通过螺纹连接、焊接、粘接、过盈配合等方式与第一连接臂10连接。弹性部35可以通过焊接、粘接、过盈配合等方式与主体部34连接。弹性部35可以采用塑胶、橡胶等柔性材料。弹性部35可以包括弹片、塑胶件以及橡胶件中的至少一种。例如，主体部34采用螺钉，弹性部35上开设通孔，主体部34穿过该通孔与第一连接臂10固定，从而将弹性部35固定。In some optional embodiments, the third limiting member 33 includes a main body portion 34 and an elastic portion 35 , and the main body portion 34 and the first limiting member 31 are provided on the first connecting arm 10 and the first connecting arm 10 and the elastic portion 35 . The same one of the second connecting arms 20 and the first limiting member 31 are located on the same circumferential track. The elastic portion 35 is connected to the side of the main body portion 34 close to the first limiting member 31 , and the elastic portion 35 and the second limiting member 32 are along the rotation axis of the second connecting arm 20 to at least partially overlap. In this embodiment, the first limiting member 31 and the main body portion 34 are disposed on the first connecting arm 10 , and the second limiting member 32 is disposed on the second connecting arm 20 . Optionally, the main body portion 34 may be connected to the first connecting arm 10 by means of screw connection, welding, bonding, interference fit or the like. The elastic portion 35 can be connected to the main body portion 34 by welding, bonding, interference fit or the like. The elastic portion 35 can be made of flexible materials such as plastic and rubber. The elastic part 35 may include at least one of elastic pieces, plastic parts and rubber parts. For example, the main body portion 34 adopts screws, and the elastic portion 35 is provided with a through hole, and the main body portion 34 is fixed to the first connecting arm 10 through the through hole, thereby fixing the elastic portion 35 .

在图7至图9所示的例子中，第二连接臂20的转动轴向沿竖直方向，所述弹性部35与所述第二限位件32沿所述第二连接臂20的转动轴向至少部分重叠，可以理解为是弹性部35与第二限位件32沿竖直方向至少有部分是重叠的，能够保证第二连接臂20相对第一连接臂10转动的过程中，第二限位件32能够接触到弹性部35并使弹性部35发生形变。In the examples shown in FIGS. 7 to 9 , the rotational axis of the second connecting arm 20 is in the vertical direction, and the elastic portion 35 and the second limiting member 32 rotate along the second connecting arm 20 The axial direction is at least partially overlapped, which can be understood as at least partially overlapping the elastic portion 35 and the second limiting member 32 in the vertical direction, which can ensure that during the rotation of the second connecting arm 20 relative to the first connecting arm 10, the The two limiting members 32 can contact the elastic portion 35 and deform the elastic portion 35 .

所述云台轴臂组件100不需要使用时，所述第二连接臂20能够相对所述第一连接臂10转动至第一位置，所述第二限位件32的第一端与所述第一限位件31相抵接，所述第二限位件32的第二端与所述弹性部35相抵接，如图5和图7所示，所述弹性部35对所述第二限位件32提供朝向所述第一限位件31方向的作用力，以使所述第一限位件31与所述第二限位件32相互抵接，弹性部35对第二限位件32起到限位作用，防止第二限位件32与第一限位件31脱离，从而使所述第二连接臂20相对所述第一连接臂10处于锁定状态，云台轴臂组件100处于锁定状态。When the pan/tilt shaft arm assembly 100 does not need to be used, the second connecting arm 20 can be rotated relative to the first connecting arm 10 to a first position, and the first end of the second limiting member 32 is connected to the first position. The first limiting member 31 abuts against each other, and the second end of the second limiting member 32 abuts against the elastic portion 35. As shown in FIG. 5 and FIG. The positioning member 32 provides a force in the direction of the first limiting member 31 to make the first limiting member 31 and the second limiting member 32 abut against each other, and the elastic portion 35 is opposite to the second limiting member. 32 plays a limiting role, preventing the second limiting member 32 from disengaging from the first limiting member 31, so that the second connecting arm 20 is in a locked state relative to the first connecting arm 10, and the pan/tilt shaft arm assembly 100 is locked.

所述云台轴臂组件100需要使用时，所述第二连接臂20能够克服所述弹性部35与所述第二限位件32之间的作用力相对所述第一连接臂10转动，带动第二限位件32朝远离第一限位件31的方向移动，使得所述第一限位件31与所述第二限位件32相互分离。第二连接臂20从第一位置转动至第二位置的过程中，弹性部35受到第二限位件32的挤压会向上发生形变，如图8所示。所述第二连接臂20转动至第二位置后如图6和图9所示，所述第二限位件32位于所述弹性部35远离所述第一限位件31的一侧，弹性部35恢复到复位状态，此时弹性部35与第二限位件32之间不存在作用力，从而使所述第二连接臂20相对所述第一连接臂10处于自由状态，云台轴臂组件100处于自由状态，使云台轴臂组件100能够正常使用。When the pan/tilt shaft arm assembly 100 needs to be used, the second connecting arm 20 can overcome the force between the elastic portion 35 and the second limiting member 32 to rotate relative to the first connecting arm 10 , The second limiting member 32 is driven to move away from the first limiting member 31 , so that the first limiting member 31 and the second limiting member 32 are separated from each other. During the rotation of the second connecting arm 20 from the first position to the second position, the elastic portion 35 will be deformed upward by being squeezed by the second limiting member 32 , as shown in FIG. 8 . After the second connecting arm 20 is rotated to the second position, as shown in FIG. 6 and FIG. 9 , the second limiting member 32 is located on the side of the elastic portion 35 away from the first limiting member 31 . The part 35 returns to the reset state, and there is no force between the elastic part 35 and the second limiting member 32 at this time, so that the second connecting arm 20 is in a free state relative to the first connecting arm 10, and the pan/tilt axis The arm assembly 100 is in a free state, so that the pan-tilt shaft arm assembly 100 can be used normally.

在一实施例中，所述第二连接臂20处于所述第一位置时，所述弹性部35处于形变状态并与第二限位件32相抵接，所述弹性部35通过形变产生的弹性力对所述第二限位件32提供所述作用力，将第二限位件32压紧第一限位件31，从而将两者相互锁定。In one embodiment, when the second connecting arm 20 is in the first position, the elastic portion 35 is in a deformed state and abuts against the second limiting member 32 , and the elastic portion 35 is elastically generated by the deformation. The force provides the acting force to the second limiting member 32 , and presses the second limiting member 32 against the first limiting member 31 , thereby locking the two with each other.

进一步地，为了达到更好的锁定效果，所述第二限位件32用于与所述第一限位件31相抵接的一端(图中所示为右端面)和所述第一限位件31用于与所述第二限位件32相抵接的一端(图中所示为左端面)中的一者设有第三磁体，所述第二限位件32用于与所述第一限位件31相抵接的一端和所述第一限位件31用于与所述第二限位件32相抵接的一端中的另一者设有磁性材料件。可选地，第三磁体可以采用磁铁，磁性材料件可以采用能够被磁铁所吸引的材料，例如铁、铜等材料。在其他实施例中，磁体材料件可以替换为与第三磁体磁性相反的第四磁体，增强与第三磁体的磁性吸引力。Further, in order to achieve a better locking effect, the second limiting member 32 is used for the end (the right end face shown in the figure) abutting with the first limiting member 31 and the first limiting member One of the ends of the member 31 for abutting with the second limiting member 32 (shown as the left end face in the figure) is provided with a third magnet, and the second limiting member 32 is used for connecting with the first limiting member 32. A magnetic material piece is provided on the other one of the abutting end of a limiting member 31 and the end of the first limiting member 31 for abutting with the second limiting member 32 . Optionally, the third magnet can be a magnet, and the magnetic material piece can be a material that can be attracted by the magnet, such as iron, copper and other materials. In other embodiments, the piece of magnet material may be replaced with a fourth magnet that is magnetically opposite to the third magnet, enhancing the magnetic attractive force with the third magnet.

所述第二连接臂20处于所述第一位置时，所述弹性部35处于形变状态并与第二限位件32相抵接，所述第三磁体与所述磁性材料件相互吸引。所述弹性部35通过形变产生的弹性力以及所述第三磁体与所述磁性材料件之间的磁性吸引力对所述第二限位件32提供所述作用力，加强第三限位件33对第二限位件32的作用力，使第二限位件32压紧第一限位件31，从而将第一限位件31和第二限位件32相互锁定。When the second connecting arm 20 is in the first position, the elastic portion 35 is in a deformed state and abuts against the second limiting member 32 , and the third magnet and the magnetic material member attract each other. The elastic portion 35 provides the acting force to the second limiting member 32 through the elastic force generated by the deformation and the magnetic attractive force between the third magnet and the magnetic material member, and strengthens the third limiting member The force of 33 on the second limiting member 32 causes the second limiting member 32 to press against the first limiting member 31 , thereby locking the first limiting member 31 and the second limiting member 32 to each other.

在另一实施例中，所述弹性部35靠近所述第一限位件31的一端(图中所示为右端面)设有第一磁体，所述第二限位件32用于与所述弹性部35相抵接的一端(图中所示为左端面)设有第二磁体，所述第二磁体与所述第一磁体的磁性相同。可选地，第二磁体与第一磁体可以采用磁性相反的磁铁。In another embodiment, a first magnet is provided at one end of the elastic portion 35 close to the first limiting member 31 (shown as the right end face in the figure), and the second limiting member 32 is used for connecting with the first limiting member 32 . A second magnet is provided at the abutting end of the elastic portion 35 (shown as the left end face in the figure), and the second magnet has the same magnetic properties as the first magnet. Optionally, the second magnet and the first magnet may use magnets with opposite magnetic properties.

所述第二连接臂20处于所述第一位置时，所述弹性部35处于复位状态并与第二限位件32相抵接，所述第二磁体与所述第一磁体相互排斥。所述弹性部35通过所述第二磁体与所述第一磁体之间的排斥力对所述第二限位件32提供所述作用力，将第二限位件32压紧第一限位件31，从而将两者相互锁定。When the second connecting arm 20 is in the first position, the elastic portion 35 is in a reset state and abuts against the second limiting member 32 , and the second magnet and the first magnet repel each other. The elastic portion 35 provides the acting force to the second limiting member 32 through the repulsive force between the second magnet and the first magnet, and presses the second limiting member 32 against the first limiting member 31, thereby locking the two into each other.

进一步地，为了达到更好的锁定效果，所述第二限位件32用于与所述第一限位件31相抵接的一端和所述第一限位件31用于与所述第二限位件32相抵接的一端中的一者设有第三磁体，所述第二限位件32用于与所述第一限位件31相抵接的一端和所述第一限位件31用于与所述第二限位件32相抵接的一端中的另一者设有磁性材料件。可选地，第三磁体可以采用磁铁，磁性材料件可以采用能够被磁铁所吸引的材料，例如铁、铜等材料。在其他实施例中，磁体材料件可以替换为与第三磁体磁性相反的第四磁体，增强与第三磁体的磁性吸引力。Further, in order to achieve a better locking effect, the end of the second limiting member 32 is used for abutting with the first limiting member 31 and the first limiting member 31 is used for connecting with the second limiting member 31 . One of the abutting ends of the limiting member 32 is provided with a third magnet, and the second limiting member 32 is used for the end abutting with the first limiting member 31 and the first limiting member 31 The other one of the ends for abutting with the second limiting member 32 is provided with a magnetic material member. Optionally, the third magnet can be a magnet, and the magnetic material piece can be a material that can be attracted by the magnet, such as iron, copper and other materials. In other embodiments, the piece of magnet material may be replaced with a fourth magnet that is magnetically opposite to the third magnet, enhancing the magnetic attractive force with the third magnet.

所述第二连接臂20处于所述第一位置时，所述弹性部35处于复位状态并与第二限位件32相抵接，所述第二磁体与所述第一磁体相互排斥，并且所述第三磁体与所述磁性材料件相互吸引。所述弹性部35通过所述第二磁体与所述第一磁体之间的排斥力以及所述第三磁体与所述磁性材料件之间的磁性吸引力对所述第二限位件32提供所述作用力，加强第三限位件33对第二限位件32的作用力，使第二限位件32压紧第一限位件31，从而将第一限位件31和第二限位件32相互锁定。When the second connecting arm 20 is in the first position, the elastic portion 35 is in a reset state and abuts against the second limiting member 32, the second magnet and the first magnet repel each other, and all the The third magnet and the magnetic material piece attract each other. The elastic portion 35 provides the second limiting member 32 with the repulsive force between the second magnet and the first magnet and the magnetic attractive force between the third magnet and the magnetic material piece The acting force strengthens the acting force of the third limiting member 33 on the second limiting member 32, so that the second limiting member 32 presses the first limiting member 31, thereby connecting the first limiting member 31 and the second limiting member 31. The limiting members 32 are locked with each other.

所述第二连接臂20处于所述第一位置时，所述弹性部处于形变状态并与第二限位件32相抵接，所述第二磁体与所述第一磁体相互排斥。所述弹性部35通过形变产生的弹性力和所述第二磁体与所述第一磁体之间的排斥力对所述第二限位件32提供所述作用力，将第二限位件32压紧第一限位件31，从而将两者相互锁定。When the second connecting arm 20 is in the first position, the elastic portion is in a deformed state and abuts against the second limiting member 32 , and the second magnet and the first magnet repel each other. The elastic portion 35 provides the acting force to the second limiting member 32 through the elastic force generated by the deformation and the repulsive force between the second magnet and the first magnet, and the second limiting member 32 Press the first limiting member 31 to lock the two to each other.

所述第二连接臂20处于所述第一位置时，所述弹性部35处于形变状态并与第二限位件32相抵接，所述第二磁体与所述第一磁体相互排斥，并且所述第三磁体与所述磁性材料件相互吸引。所述弹性部35通过形变产生的弹性力、所述第二磁体与所述第一磁体之间的排斥力以及所述第三磁体与所述磁性材料件之间的磁性吸引力对所述第二限位件32提供所述作用力，加强第三限位件33对第二限位件32的作用力，使第二限位件32压紧第一限位件31，从而将第一限位件31和第二限位件32相互锁定。When the second connecting arm 20 is in the first position, the elastic portion 35 is in a deformed state and abuts against the second limiting member 32, the second magnet and the first magnet repel each other, and all the The third magnet and the magnetic material piece attract each other. The elastic force generated by the elastic portion 35 through deformation, the repulsive force between the second magnet and the first magnet, and the magnetic attractive force between the third magnet and the magnetic material The second limiting member 32 provides the acting force, which strengthens the acting force of the third limiting member 33 on the second limiting member 32 , so that the second limiting member 32 presses the first limiting member 31 , so that the first limiting member 32 is pressed against the first limiting member 31 . The positioning member 31 and the second limiting member 32 are mutually locked.

在一些可选的实施例中，所述弹性部35包括与所述主体部34连接的第一弹性部件351和与所述第一弹性部件351弯折连接的第二弹性部件352。可选地，第一弹性部件351和第二弹性部件352均可以一体成型设置。所述第二连接臂20处于所述第一位置时，所述第二限位件32的第二端与所述第二弹性部件352相抵接，如图5和图7所示。所述第二连接臂20处于所述第二位置时，所述第二限位件32位于所述第二弹性部件352远离所述第一限位件31的一侧，如图6和图9所示。第二连接臂20从第一位置转动至第二位置的过程中，弹性部35受到第二限位件32的挤压会向上发生形变，如图8所示。In some optional embodiments, the elastic portion 35 includes a first elastic member 351 connected to the main body portion 34 and a second elastic member 352 connected to the first elastic member 351 by bending. Optionally, both the first elastic member 351 and the second elastic member 352 may be integrally formed. When the second connecting arm 20 is in the first position, the second end of the second limiting member 32 is in abutment with the second elastic member 352 , as shown in FIGS. 5 and 7 . When the second connecting arm 20 is in the second position, the second limiting member 32 is located on the side of the second elastic member 352 away from the first limiting member 31 , as shown in FIGS. 6 and 9 . shown. During the rotation of the second connecting arm 20 from the first position to the second position, the elastic portion 35 will be deformed upward by being squeezed by the second limiting member 32 , as shown in FIG. 8 .

进一步地，所述第一弹性部件351自所述主体部34沿靠近所述第一连接臂10和所述第二连接臂20中设有第二限位件32的一者及靠近所述第一限位件31的方向延伸设置。第二弹性部件352自所述第一弹性部件351沿远离所述第一连接臂10和所述第二连接臂20中设有第二限位件32的一者及靠近所述第一限位件31的方向延伸设置。在本实施例中，第一限位件31和第三限位件33设于第一连接臂10，第二限位件32设于第二连接臂20。第一弹性部件351自主体部34沿靠近第二连接臂20及靠近第一限位件31的方向延伸设置，第二弹性部件352自第一弹性部件351沿远离第二连接臂20及靠近第一限位件31的方向延伸设置，形成呈弯折结构的弹性部35，有利于在受到第二限位件32的挤压时产生形变。Further, the first elastic member 351 from the main body portion 34 is close to one of the first connecting arm 10 and the second connecting arm 20 with the second limiting member 32 and is close to the first connecting arm 10 and the second connecting arm 20. A limiter 31 extends in the direction. The second elastic member 352 is provided with one of the second limiting members 32 from the first elastic member 351 away from the first connecting arm 10 and the second connecting arm 20 and is close to the first limiting member The direction of the member 31 extends. In this embodiment, the first limiting member 31 and the third limiting member 33 are provided on the first connecting arm 10 , and the second limiting member 32 is provided on the second connecting arm 20 . The first elastic member 351 extends from the body portion 34 in a direction close to the second connecting arm 20 and close to the first limiting member 31 , and the second elastic member 352 extends away from the second connecting arm 20 and close to the first elastic member 351 A limiter 31 is extended in the direction to form an elastic portion 35 in a bent structure, which is beneficial to generate deformation when being squeezed by the second limiter 32 .

在一些可选的实施例中，所述第二连接臂20可以是轴臂，所述第一连接臂10可以是用于驱动所述轴臂转动的动力组件。所述第一限位件31设于所述动力组件，所述第二限位件32设于所述轴臂。In some optional embodiments, the second connecting arm 20 may be a shaft arm, and the first connecting arm 10 may be a power assembly for driving the shaft arm to rotate. The first limiting member 31 is provided on the power assembly, and the second limiting member 32 is provided on the shaft arm.

所述云台轴臂组件100可以是偏航轴组件、横滚轴组件或俯仰轴组件。所述偏航轴组件包括偏航轴动力组件和与所述偏航轴动力组件连接的偏航轴轴臂，所述横滚轴组件包括横滚轴动力组件和与所述横滚轴动力组件连接的横滚轴轴臂，所述俯仰轴组件包括俯仰轴动力组件和与所述俯仰轴动力组件连接的俯仰轴轴臂。The pan/tilt shaft arm assembly 100 may be a yaw shaft assembly, a roll shaft assembly or a pitch shaft assembly. The yaw shaft assembly includes a yaw shaft power assembly and a yaw shaft arm connected with the yaw shaft power assembly, and the roll shaft assembly includes a roll shaft power assembly and a yaw shaft power assembly connected with the roll shaft power assembly A connected roll axis arm, the pitch axis assembly includes a pitch axis power assembly and a pitch axis arm connected with the pitch axis power assembly.

在一些可选的实施例中，所述云台轴臂组件100可以在开关机时，自动控制第二连接臂20转动至第一位置和第二位置。所述云台轴臂组件100下电时(即关机时)执行第一指令，所述第二连接臂根据所述第一指令转动至所述第一位置，通过第一限位件31和第二限位件23的配合将云台轴臂组件100锁定，避免云台轴臂组件100在断电状态下会自由转动的问题。所述云台轴臂组件100上电时(即开机时)执行第二指令，所述第二连接臂根据所述第二指令克服第一限位件31和第二限位件32之间的阻力转动至所述第二位置，使云台轴臂组件100处于自由状态可以正常使用，可以减少开机过程中的人工操作，提升产品体验。In some optional embodiments, the pan-tilt shaft arm assembly 100 can automatically control the second connecting arm 20 to rotate to the first position and the second position when the machine is turned on and off. The first command is executed when the gimbal shaft arm assembly 100 is powered off (ie, when it is turned off), the second connecting arm rotates to the first position according to the first command, and passes through the first limiting member 31 and the second connecting arm. The cooperation of the two limiting members 23 locks the gimbal shaft arm assembly 100 to avoid the problem that the gimbal shaft arm assembly 100 will rotate freely in a power-off state. The second command is executed when the gimbal shaft arm assembly 100 is powered on (ie, when powered on), and the second connecting arm overcomes the gap between the first limiting member 31 and the second limiting member 32 according to the second command. The resistance is rotated to the second position, so that the gimbal shaft arm assembly 100 is in a free state and can be used normally, which can reduce manual operations during the booting process and improve product experience.

在第一限位件31和第二限位件32采用磁性吸引的方式相互锁定或解锁的实施例中，所述云台轴臂组件100上电时，所述第二连接臂20克服所述第六磁体与所述第七磁体之间的磁性吸引力相对所述第一连接臂10转动，以使所述第一限位件31与所述第二限位件32相互分离。In the embodiment in which the first limiting member 31 and the second limiting member 32 are mutually locked or unlocked by magnetic attraction, when the pan-tilt shaft arm assembly 100 is powered on, the second connecting arm 20 overcomes the The magnetic attraction force between the sixth magnet and the seventh magnet rotates relative to the first connecting arm 10 to separate the first limiting member 31 and the second limiting member 32 from each other.

在第一限位件31和第二限位件32采用机械结构的方式相互锁定或解锁的实施例中，所述云台轴臂组件100上电时，所述第二连接臂20克服所述第三限位件33与所述第二限位件32之间的作用力相对所述第一连接臂10转动，以使所述第一限位件31与所述第二限位件32相互分离。In the embodiment in which the first limiting member 31 and the second limiting member 32 are locked or unlocked with each other by means of a mechanical structure, when the pan-tilt shaft arm assembly 100 is powered on, the second connecting arm 20 overcomes the The force between the third limiting member 33 and the second limiting member 32 rotates relative to the first connecting arm 10 , so that the first limiting member 31 and the second limiting member 32 are mutually separation.

所述动力组件用于接收所述第一指令和所述第二指令。所述云台轴臂组件100下电时执行第一指令，所述动力组件根据所述第一指令驱动所述轴臂转动至所述第一位置。所述云台轴臂组件100上电时执行第二指令，所述动力组件根据所述第二指令克服第一限位件31和第二限位件32之间的阻力驱动所述轴臂转动至所述第二位置。The power assembly is for receiving the first command and the second command. When the gimbal shaft arm assembly 100 is powered off, a first command is executed, and the power assembly drives the shaft arm to rotate to the first position according to the first command. When the gimbal shaft arm assembly 100 is powered on, the second command is executed, and the power assembly overcomes the resistance between the first limit member 31 and the second limit member 32 according to the second command to drive the shaft arm to rotate to the second position.

参见图10所示，本申请实施例还提供一种云台装置200，包括至少一个云台轴臂组件100。需要说明的是，上述实施例和实施方式中关于云台轴臂组件100的描述，同样适用于本申请的云台装置200。云台装置200可以搭载相机等拍摄器90组成拍摄装置300。云台装置200工作时，云台轴臂组件100的第二连接臂20能够相对第一连接臂10转动，用以调节拍摄器90的拍摄角度。Referring to FIG. 10 , an embodiment of the present application further provides a pan-tilt device 200 , which includes at least one pan-tilt shaft arm assembly 100 . It should be noted that the descriptions about the pan-tilt shaft arm assembly 100 in the above embodiments and implementation manners are also applicable to the pan-tilt device 200 of the present application. The camera 90 such as a camera may be mounted on the pan/tilt device 200 to form the imaging device 300 . When the gimbal device 200 is working, the second connecting arm 20 of the gimbal shaft arm assembly 100 can rotate relative to the first connecting arm 10 to adjust the shooting angle of the camera 90 .

通过上述设置，在云台装置200不需要使用时，将云台轴臂组件100的第二连接臂20转动至第一位置，通过第一限位件31和第二限位件32的配合，能够将第一连接臂10和第二连接臂20相互锁定，使得产品形态稳定，不会随意转动，不易损坏。云台装置200需要使用时，将云台轴臂组件100的第二连接臂20转动至第二位置，使第一连接臂10和第二连接臂20相互分离，云台轴臂组件100处于自由状态，使云台装置200可以正常使用。Through the above arrangement, when the pan-tilt device 200 does not need to be used, the second connecting arm 20 of the pan-tilt shaft arm assembly 100 is rotated to the first position, and through the cooperation of the first limiting member 31 and the second limiting member 32, The first connecting arm 10 and the second connecting arm 20 can be locked with each other, so that the shape of the product is stable, and it will not be rotated at will and not easily damaged. When the gimbal device 200 needs to be used, the second connecting arm 20 of the gimbal shaft arm assembly 100 is rotated to the second position, so that the first connecting arm 10 and the second connecting arm 20 are separated from each other, and the gimbal shaft arm assembly 100 is free state, so that the PTZ device 200 can be used normally.

在一些可选的实施例中，所述云台轴臂组件100的数量大于一个，其中一个所述云台轴臂组件100的动力组件与另一个所述云台轴臂组件100的轴臂相连。可以理解的，云台装置200可以是单轴云台、两轴云台或是三轴云台。云台装置200是单轴云台时，云台轴臂组件100的数量为一个。云台装置200是两轴云台时，云台轴臂组件100的数量为两个。云台装置200是三轴云台时，云台轴臂组件100的数量为三个。In some optional embodiments, the number of the pan-tilt pivot arm assemblies 100 is greater than one, wherein the power component of one pan-tilt pivot arm assembly 100 is connected to the pivot arm of the other pan-tilt pivot arm assembly 100 . It can be understood that the gimbal device 200 may be a single-axis gimbal, a two-axis gimbal or a three-axis gimbal. When the pan/tilt device 200 is a single-axis pan/tilt, the number of pan/tilt arm assemblies 100 is one. When the pan/tilt device 200 is a two-axis pan/tilt, the number of pan/tilt arm assemblies 100 is two. When the pan/tilt device 200 is a three-axis pan/tilt, the number of pan/tilt arm assemblies 100 is three.

以云台装置200为三轴云台为例，三个云台轴臂组件100分别是偏航轴组件、横滚轴组件以及俯仰轴组件。所述偏航轴组件包括偏航轴动力组件91和与所述偏航轴动力组件91连接的偏航轴轴臂92，所述横滚轴组件包括与偏航轴轴臂92连接的横滚轴动力组件93和与所述横滚轴动力组件93连接的横滚轴轴臂94，所述俯仰轴组件包括与横滚轴轴臂94连接的俯仰轴动力组件95和与所述俯仰轴动力组件95连接的俯仰轴轴臂96。可选地，拍摄器90搭载在云台装置200的俯仰轴轴臂96上。Taking the gimbal device 200 as a three-axis gimbal as an example, the three gimbal shaft arm assemblies 100 are a yaw axis assembly, a roll axis assembly, and a pitch axis assembly, respectively. The yaw shaft assembly includes a yaw shaft power assembly 91 and a yaw shaft shaft arm 92 connected with the yaw shaft power assembly 91 , and the roll shaft assembly includes a roll shaft connected with the yaw shaft arm 92 axis power assembly 93 and a roll axis arm 94 connected with the roll axis power assembly 93, the pitch axis assembly includes a pitch axis power assembly 95 connected with the roll axis arm 94 and a pitch axis power assembly 95 connected with the roll axis power assembly 93 Pitch axis arm 96 to which assembly 95 is attached. Optionally, the camera 90 is mounted on the tilt axis arm 96 of the pan/tilt device 200 .

本申请实施例还提供一种拍摄装置300，包括拍摄器90和云台装置200，云台装置200包括至少一个云台轴臂组件100，所述拍摄器90装载于其中一个所述云台轴臂组件100。需要说明的是，上述实施例和实施方式中关于云台轴臂组件100的描述，同样适用于本申请的拍摄装置300。可选地，拍摄器90可以包括相机等。拍摄装置300工作时，云台轴臂组件100的第二连接臂20能够相对第一连接臂10转动，用以调节拍摄器90的拍摄角度。An embodiment of the present application further provides a photographing device 300, including a photographing device 90 and a pan-tilt device 200, the pan-tilting device 200 includes at least one pan-tilt shaft arm assembly 100, and the camera 90 is mounted on one of the pan-tilt shafts Arm assembly 100. It should be noted that, the descriptions about the pan/tilt shaft arm assembly 100 in the above embodiments and implementation manners are also applicable to the photographing device 300 of the present application. Alternatively, the camera 90 may include a camera or the like. When the photographing device 300 is working, the second connecting arm 20 of the gimbal shaft arm assembly 100 can rotate relative to the first connecting arm 10 to adjust the photographing angle of the photographing device 90 .

通过上述设置，在拍摄装置300不需要使用时，将云台轴臂组件100的第二连接臂20转动至第一位置，通过第一限位件31和第二限位件32的配合，能够将第一连接臂10和第二连接臂20相互锁定，使得产品形态稳定，不会随意转动，不易损坏。拍摄装置300需要使用时，将云台轴臂组件100的第二连接臂20转动至第二位置，使第一连接臂10和第二连接臂20相互分离，云台轴臂组件100处于自由状态，使拍摄装置300可以正常使用。Through the above arrangement, when the photographing device 300 does not need to be used, the second connecting arm 20 of the pan-tilt shaft arm assembly 100 is rotated to the first position, and through the cooperation of the first limiting member 31 and the second limiting member 32, the The first connecting arm 10 and the second connecting arm 20 are locked to each other, so that the shape of the product is stable, it will not rotate at will, and is not easily damaged. When the photographing device 300 needs to be used, the second connecting arm 20 of the gimbal shaft arm assembly 100 is rotated to the second position, so that the first connecting arm 10 and the second connecting arm 20 are separated from each other, and the gimbal shaft arm assembly 100 is in a free state , so that the photographing device 300 can be used normally.

在一些可选的实施例中，所述云台轴臂组件100的数量大于一个，其中一个所述云台轴臂组件100的动力组件与另一个所述云台轴臂组件100的轴臂相连。可以理解的，云台装置200可以是单轴云台、两轴云台或是三轴云台。云台装置200是单轴云台时，云台轴臂组件100的数量为一个。云台装置200是两轴云台时，云台轴臂组件100的数量为两个。云台装置200是三轴云台时，云台轴臂组件100的数量为三个。In some optional embodiments, the number of the pan-tilt pivot arm assemblies 100 is greater than one, wherein the power component of one pan-tilt pivot arm assembly 100 is connected to the pivot arm of the other pan-tilt pivot arm assembly 100 . It can be understood that the gimbal device 200 may be a single-axis gimbal, a two-axis gimbal or a three-axis gimbal. When the gimbal device 200 is a single-axis gimbal, the number of the gimbal arm assembly 100 is one. When the pan/tilt device 200 is a two-axis pan/tilt, the number of pan/tilt arm assemblies 100 is two. When the pan/tilt device 200 is a three-axis pan/tilt, the number of pan/tilt arm assemblies 100 is three.

需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. The terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion such that a process, method, article or device comprising a list of elements includes not only those elements, but also other not expressly listed elements, or also include elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

以上对本申请实施例所提供的云台手柄和具有其的云台进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。The pan-tilt handle provided by the embodiments of the present application and the pan-tilt head provided with the pan-tilt handle provided by the embodiments of the present application have been described in detail above. The principles and implementations of the present application are described with specific examples in this paper. The descriptions of the above embodiments are only used to help understanding The method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be It is construed as a limitation of this application.

Claims

一种云台轴臂组件，其特征在于，包括第一连接臂、与所述第一连接臂转动连接的第二连接臂以及限位组件；所述限位组件包括第一限位件和第二限位件，所述第一限位件设于所述第一连接臂和所述第二连接臂中的一者，所述第二限位件设于所述第一连接臂和所述第二连接臂中的另一者，所述第一限位件和所述第二限位件位于同一圆周轨道上；A pan/tilt shaft arm assembly, characterized in that it includes a first connecting arm, a second connecting arm rotatably connected to the first connecting arm, and a limit assembly; the limit assembly includes a first limit piece and a second limiter. Two limiting pieces, the first limiting piece is arranged on one of the first connecting arm and the second linking arm, and the second limiting piece is arranged on the first linking arm and the second linking arm In the other of the second connecting arms, the first limiting member and the second limiting member are located on the same circumferential track;

所述云台轴臂组件包括锁定状态和自由状态，所述云台轴臂组件处于所述锁定状态，所述第二连接臂相对所述第一连接臂转动至第一位置，所述第一限位件与所述第二限位件相互抵接，以使所述第二连接臂相对所述第一连接臂处于锁定状态；The pan-tilt shaft arm assembly includes a locked state and a free state, the pan-tilt shaft arm assembly is in the locked state, the second connecting arm rotates to a first position relative to the first connecting arm, and the first The limiting member abuts against the second limiting member, so that the second connecting arm is in a locked state relative to the first connecting arm;

所述云台轴臂组件处于所述自由状态，所述第二连接臂相对所述第一连接臂转动至第二位置，所述第一限位件与所述第二限位件相互分离，以使所述第二连接臂相对所述第一连接臂处于自由状态。The pan/tilt shaft arm assembly is in the free state, the second connecting arm rotates to a second position relative to the first connecting arm, the first limiting member and the second limiting member are separated from each other, so that the second connecting arm is in a free state relative to the first connecting arm.
根据权利要求1所述的云台轴臂组件，其特征在于，所述限位组件还包括第三限位件，所述第三限位件与所述第一限位件设于所述第一连接臂和所述第二连接臂中的同一者，并与所述第一限位件位于同一圆周轨道上；The pan/tilt shaft arm assembly according to claim 1, wherein the limiting assembly further comprises a third limiting member, and the third limiting member and the first limiting member are disposed on the first limiting member. A connecting arm and the second connecting arm are the same, and are located on the same circumferential track as the first limiting member;

所述第二连接臂处于所述第一位置，所述第二限位件位于所述第一限位件和所述第三限位件之间，所述第二限位件的两端分别与所述第一限位件和所述第三限位件相抵接，所述第三限位件对所述第二限位件提供朝向所述第一限位件方向的作用力，以使所述第一限位件与所述第二限位件相互抵接。The second connecting arm is in the first position, the second limiting member is located between the first limiting member and the third limiting member, and the two ends of the second limiting member are respectively Abutting with the first limiting piece and the third limiting piece, the third limiting piece provides the second limiting piece with a force in the direction of the first limiting piece, so that the The first limiting member and the second limiting member are in contact with each other.
根据权利要求2所述的云台轴臂组件，其特征在于，所述云台轴臂组件下电时执行第一指令，所述第二连接臂根据所述第一指令转动至所述第一位置；The gimbal shaft arm assembly according to claim 2, characterized in that, when the gimbal shaft arm assembly is powered off, a first command is executed, and the second connecting arm rotates to the first position according to the first command. Location;

所述云台轴臂组件上电时执行第二指令，所述第二连接臂根据所述第二指令转动至所述第二位置。When the gimbal shaft arm assembly is powered on, a second command is executed, and the second connecting arm rotates to the second position according to the second command.
根据权利要求3所述的云台轴臂组件，所述云台轴臂组件上电时，所述第二连接臂克服所述作用力相对所述第一连接臂转动，以使所述第一限位件与所述第二限位件相互分离。The gimbal shaft arm assembly according to claim 3, when the gimbal shaft arm assembly is powered on, the second connecting arm rotates relative to the first connecting arm against the acting force, so that the first connecting arm rotates The limiting member and the second limiting member are separated from each other.
根据权利要求2所述的云台轴臂组件，其特征在于，所述第三限位件包括主体部和弹性部，所述主体部与所述第一限位件设于所述第一连接臂和所述第二连接臂中的同一者，并与所述第一限位件位于同一圆周轨道上；所述弹性部连接于所述主体部靠近所述第一限位件的一侧，所述弹性部与所述第二限位件沿所述第二连接臂的转动轴向至少部分重叠；The pan-tilt shaft arm assembly according to claim 2, wherein the third limiting member comprises a main body portion and an elastic portion, and the main body portion and the first limiting member are provided at the first connection The arm and the second connecting arm are the same, and are located on the same circumferential track as the first limiting member; the elastic portion is connected to the side of the main body portion close to the first limiting member, The elastic portion and the second limiting member at least partially overlap along the rotational axis of the second connecting arm;

所述第二连接臂处于所述第一位置，所述第二限位件的第一端与所述第一限位件相抵接，所述第二限位件的第二端与所述弹性部相抵接，所述弹性部对所述第二限位件提供所述作用力；所述第二连接臂处于所述第二位置，所述第二限位件位于所述弹性部远离所述第一限位件的一侧。The second connecting arm is in the first position, the first end of the second limiting member is in contact with the first limiting member, and the second end of the second limiting member is in contact with the elastic The elastic portion provides the force to the second limiting member; the second connecting arm is in the second position, and the second limiting member is located at the elastic portion away from the one side of the first stopper.
根据权利要求5所述的云台轴臂组件，其特征在于，所述弹性部靠近所述第一限位件的一端设有第一磁体，所述第二限位件用于与所述弹性部相抵接的一端设有第二磁体，所述第二磁体与所述第一磁体的磁性相同；The pan/tilt shaft arm assembly according to claim 5, wherein a first magnet is provided at one end of the elastic portion close to the first limiting member, and the second limiting member is used for cooperating with the elastic portion. A second magnet is arranged at one end of the abutting parts, and the second magnet has the same magnetic properties as the first magnet;

所述第二连接臂处于所述第一位置，所述弹性部处于复位状态，所述第二磁体与所述第一磁体相互排斥；所述弹性部通过所述第二磁体与所述第一磁体之间的排斥力对所述第二限位件提供所述作用力。The second connecting arm is in the first position, the elastic part is in a reset state, the second magnet and the first magnet repel each other; the elastic part communicates with the first magnet through the second magnet The repulsive force between the magnets provides the acting force to the second limiting member.
根据权利要求6所述的云台轴臂组件，其特征在于，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的一者设有第三磁体，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的另一者设有磁性材料件；The pan-tilt shaft arm assembly according to claim 6, wherein the second limiting member is used for abutting one end of the first limiting member and the first limiting member is used for connecting with the first limiting member. One of the abutting ends of the second limiting piece is provided with a third magnet, and the second limiting piece is used for the abutting end of the first limiting piece and the first limiting piece A magnetic material piece is arranged on the other one of the ends abutting with the second limiting piece;

所述第二连接臂处于所述第一位置，所述第三磁体与所述磁性材料件相互吸引；所述弹性部通过所述第二磁体与所述第一磁体之间的排斥力和所述第三磁体与所述磁性材料件之间的磁性吸引力对所述第二限位件提供所述作用力。The second connecting arm is in the first position, the third magnet and the magnetic material piece are attracted to each other; the elastic part passes the repulsive force between the second magnet and the first magnet and the The magnetic attraction force between the third magnet and the magnetic material piece provides the acting force to the second limiting piece.
根据权利要求5所述的云台轴臂组件，其特征在于，所述第二连接臂处于所述第一位置，所述弹性部处于形变状态，所述弹性部通过形变产生的弹性力对所述第二限位件提供所述作用力。The pan/tilt shaft arm assembly according to claim 5, wherein the second connecting arm is in the first position, the elastic portion is in a deformed state, and the elastic portion exerts an elastic force generated by the deformation on the The second limiting member provides the acting force.
根据权利要求8所述的云台轴臂组件，其特征在于，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的一者设有第三磁体，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的另一者设有磁性材料件；The pan-tilt shaft arm assembly according to claim 8, wherein the second limiting member is used for abutting one end of the first limiting member and the first limiting member is used for connecting with the first limiting member. One of the abutting ends of the second limiting piece is provided with a third magnet, and the second limiting piece is used for the abutting end of the first limiting piece and the first limiting piece A magnetic material piece is arranged on the other one of the ends abutting with the second limiting piece;

所述第二连接臂处于所述第一位置，所述第三磁体与所述磁性材料件相互吸引；所述弹性部通过形变产生的弹性力和所述第三磁体与所述磁性材料件之间的磁性吸引力对所述第二限位件提供所述作用力。The second connecting arm is in the first position, the third magnet and the magnetic material piece attract each other; the elastic force generated by the deformation of the elastic portion and the relationship between the third magnet and the magnetic material piece The magnetic attraction between them provides the acting force to the second limiting member.
根据权利要求5所述的云台轴臂组件，其特征在于，所述弹性部靠近所述第一限位件的一端设有第一磁体，所述第二限位件用于与所述弹性部相抵接的一端设有第二磁体，所述第二磁体与所述第一磁体的磁性相同；The pan/tilt shaft arm assembly according to claim 5, wherein a first magnet is provided at one end of the elastic portion close to the first limiting member, and the second limiting member is used for cooperating with the elastic portion. A second magnet is arranged at one end of the abutting parts, and the second magnet has the same magnetic properties as the first magnet;

所述第二连接臂处于所述第一位置，所述弹性部处于形变状态，所述第二磁体与所述第一磁体相互排斥；所述弹性部通过形变产生的弹性力和所述第二磁体与所述第一磁体之间的排斥力对所述第二限位件提供所述作用力。The second connecting arm is in the first position, the elastic portion is in a deformed state, and the second magnet and the first magnet repel each other; the elastic force generated by the elastic portion through the deformation and the second magnet The repulsive force between the magnet and the first magnet provides the acting force to the second limiting member.
根据权利要求10所述的云台轴臂组件，其特征在于，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的一者设有第三磁体，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的另一者设有磁性材料件；The pan-tilt shaft arm assembly according to claim 10, wherein the second limiting member is used for abutting one end of the first limiting member and the first limiting member is used for connecting with the first limiting member. One of the abutting ends of the second limiting piece is provided with a third magnet, and the second limiting piece is used for the abutting end of the first limiting piece and the first limiting piece A magnetic material piece is arranged on the other one of the ends abutting with the second limiting piece;

所述第二连接臂处于所述第一位置，所述第三磁体与所述磁性材料件相互吸引；所述弹性部通过形变产生的弹性力、所述第二磁体与所述第一磁体之间的排斥力以及所述第三磁体与所述磁性材料件之间的磁性吸引力对所述第二限位件提供所述作用力。The second connecting arm is in the first position, the third magnet and the magnetic material piece attract each other; the elastic force generated by the deformation of the elastic part, the relationship between the second magnet and the first magnet; The repulsive force between the third magnet and the magnetic material piece provides the acting force to the second limiting piece.
根据权利要求5所述的云台轴臂组件，其特征在于，所述弹性部包括与所述主体部连接的第一弹性部件和与所述第一弹性部件弯折连接的第二弹性部件；The pan-tilt shaft arm assembly according to claim 5, wherein the elastic portion comprises a first elastic member connected to the main body portion and a second elastic member bent and connected to the first elastic member;

所述第二连接臂处于所述第一位置，所述第二限位件的第二端与所述第二弹性部件相抵接；所述第二连接臂处于所述第二位置，所述第二限位件位于所述第二弹性部件远离所述第一限位件的一侧。The second connecting arm is in the first position, the second end of the second limiting member is in contact with the second elastic member; the second connecting arm is in the second position, the first The second limiting member is located on the side of the second elastic member away from the first limiting member.
根据权利要求12所述的云台轴臂组件，其特征在于，所述第一弹性部件自所述主体部沿靠近所述第一连接臂和所述第二连接臂中设有所述第二限位件的一者及靠近所述第一限位件的方向延伸设置，第二弹性部件自所述第一弹性部件沿远离所述第一连接臂和所述第二连接臂中设有所述第二限位件的一者及靠近所述第一限位件的方向延伸设置。The pan-tilt shaft arm assembly according to claim 12, wherein the first elastic member is provided with the second elastic member from the main body portion along the edge of the first connecting arm and the second connecting arm. One of the limiting members is extended in a direction close to the first limiting member, and the second elastic member is provided with a second elastic member along the distance away from the first connecting arm and the second connecting arm from the first elastic member. One of the second limiting pieces is extended in a direction close to the first limiting piece.
根据权利要求5所述的云台轴臂组件，其特征在于，所述弹性部包括弹片、塑胶件以及橡胶件中的至少一种。The pan/tilt shaft arm assembly according to claim 5, wherein the elastic part comprises at least one of elastic pieces, plastic parts and rubber parts.
根据权利要求1所述的云台轴臂组件，其特征在于，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的一者设有第三磁体，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的另一者设有磁性材料件；The pan-tilt shaft arm assembly according to claim 1, wherein the second limiting member is used for abutting one end of the first limiting member and the first limiting member is used for connecting with the first limiting member. One of the abutting ends of the second limiting piece is provided with a third magnet, and the second limiting piece is used for the abutting end of the first limiting piece and the first limiting piece A magnetic material piece is arranged on the other one of the ends abutting with the second limiting piece;

所述第二连接臂处于所述第一位置，所述第三磁体与所述磁性材料件相互吸附，通过所述第三磁体与所述磁性材料件之间的磁性吸引力以使所述第一限位件与所述第二限位件相互抵接。The second connecting arm is in the first position, the third magnet and the magnetic material piece are attracted to each other, and the third magnet and the magnetic material piece are attracted by the magnetic attraction force to make the first A limiting piece abuts against the second limiting piece.
根据权利要求15所述的云台轴臂组件，其特征在于，所述云台轴臂组件下电时执行第一指令，所述第二连接臂根据所述第一指令转动至所述第一位置；The gimbal shaft arm assembly according to claim 15, wherein a first command is executed when the gimbal shaft arm assembly is powered off, and the second connecting arm rotates to the first position according to the first command Location;

所述云台轴臂组件上电时执行第二指令，所述第二连接臂根据所述第二指令转动至所述第二位置。When the gimbal shaft arm assembly is powered on, a second command is executed, and the second connecting arm rotates to the second position according to the second command.
根据权利要求16所述的云台轴臂组件，所述云台轴臂组件上电时，所述第二连接臂克服所述磁性吸引力相对所述第一连接臂转动，以使所述第一限位件与所述第二限位件相互分离。The pan-tilt pivot arm assembly according to claim 16 , wherein when the pan-tilt pivot arm assembly is powered on, the second connecting arm is rotated relative to the first connecting arm against the magnetic attraction force, so that the first connecting arm is rotated. A limiting member is separated from the second limiting member.
根据权利要求1所述的云台轴臂组件，其特征在于，所述云台轴臂组件下电时执行第一指令，所述第二连接臂根据所述第一指令转动至所述第一位置；The gimbal shaft arm assembly according to claim 1, wherein a first command is executed when the gimbal shaft arm assembly is powered off, and the second connecting arm rotates to the first position according to the first command. Location;

所述云台轴臂组件上电时执行第二指令，所述第二连接臂根据所述第二指令转动至所述第二位置。When the gimbal shaft arm assembly is powered on, a second command is executed, and the second connecting arm rotates to the second position according to the second command.
根据权利要求1所述的云台轴臂组件，其特征在于，所述第二连接臂为轴臂，所述第一连接臂为用于驱动所述轴臂转动的动力组件。The pan/tilt shaft arm assembly according to claim 1, wherein the second connecting arm is a shaft arm, and the first connecting arm is a power assembly for driving the shaft arm to rotate.
根据权利要求19所述的云台轴臂组件，其特征在于，所述第一限位件设于所述动力组件，所述第二限位件设于所述轴臂。The pan/tilt shaft arm assembly according to claim 19, wherein the first limiting member is provided on the power assembly, and the second limiting member is provided on the shaft arm.
根据权利要求19所述的云台轴臂组件，其特征在于，所述云台轴臂组件为偏航轴组件、横滚轴组件或俯仰轴组件；The gimbal shaft arm assembly according to claim 19, wherein the gimbal shaft arm assembly is a yaw shaft assembly, a roll shaft assembly or a pitch shaft assembly;

所述偏航轴组件包括偏航轴动力组件和与所述偏航轴动力组件连接的偏航轴轴臂，所述横滚轴组件包括横滚轴动力组件和与所述横滚轴动力组件连接的横滚轴轴臂，所述俯仰轴组件包括俯仰轴动力组件和与所述俯仰轴动力组件连接的俯仰轴轴臂。The yaw shaft assembly includes a yaw shaft power assembly and a yaw shaft arm connected with the yaw shaft power assembly, and the roll shaft assembly includes a roll shaft power assembly and a yaw shaft power assembly connected with the roll shaft power assembly A connected roll axis arm, the pitch axis assembly includes a pitch axis power assembly and a pitch axis arm connected with the pitch axis power assembly.
根据权利要求19所述的云台轴臂组件，其特征在于，所述动力组件用于接收第一指令和第二指令；The pan-tilt shaft arm assembly according to claim 19, wherein the power assembly is configured to receive the first command and the second command;

所述云台轴臂组件下电时执行所述第一指令，所述动力组件根据所述第一指令驱动所述轴臂转动至所述第一位置；The first command is executed when the gimbal shaft arm assembly is powered off, and the power assembly drives the shaft arm to rotate to the first position according to the first command;

所述云台轴臂组件上电时执行所述第二指令，所述动力组件根据所述第二指令驱动所述轴臂转动至所述第二位置。The second command is executed when the gimbal shaft arm assembly is powered on, and the power assembly drives the shaft arm to rotate to the second position according to the second command.
一种云台装置，其特征在于，包括至少一个云台轴臂组件，所述云台轴臂组件包括第一连接臂、与所述第一连接臂转动连接的第二连接臂以及限位组件；所述限位组件包括第一限位件和第二限位件，所述第一限位件设于所述第一连接臂和所述第二连接臂中的一者，所述第二限位件设于所述第一连接臂和所述第二连接臂中的另一者，所述第一限位件和所述第二限位件位于同一圆周轨道上；A pan-tilt device is characterized in that it includes at least one pan-tilt shaft arm assembly, the pan-tilt pivot arm assembly includes a first connecting arm, a second connecting arm rotatably connected to the first connecting arm, and a limit assembly ; The limit assembly includes a first limit piece and a second limit piece, the first limit piece is arranged on one of the first connecting arm and the second connecting arm, the second limit The limiting piece is arranged on the other of the first connecting arm and the second connecting arm, and the first limiting piece and the second limiting piece are located on the same circumferential track;

所述云台轴臂组件包括锁定状态和自由状态，所述云台轴臂组件处于所述锁定状态，所述第二连接臂相对所述第一连接臂转动至第一位置，所述第一限位件与所述第二限位件相互抵接，以使所述第二连接臂相对所述第一连接臂处于锁定状态；The pan-tilt shaft arm assembly includes a locked state and a free state, the pan-tilt shaft arm assembly is in the locked state, the second connecting arm rotates to a first position relative to the first connecting arm, and the first The limiting member abuts against the second limiting member, so that the second connecting arm is in a locked state relative to the first connecting arm;

所述云台轴臂组件处于所述自由状态，所述第二连接臂相对所述第一连接臂转动至第二位置，所述第一限位件与所述第二限位件相互分离，以使所述第二连接臂相对所述第一连接臂处于自由状态。The pan/tilt shaft arm assembly is in the free state, the second connecting arm rotates to a second position relative to the first connecting arm, the first limiting member and the second limiting member are separated from each other, so that the second connecting arm is in a free state relative to the first connecting arm.
根据权利要求23所述的云台装置，其特征在于，所述限位组件还包括第三限位件，所述第三限位件与所述第一限位件设于所述第一连接臂和所述第二连接臂中的同一者，并与所述第一限位件位于同一圆周轨道上；The pan/tilt device according to claim 23, wherein the limiting component further comprises a third limiting member, and the third limiting member and the first limiting member are arranged at the first connection The same one of the arm and the second connecting arm is located on the same circumferential track as the first limiting member;

所述第二连接臂处于所述第一位置，所述第二限位件位于所述第一限位件和所述第三限位件之间，所述第二限位件的两端分别与所述第一限位件和所述第三限位件相抵接，所述第三限位件对所述第二限位件提供朝向所述第一限位件方向的作用力，以使所述第一限位件与所述第二限位件相互抵接。The second connecting arm is in the first position, the second limiting member is located between the first limiting member and the third limiting member, and the two ends of the second limiting member are respectively Abutting with the first limiting piece and the third limiting piece, the third limiting piece provides the second limiting piece with a force in the direction of the first limiting piece, so that the The first limiting member and the second limiting member are in contact with each other.
根据权利要求24所述的云台装置，其特征在于，还包括控制器，与所述第一连接臂电连接；The pan-tilt device according to claim 24, further comprising a controller electrically connected to the first connecting arm;

所述云台装置下电时，所述控制器向所述第一连接臂发送第一指令，所述第一连接臂根据所述第一指令驱动所述第二连接臂转动至所述第一位置；When the gimbal device is powered off, the controller sends a first command to the first link arm, and the first link arm drives the second link arm to rotate to the first link according to the first command Location;

所述云台装置上电时，所述控制器向所述第一连接臂发送第二指令，所述第一连接臂根据所述第二指令驱动所述第二连接臂转动至所述第二位置。When the PTZ device is powered on, the controller sends a second command to the first link arm, and the first link arm drives the second link arm to rotate to the second link according to the second command Location.
根据权利要求25所述的云台装置，所述云台装置上电时，所述第二连接臂克服所述作用力相对所述第一连接臂转动，以使所述第一限位件与所述第二限位件相互分离。The pan-tilt device according to claim 25, wherein when the pan-tilt device is powered on, the second connecting arm rotates relative to the first connecting arm against the acting force, so that the first limiting member and the The second limiting members are separated from each other.
根据权利要求24所述的云台装置，其特征在于，所述第三限位件包括主体部和弹性部，所述主体部与所述第一限位件设于所述第一连接臂和所述第二连接臂中的同一者，并与所述第一限位件位于同一圆周轨道上；所述弹性部连接于所述主体部靠近所述第一限位件的一侧，所述弹性部与所述第二限位件沿所述第二连接臂的转动轴向至少部分重叠；The pan-tilt device according to claim 24, wherein the third limiting member comprises a main body portion and an elastic portion, and the main body portion and the first limiting member are provided on the first connecting arm and the first connecting arm and the elastic portion. The same one of the second connecting arms and the first limiting member are located on the same circumferential track; the elastic portion is connected to the side of the main body portion close to the first limiting member, the The elastic portion at least partially overlaps the second limiting member along the rotational axis of the second connecting arm;

所述第二连接臂处于所述第一位置，所述第二限位件的第一端与所述第一限位件相抵接，所述第二限位件的第二端与所述弹性部相抵接，所述弹性部对所述第二限位件提供所述作用力；所述第二连接臂处于所述第二位置，所述第二限位件位于所述弹性部远离所述第一限位件的一侧。The second connecting arm is in the first position, the first end of the second limiting member is in contact with the first limiting member, and the second end of the second limiting member is in contact with the elastic The elastic portion provides the force to the second limiting member; the second connecting arm is in the second position, and the second limiting member is located at the elastic portion away from the one side of the first stopper.
根据权利要求27所述的云台装置，其特征在于，所述弹性部靠近所述第一限位件的一端设有第一磁体，所述第二限位件用于与所述弹性部相抵接的一端设有第二磁体，所述第二磁体与所述第一磁体的磁性相同；The pan-tilt device according to claim 27, wherein a first magnet is provided at one end of the elastic portion close to the first limiting member, and the second limiting member is used to abut against the elastic portion The connected end is provided with a second magnet, and the second magnet has the same magnetic properties as the first magnet;

所述第二连接臂处于所述第一位置，所述弹性部处于复位状态，所述第二磁体与所述第一磁体相互排斥；所述弹性部通过所述第二磁体与所述第一磁体之间的排斥力对所述第二限位件提供所述作用力。The second connecting arm is in the first position, the elastic part is in a reset state, the second magnet and the first magnet repel each other; the elastic part communicates with the first magnet through the second magnet The repulsive force between the magnets provides the acting force to the second limiting member.
根据权利要求28所述的云台装置，其特征在于，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的一者设有第三磁体，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的另一者设有磁性材料件；The pan-tilt device according to claim 28, wherein the second limiting member is used for abutting one end of the first limiting member and the first limiting member is used for connecting with the first limiting member. One of the abutting ends of the two limiting members is provided with a third magnet, the second limiting member is used for abutting one end of the first limiting member and the first limiting member is used for The other one of the abutting ends of the second limiting piece is provided with a magnetic material piece;

所述第二连接臂处于所述第一位置，所述第三磁体与所述磁性材料件相互吸引；所述弹性部通过所述第二磁体与所述第一磁体之间的排斥力和所述第三磁体与所述磁性材料件之间的磁性吸引力对所述第二限位件提供所述作用力。The second connecting arm is in the first position, the third magnet and the magnetic material piece are attracted to each other; the elastic part passes the repulsive force between the second magnet and the first magnet and the The magnetic attraction force between the third magnet and the magnetic material piece provides the acting force to the second limiting piece.
根据权利要求27所述的云台装置，其特征在于，所述第二连接臂处于所述第一位置，所述弹性部处于形变状态，所述弹性部通过形变产生的弹性力对所述第二限位件提供所述作用力。The pan/tilt device according to claim 27, wherein the second connecting arm is in the first position, the elastic part is in a deformed state, and the elastic part exerts an elastic force on the first connecting arm by the elastic force generated by the deformation. The two limiting elements provide the force.
根据权利要求30所述的云台装置，其特征在于，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的一者设有第三磁体，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的另一者设有磁性材料件；The pan/tilt device according to claim 30, wherein the second limiting member is used for abutting one end of the first limiting member and the first limiting member is used for connecting with the first limiting member. One of the abutting ends of the two limiting members is provided with a third magnet, the second limiting member is used for abutting one end of the first limiting member and the first limiting member is used for The other one of the abutting ends of the second limiting piece is provided with a magnetic material piece;

所述第二连接臂处于所述第一位置，所述第三磁体与所述磁性材料件相互吸引；所述弹性部通过形变产生的弹性力和所述第三磁体与所述磁性材料件之间的磁性吸引力对所述第二限位件提供所述作用力。The second connecting arm is in the first position, the third magnet and the magnetic material piece attract each other; the elastic force generated by the deformation of the elastic portion and the relationship between the third magnet and the magnetic material piece The magnetic attraction between them provides the acting force to the second limiting member.
根据权利要求27所述的云台装置，其特征在于，所述弹性部靠近所述第一限位件的一端设有第一磁体，所述第二限位件用于与所述弹性部相抵接的一端设有第二磁体，所述第二磁体与所述第一磁体的磁性相同；The pan-tilt device according to claim 27, wherein a first magnet is provided at one end of the elastic portion close to the first limiting member, and the second limiting member is used to abut against the elastic portion The connected end is provided with a second magnet, and the second magnet has the same magnetic properties as the first magnet;

所述第二连接臂处于所述第一位置，所述弹性部处于形变状态，所述第二磁体与所述第一磁体相互排斥；所述弹性部通过形变产生的弹性力和所述第二磁体与所述第一磁体之间的排斥力对所述第二限位件提供所述作用力。The second connecting arm is in the first position, the elastic portion is in a deformed state, and the second magnet and the first magnet repel each other; the elastic force generated by the elastic portion through the deformation and the second magnet The repulsive force between the magnet and the first magnet provides the acting force to the second limiting member.
根据权利要求32所述的云台装置，其特征在于，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的一者设有第三磁体，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的另一者设有磁性材料件；The pan/tilt device according to claim 32, wherein the second limiting member is used for abutting one end of the first limiting member and the first limiting member is used for connecting with the first limiting member. One of the abutting ends of the two limiting members is provided with a third magnet, the second limiting member is used for abutting one end of the first limiting member and the first limiting member is used for The other one of the abutting ends of the second limiting piece is provided with a magnetic material piece;

所述第二连接臂处于所述第一位置，所述第三磁体与所述磁性材料件相互吸引；所述弹性部通过形变产生的弹性力、所述第二磁体与所述第一磁体之间的排斥力以及所述第三磁体与所述磁性材料件之间的磁性吸引力对所述第二限位件提供所述作用力。The second connecting arm is in the first position, the third magnet and the magnetic material piece attract each other; the elastic force generated by the deformation of the elastic part, the relationship between the second magnet and the first magnet; The repulsive force between the third magnet and the magnetic material piece provides the acting force to the second limiting piece.
根据权利要求27所述的云台装置，其特征在于，所述弹性部包括与所述主体部连接的第一弹性部件和与所述第一弹性部件弯折连接的第二弹性部件；The pan-tilt device according to claim 27, wherein the elastic part comprises a first elastic part connected with the main body part and a second elastic part connected with the first elastic part by bending;

所述第二连接臂处于所述第一位置，所述第二限位件的第二端与所述第二弹性部件相抵接；所述第二连接臂处于所述第二位置，所述第二限位件位于所述第二弹性部件远离所述第一限位件的一侧。The second connecting arm is in the first position, the second end of the second limiting member is in contact with the second elastic member; the second connecting arm is in the second position, the first The second limiting member is located on the side of the second elastic member away from the first limiting member.
根据权利要求34所述的云台装置，其特征在于，所述第一弹性部件自所述主体部沿靠近所述第一连接臂和所述第二连接臂中设有所述第二限位件的一者及靠近所述第一限位件的方向延伸设置，第二弹性部件自所述第一弹性部件沿远离所述第一连接臂和所述第二连接臂中设有所述第二限位件的一者及靠近所述第一限位件的方向延伸设置。The pan-tilt device according to claim 34, wherein the first elastic member is provided with the second limit from the main body portion along the edge of the first connecting arm and the second connecting arm. one of the parts and extending in the direction close to the first limiting part, the second elastic part is provided with the first connecting arm away from the first connecting arm and the second connecting arm from the first elastic part One of the two limiting members is extended in a direction close to the first limiting member.
根据权利要求27所述的云台装置，其特征在于，所述弹性部包括弹片、塑胶件以及橡胶件中的至少一种。The pan/tilt device according to claim 27, wherein the elastic part comprises at least one of elastic pieces, plastic parts and rubber parts.
根据权利要求23所述的云台装置，其特征在于，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的一者设有第三磁体，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的另一者设有磁性材料件；The pan-tilt device according to claim 23, wherein the second limiting member is used for abutting one end of the first limiting member and the first limiting member is used for connecting with the first limiting member. One of the abutting ends of the two limiting members is provided with a third magnet, the second limiting member is used for abutting one end of the first limiting member and the first limiting member is used for The other one of the abutting ends of the second limiting piece is provided with a magnetic material piece;

所述第二连接臂处于所述第一位置，所述第三磁体与所述磁性材料件相互吸附，通过所述第三磁体与所述磁性材料件之间的磁性吸引力以使所述第一限位件与所述第二限位件相互抵接。The second connecting arm is in the first position, the third magnet and the magnetic material piece are attracted to each other, and the third magnet and the magnetic material piece are attracted by the magnetic attraction force to make the first A limiting piece abuts against the second limiting piece.
根据权利要求37所述的云台装置，其特征在于，还包括控制器，与所述第一连接臂电连接；The pan-tilt device according to claim 37, further comprising a controller electrically connected to the first connecting arm;

所述云台装置下电时，所述控制器向所述第一连接臂发送第一指令，所述第一连接臂根据所述第一指令驱动所述第二连接臂转动至所述第一位置；When the gimbal device is powered off, the controller sends a first command to the first link arm, and the first link arm drives the second link arm to rotate to the first link according to the first command Location;

所述云台装置上电时，所述控制器向所述第一连接臂发送第二指令，所述第一连接臂根据所述第二指令驱动所述第二连接臂转动至所述第二位置。When the PTZ device is powered on, the controller sends a second command to the first link arm, and the first link arm drives the second link arm to rotate to the second link according to the second command Location.
根据权利要求38所述的云台装置，所述云台装置上电时，所述第二连接臂克服所述磁性吸引力相对所述第一连接臂转动，以使所述第一限位件与所述第二限位件相互分离。The pan-tilt device according to claim 38, wherein when the pan-tilt device is powered on, the second connecting arm rotates relative to the first connecting arm against the magnetic attraction force, so that the first limiting member separated from the second limiting member.
根据权利要求23所述的云台装置，其特征在于，所述云台装置下电时执行第一指令，所述第二连接臂根据所述第一指令转动至所述第一位置；The pan-tilt device according to claim 23, wherein when the pan-tilt device is powered off, a first command is executed, and the second connecting arm rotates to the first position according to the first command;

所述云台装置上电时执行第二指令，所述第二连接臂根据所述第二指令转动至所述第二位置。When the PTZ device is powered on, a second command is executed, and the second connecting arm rotates to the second position according to the second command.
根据权利要求23所述的云台装置，其特征在于，所述第二连接臂为轴臂，所述第一连接臂为用于驱动所述轴臂转动的动力组件。The pan-tilt device according to claim 23, wherein the second connecting arm is a shaft arm, and the first connecting arm is a power component for driving the shaft arm to rotate.
根据权利要求41所述的云台装置，其特征在于，所述第一限位件设于所述动力组件，所述第二限位件设于所述轴臂。The pan-tilt device according to claim 41, wherein the first limiting member is provided on the power assembly, and the second limiting member is provided on the shaft arm.
根据权利要求41所述的云台装置，其特征在于，所述云台轴臂组件的数量大于一个，其中一个所述云台轴臂组件的动力组件与另一个所述云台轴臂组件的轴臂相连。The pan/tilt device according to claim 41, wherein the number of the pan/tilt shaft arm assemblies is greater than one, and the power component of one of the pan/tilt shaft arm assemblies and the power components of the other pan/tilt shaft arm assemblies The axle arm is connected.
根据权利要求43所述的云台装置，其特征在于，所述云台轴臂组件为偏航轴组件、横滚轴组件或俯仰轴组件；The pan/tilt device according to claim 43, wherein the pan/tilt axis arm assembly is a yaw axis component, a roll axis component or a pitch axis component;

所述偏航轴组件包括偏航轴动力组件和与所述偏航轴动力组件连接的偏航轴轴臂，所述横滚轴组件包括横滚轴动力组件和与所述横滚轴动力组件连接的横滚轴轴臂，所述俯仰轴组件包括俯仰轴动力组件和与所述俯仰轴动力组件连接的俯仰轴轴臂。The yaw shaft assembly includes a yaw shaft power assembly and a yaw shaft arm connected with the yaw shaft power assembly, and the roll shaft assembly includes a roll shaft power assembly and a yaw shaft power assembly connected with the roll shaft power assembly A connected roll axis arm, the pitch axis assembly includes a pitch axis power assembly and a pitch axis arm connected with the pitch axis power assembly.
根据权利要求41所述的云台装置，其特征在于，还包括控制器，与所述动力组件电连接；The pan-tilt device according to claim 41, further comprising a controller electrically connected to the power assembly;

所述云台装置下电时，所述控制器向所述动力组件发送第一指令，所述动力组件根据所述第一指令驱动所述轴臂转动至所述第一位置；When the gimbal device is powered off, the controller sends a first command to the power component, and the power component drives the shaft arm to rotate to the first position according to the first command;

所述云台装置上电时，所述控制器向所述动力组件发送第二指令，所述动力组件根据所述第二指令驱动所述轴臂转动至所述第二位置。When the gimbal device is powered on, the controller sends a second command to the power component, and the power component drives the shaft arm to rotate to the second position according to the second command.
一种拍摄装置，其特征在于，包括拍摄器和云台装置，所述云台装置包括至少一个云台轴臂组件，所述拍摄器装载于其中一个所述云台轴臂组件；A photographing device, characterized in that it includes a camera and a pan-tilt device, the pan-tilt device includes at least one pan-tilt shaft arm assembly, and the camera is mounted on one of the pan-tilt-tilt arm assemblies;

所述云台轴臂组件包括第一连接臂、与所述第一连接臂转动连接的第二连接臂以及限位组件；所述限位组件包括第一限位件和第二限位件，所述第一限位件设于所述第一连接臂和所述第二连接臂中的一者，所述第二限位件设于所述第一连接臂和所述第二连接臂中的另一者，所述第一限位件和所述第二限位件位于同一圆周轨道上；The pan-tilt shaft arm assembly includes a first connecting arm, a second connecting arm rotatably connected to the first connecting arm, and a limit assembly; the limit assembly includes a first limit piece and a second limit piece, The first limiting member is set in one of the first connecting arm and the second connecting arm, and the second limiting member is set in the first connecting arm and the second connecting arm The other one, the first limiting member and the second limiting member are located on the same circumferential track;

所述云台轴臂组件包括锁定状态和自由状态，所述云台轴臂组件处于所述锁定状态，所述第二连接臂相对所述第一连接臂转动至第一位置，所述第一限位件与所述第二限位件相互抵接，以使所述第二连接臂相对所述第一连接臂处于锁定状态；The pan-tilt shaft arm assembly includes a locked state and a free state, the pan-tilt shaft arm assembly is in the locked state, the second connecting arm rotates to a first position relative to the first connecting arm, and the first The limiting member abuts against the second limiting member, so that the second connecting arm is in a locked state relative to the first connecting arm;

所述云台轴臂组件处于所述自由状态，所述第二连接臂相对所述第一连接臂转动至第二位置，所述第一限位件与所述第二限位件相互分离，以使所述第二连接臂相对所述第一连接臂处于自由状态。The pan/tilt shaft arm assembly is in the free state, the second connecting arm rotates to a second position relative to the first connecting arm, the first limiting member and the second limiting member are separated from each other, so that the second connecting arm is in a free state relative to the first connecting arm.
根据权利要求46所述的拍摄装置，其特征在于，所述限位组件还包括第三限位件，所述第三限位件与所述第一限位件设于所述第一连接臂和所述第二连接臂中的同一者，并与所述第一限位件位于同一圆周轨道上；The photographing device according to claim 46, wherein the limiting component further comprises a third limiting member, and the third limiting member and the first limiting member are provided on the first connecting arm and the same one of the second connecting arms, and are located on the same circumferential track as the first limiting member;

所述第二连接臂处于所述第一位置，所述第二限位件位于所述第一限位件和所述第三限位件之间，所述第二限位件的两端分别与所述第一限位件和所述第三限位件相抵接，所述第三限位件对所述第二限位件提供朝向所述第一限位件方向的作用力，以使所述第一限位件与所述第二限位件相互抵接。The second connecting arm is in the first position, the second limiting member is located between the first limiting member and the third limiting member, and the two ends of the second limiting member are respectively Abutting with the first limiting piece and the third limiting piece, the third limiting piece provides the second limiting piece with a force in the direction of the first limiting piece, so that the The first limiting member and the second limiting member are in contact with each other.
根据权利要求47所述的拍摄装置，其特征在于，还包括控制器，与所述第一连接臂电连接；The photographing device according to claim 47, further comprising a controller electrically connected to the first connecting arm;

所述拍摄装置下电时，所述控制器向所述第一连接臂发送第一指令，所述第一连接臂根据所述第一指令驱动所述第二连接臂转动至所述第一位置；When the photographing device is powered off, the controller sends a first command to the first link arm, and the first link arm drives the second link arm to rotate to the first position according to the first command ;

所述拍摄装置上电时，所述控制器向所述第一连接臂发送第二指令，所述第一连接臂根据所述第二指令驱动所述第二连接臂转动至所述第二位置。When the photographing device is powered on, the controller sends a second command to the first connecting arm, and the first connecting arm drives the second connecting arm to rotate to the second position according to the second command .
根据权利要求48所述的拍摄装置，所述拍摄装置上电时，所述第二连接臂克服所述作用力相对所述第一连接臂转动，以使所述第一限位件与所述第二限位件相互分离。The photographing device according to claim 48, when the photographing device is powered on, the second connecting arm rotates relative to the first connecting arm against the acting force, so that the first limiting member and the The second limiting members are separated from each other.
根据权利要求47所述的拍摄装置，其特征在于，所述第三限位件包括主体部和弹性部，所述主体部与所述第一限位件设于所述第一连接臂和所述第二连接臂中的同一者，并与所述第一限位件位于同一圆周轨道上；所述弹性部连接于所述主体部靠近所述第一限位件的一侧，所述弹性部与所述第二限位件沿所述第二连接臂的转动轴向至少部分重叠；The photographing device according to claim 47, wherein the third limiting member comprises a main body portion and an elastic portion, and the main body portion and the first limiting member are provided on the first connecting arm and the first connecting arm. The same one of the second connecting arms is located on the same circumferential track as the first limiting member; the elastic portion is connected to the side of the main body portion close to the first limiting member, and the elastic portion is The second limiting member at least partially overlaps with the second limiting member along the rotational axis of the second connecting arm;

所述第二连接臂处于所述第一位置，所述第二限位件的第一端与所述第一限位件相抵接，所述第二限位件的第二端与所述弹性部相抵接，所述弹性部对所述第二限位件提供所述作用力；所述第二连接臂处于所述第二位置，所述第二限位件位于所述弹性部远离所述第一限位件的一侧。The second connecting arm is in the first position, the first end of the second limiting member is in contact with the first limiting member, and the second end of the second limiting member is in contact with the elastic The elastic portion provides the force to the second limiting member; the second connecting arm is in the second position, and the second limiting member is located at the elastic portion away from the one side of the first stopper.
根据权利要求50所述的拍摄装置，其特征在于，所述弹性部靠近所述第一限位件的一端设有第一磁体，所述第二限位件用于与所述弹性部相抵接的一端设有第二磁体，所述第二磁体与所述第一磁体的磁性相同；The photographing device according to claim 50, wherein a first magnet is provided at an end of the elastic portion close to the first limiting member, and the second limiting member is used for abutting with the elastic portion One end is provided with a second magnet, the second magnet has the same magnetic properties as the first magnet;

所述第二连接臂处于所述第一位置，所述弹性部处于复位状态，所述第二磁体与所述第一磁体相互排斥；所述弹性部通过所述第二磁体与所述第一磁体之间的排斥力对所述第二限位件提供所述作用力。The second connecting arm is in the first position, the elastic part is in a reset state, the second magnet and the first magnet repel each other; the elastic part communicates with the first magnet through the second magnet The repulsive force between the magnets provides the acting force to the second limiting member.
根据权利要求51所述的拍摄装置，其特征在于，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的一者设有第三磁体，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的另一者设有磁性材料件；The photographing device according to claim 51, wherein the second limiting member is used for abutting one end of the first limiting member and the first limiting member is used for connecting with the second limiting member. One of the abutting ends of the limiting member is provided with a third magnet, the second limiting member is used for the abutting end of the first limiting member and the first limiting member is used for connecting with the first limiting member. The other one of the abutting ends of the second limiting piece is provided with a magnetic material piece;

所述第二连接臂处于所述第一位置，所述第三磁体与所述磁性材料件相互吸引；所述弹性部通过所述第二磁体与所述第一磁体之间的排斥力和所述第三磁体与所述磁性材料件之间的磁性吸引力对所述第二限位件提供所述作用力。The second connecting arm is in the first position, the third magnet and the magnetic material piece attract each other; the elastic part is formed by the repulsive force between the second magnet and the first magnet and The magnetic attraction force between the third magnet and the magnetic material piece provides the acting force to the second limiting piece.
根据权利要求50所述的拍摄装置，其特征在于，所述第二连接臂处于所述第一位置，所述弹性部处于形变状态，所述弹性部通过形变产生的弹性力对所述第二限位件提供所述作用力。The photographing device according to claim 50, wherein the second connecting arm is in the first position, the elastic part is in a deformed state, and the elastic part exerts an elastic force on the second connecting arm through the deformation. The stopper provides the force.
根据权利要求53所述的拍摄装置，其特征在于，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的一者设有第三磁体，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的另一者设有磁性材料件；The photographing device according to claim 53, wherein the end of the second limiting member is used for abutting with the first limiting member, and the first limiting member is used for connecting with the second limiting member. One of the abutting ends of the limiting member is provided with a third magnet, the second limiting member is used for the abutting end of the first limiting member and the first limiting member is used for connecting with the first limiting member. The other one of the abutting ends of the second limiting piece is provided with a magnetic material piece;

所述第二连接臂处于所述第一位置，所述第三磁体与所述磁性材料件相互吸引；所述弹性部通过形变产生的弹性力和所述第三磁体与所述磁性材料件之间的磁性吸引力对所述第二限位件提供所述作用力。The second connecting arm is in the first position, the third magnet and the magnetic material piece attract each other; the elastic force generated by the deformation of the elastic portion and the relationship between the third magnet and the magnetic material piece The magnetic attraction between them provides the acting force to the second limiting member.
根据权利要求50所述的拍摄装置，其特征在于，所述弹性部靠近所述第一限位件的一端设有第一磁体，所述第二限位件用于与所述弹性部相抵接的一端设有第二磁体，所述第二磁体与所述第一磁体的磁性相同；The photographing device according to claim 50, wherein a first magnet is provided at an end of the elastic portion close to the first limiting member, and the second limiting member is used for abutting with the elastic portion One end is provided with a second magnet, the second magnet has the same magnetic properties as the first magnet;

所述第二连接臂处于所述第一位置，所述弹性部处于形变状态，所述第二磁体与所述第一磁体相互排斥；所述弹性部通过形变产生的弹性力和所述第二磁体与所述第一磁体之间的排斥力对所述第二限位件提供所述作用力。The second connecting arm is in the first position, the elastic portion is in a deformed state, and the second magnet and the first magnet repel each other; the elastic force generated by the elastic portion through the deformation and the second magnet The repulsive force between the magnet and the first magnet provides the acting force to the second limiting member.
根据权利要求55所述的拍摄装置，其特征在于，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的一者设有第三磁体，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的另一者设有磁性材料件；The photographing device according to claim 55, wherein the end of the second limiting member is used for abutting with the first limiting member and the first limiting member is used for connecting with the second limiting member One of the abutting ends of the limiting member is provided with a third magnet, the second limiting member is used for the abutting end of the first limiting member and the first limiting member is used for connecting with the first limiting member. The other one of the abutting ends of the second limiting piece is provided with a magnetic material piece;

所述第二连接臂处于所述第一位置，所述第三磁体与所述磁性材料件相互吸引；所述弹性部通过形变产生的弹性力、所述第二磁体与所述第一磁体之间的排斥力以及所述第三磁体与所述磁性材料件之间的磁性吸引力对所述第二限位件提供所述作用力。The second connecting arm is in the first position, the third magnet and the magnetic material piece attract each other; the elastic force generated by the deformation of the elastic part, the relationship between the second magnet and the first magnet; The repulsive force between the third magnet and the magnetic material piece provides the acting force to the second limiting piece.
根据权利要求50所述的拍摄装置，其特征在于，所述弹性部包括与所述主体部连接的第一弹性部件和与所述第一弹性部件弯折连接的第二弹性部件；The photographing device according to claim 50, wherein the elastic portion comprises a first elastic member connected to the main body portion and a second elastic member bent and connected to the first elastic member;

所述第二连接臂处于所述第一位置，所述第二限位件的第二端与所述第二弹性部件相抵接；所述第二连接臂处于所述第二位置，所述第二限位件位于所述第二弹性部件远离所述第一限位件的一侧。The second connecting arm is in the first position, the second end of the second limiting member is in contact with the second elastic member; the second connecting arm is in the second position, the first The second limiting member is located on the side of the second elastic member away from the first limiting member.
根据权利要求57所述的拍摄装置，其特征在于，所述第一弹性部件自所述主体部沿靠近所述第一连接臂和所述第二连接臂中设有所述第二限位件的一者及靠近所述第一限位件的方向延伸设置，第二弹性部件自所述第一弹性部件沿远离所述第一连接臂和所述第二连接臂中设有所述第二限位件的一者及靠近所述第一限位件的方向延伸设置。The photographing device according to claim 57, wherein the first elastic member is provided with the second limiting member from the main body portion along the edge near the first connecting arm and the second connecting arm The second elastic member extends away from the first connecting arm and the second connecting arm along the direction away from the first connecting arm and the second connecting arm. One of the limiting pieces is extended in a direction close to the first limiting piece.
根据权利要求50所述的拍摄装置，其特征在于，所述弹性部包括弹片、塑胶件以及橡胶件中的至少一种。The photographing device according to claim 50, wherein the elastic portion comprises at least one of an elastic piece, a plastic piece and a rubber piece.
根据权利要求46所述的拍摄装置，其特征在于，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的一者设有第三磁体，所述第二限位件用于与所述第一限位件相抵接的一端和所述第一限位件用于与所述第二限位件相抵接的一端中的另一者设有磁性材料件；The photographing device according to claim 46, wherein one end of the second limiting member is used for abutting with the first limiting member, and the first limiting member is used for connecting with the second limiting member. One of the abutting ends of the limiting member is provided with a third magnet, the second limiting member is used for the abutting end of the first limiting member and the first limiting member is used for connecting with the first limiting member. The other one of the abutting ends of the second limiting piece is provided with a magnetic material piece;

所述第二连接臂处于所述第一位置，所述第三磁体与所述磁性材料件相互吸附，通过所述第三磁体与所述磁性材料件之间的磁性吸引力以使所述第一限位件与所述第二限位件相互抵接。The second connecting arm is in the first position, the third magnet and the magnetic material piece are attracted to each other, and the third magnet and the magnetic material piece are attracted by the magnetic attraction force to make the first A limiting piece abuts against the second limiting piece.
根据权利要求60所述的拍摄装置，其特征在于，还包括控制器，与所述第一连接臂电连接；The photographing device according to claim 60, further comprising a controller electrically connected to the first connecting arm;

所述拍摄装置下电时，所述控制器向所述第一连接臂发送第一指令，所述第一连接臂根据所述第一指令驱动所述第二连接臂转动至所述第一位置；When the photographing device is powered off, the controller sends a first command to the first link arm, and the first link arm drives the second link arm to rotate to the first position according to the first command ;

所述拍摄装置上电时，所述控制器向所述第一连接臂发送第二指令，所述第一连接臂根据所述第二指令驱动所述第二连接臂转动至所述第二位置。When the photographing device is powered on, the controller sends a second command to the first connecting arm, and the first connecting arm drives the second connecting arm to rotate to the second position according to the second command .
根据权利要求61所述的拍摄装置，所述拍摄装置上电时，所述第二连接臂克服所述磁性吸引力相对所述第一连接臂转动，以使所述第一限位件与所述第二限位件相互分离。The photographing device according to claim 61, wherein when the photographing device is powered on, the second connecting arm rotates relative to the first connecting arm against the magnetic attraction force, so that the first limiting member is connected to the first connecting arm. The second limiting members are separated from each other.
根据权利要求46所述的拍摄装置，其特征在于，所述拍摄装置下电时执行第一指令，所述第二连接臂根据所述第一指令转动至所述第一位置；The photographing device according to claim 46, wherein when the photographing device is powered off, a first command is executed, and the second connecting arm rotates to the first position according to the first command;

所述拍摄装置上电时执行第二指令，所述第二连接臂根据所述第二指令转动至所述第二位置。When the photographing device is powered on, a second command is executed, and the second connecting arm rotates to the second position according to the second command.
根据权利要求46所述的拍摄装置，其特征在于，所述第二连接臂为轴臂，所述第一连接臂为用于驱动所述轴臂转动的动力组件。The photographing device according to claim 46, wherein the second connecting arm is a shaft arm, and the first connecting arm is a power assembly for driving the shaft arm to rotate.
根据权利要求64所述的拍摄装置，其特征在于，所述第一限位件设于所述动力组件，所述第二限位件设于所述轴臂。The photographing device according to claim 64, wherein the first limiting member is provided on the power assembly, and the second limiting member is provided on the shaft arm.
根据权利要求64所述的拍摄装置，其特征在于，所述云台轴臂组件的数量大于一个，其中一个所述云台轴臂组件的动力组件与另一个所述云台轴臂组件的轴臂相连。The photographing device according to claim 64, wherein the number of the pan-tilt pivot arm assemblies is greater than one, wherein the power assembly of one pan-tilt pivot-arm assembly and the axis of the other pan-tilt pivot arm assembly arm connected.
根据权利要求66所述的拍摄装置，其特征在于，所述云台轴臂组件为偏航轴组件、横滚轴组件或俯仰轴组件；The photographing device according to claim 66, wherein the pan/tilt shaft arm assembly is a yaw shaft assembly, a roll shaft assembly or a pitch shaft assembly;

所述偏航轴组件包括偏航轴动力组件和与所述偏航轴动力组件连接的偏航轴轴臂，所述横滚轴组件包括横滚轴动力组件和与所述横滚轴动力组件连接的横滚轴轴臂，所述俯仰轴组件包括俯仰轴动力组件和与所述俯仰轴动力组件连接的俯仰轴轴臂。The yaw shaft assembly includes a yaw shaft power assembly and a yaw shaft arm connected with the yaw shaft power assembly, and the roll shaft assembly includes a roll shaft power assembly and a yaw shaft power assembly connected with the roll shaft power assembly A connected roll axis arm, the pitch axis assembly includes a pitch axis power assembly and a pitch axis arm connected with the pitch axis power assembly.
根据权利要求64所述的拍摄装置，其特征在于，还包括控制器，与所述动力组件电连接；The photographing device of claim 64, further comprising a controller electrically connected to the power assembly;

所述拍摄装置下电时，所述控制器向所述动力组件发送第一指令，所述动力组件根据所述第一指令驱动所述轴臂转动至所述第一位置；When the photographing device is powered off, the controller sends a first instruction to the power assembly, and the power assembly drives the shaft arm to rotate to the first position according to the first instruction;

所述拍摄装置上电时，所述控制器向所述动力组件发送第二指令，所述动力组件根据所述第二指令驱动所述轴臂转动至所述第二位置。When the photographing device is powered on, the controller sends a second instruction to the power assembly, and the power assembly drives the shaft arm to rotate to the second position according to the second instruction.