CN107002938A - Cloud platform axis arm structure and the platform structure with the cloud platform axis arm structure - Google Patents

Abstract

A cloud platform shaft arm structure and a cloud platform structure with the cloud platform shaft arm structure are disclosed, wherein the cloud platform shaft arm structure (1) comprises a first shaft arm (2), a second shaft arm (3) and a locking mechanism (10) capable of locking the first shaft arm (2) and the second shaft arm (3); wherein the locking mechanism (10) comprises: the clamping device comprises a sliding assembly, a driving assembly and a clamping piece (151) arranged on the second shaft arm (3), wherein the driving assembly drives the sliding assembly to move from a first position to a second position, so that the clamping piece (151) clamps or releases the first shaft arm (2), and further the first shaft arm (2) and the second shaft arm (3) are locked or unlocked. According to the cradle head shaft arm structure, the driving assembly drives the sliding assembly to move from the first position to the second position, so that the clamping piece clamps or loosens the first shaft arm, and the first shaft arm and the second shaft arm are locked or unlocked.

Description

Cloud platform axis arm structure and the platform structure with the cloud platform axis arm structure

technical field

The invention relates to the technical field of pan-tilt equipment, in particular to a pan-tilt shaft arm structure and a pan-tilt structure with the pan-tilt shaft arm structure.

Background technique

Cameras (such as cameras in the film and television industry) are shooting in motion. In order to ensure the stability of the shooting picture, stable gimbals are used. Usually, during the use of the gimbal, the gimbal needs to be loaded with different heavy objects, such as cameras. Due to the variety of cameras and the many types of lenses, when the gimbal is mounted on the gimbal, the length of the axis arm needs to be adjusted. It is necessary to ensure that the center of gravity of the gimbal is on the axis of the gimbal axis to ensure the balance of the gimbal.

Therefore, when the gimbal carries different weights, it is necessary to adjust the length of the shaft arm to ensure the balance of the gimbal. Moreover, after the gimbal adjusts the length of the shaft arm, the gimbal shaft arm needs to be locked to ensure sufficient stability of the gimbal.

Contents of the invention

The invention provides a platform shaft arm structure and a platform structure with the platform shaft arm structure.

According to the first aspect of the embodiments of the present invention, there is provided a pan/tilt shaft arm structure, including a first shaft arm, a second shaft arm, and a locking mechanism capable of locking the first shaft arm and the second shaft arm. mechanism; wherein, the locking mechanism includes: a sliding assembly, a driving assembly, and a clamping member disposed on the second shaft arm, the driving assembly drives the sliding assembly to move from the first position to the second position, The clamping member is made to clamp or loosen the first shaft arm, thereby locking or unlocking the first shaft arm and the second shaft arm.

According to the second aspect of the embodiments of the present invention, there is provided a pan/tilt structure, including a motor assembly and a pan/tilt shaft arm structure, and the pan/tilt shaft arm structure includes a first shaft arm, a second shaft arm, and the first shaft arm can be A locking mechanism for locking a shaft arm and the second shaft arm; wherein, the locking mechanism includes: a sliding assembly, a driving assembly, and a clamping member arranged on the second shaft arm, and the driving assembly driving the sliding assembly to move from the first position to the second position, so that the clamping member clamps or loosens the first shaft arm, and then locks the first shaft arm and the second shaft arm or unlock; the motor assembly includes a first motor and a second motor, the first motor drives the first shaft arm to rotate, and the second motor is arranged on the second shaft arm to drive the third shaft The arm turns.

According to a third aspect of the embodiments of the present invention, there is provided a pan/tilt shaft arm structure, including a first shaft arm, a second shaft arm, and a locking device capable of locking the first shaft arm and the second shaft arm. mechanism; wherein, the locking mechanism includes: a linear drive assembly and a clamping piece arranged on the second shaft arm, and the linear drive assembly directly drives or indirectly drives the clamping piece to clamp or loosen the the first shaft arm, and then lock or unlock the first shaft arm and the second shaft arm.

According to a fourth aspect of an embodiment of the present invention, a pan/tilt structure is provided, including a motor assembly and a pan/tilt shaft arm structure, and the pan/tilt shaft arm structure includes a first shaft arm, a second shaft arm, and the A locking mechanism for locking the first shaft arm and the second shaft arm; wherein, the locking mechanism includes: a linear drive assembly and a clamping member arranged on the second shaft arm, and the linear drive assembly directly or indirectly drive the clamping member to clamp or loosen the first shaft arm, and then lock or unlock the first shaft arm and the second shaft arm; the motor assembly includes a first motor and a second motor, the first motor drives the first shaft arm to rotate, and the second motor is arranged on the second shaft arm to drive the third shaft arm to rotate.

In the pan/tilt shaft arm structure of the present invention, the driving assembly of the locking mechanism drives the sliding assembly to move from the first position to the second position, and through the mutual cooperation of the sliding assembly and the clamping parts, the clamping The first shaft arm is clamped or loosened by a piece, and then the first shaft arm and the second shaft arm are locked. Alternatively, the linear drive assembly directly drives the clamping member to clamp or loosen the first shaft arm, thereby locking or unlocking the first shaft arm and the second shaft arm.

In the pan-tilt structure of the present invention, the driving assembly of the locking mechanism drives the sliding assembly to move from the first position to the second position, and through the cooperation between the sliding assembly and the clamping part, the clamping part clamps tighten or loosen the first shaft arm, and then lock the first shaft arm and the second shaft arm. Alternatively, the linear drive assembly directly drives the clamping member to clamp or loosen the first shaft arm, thereby locking or unlocking the first shaft arm and the second shaft arm.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 is a schematic perspective view of a pan-tilt axis arm structure according to an embodiment of the present invention.

FIG. 2 is an exploded schematic diagram of the structure of the pivot arm of the pan-tilt shown in FIG. 1 .

Fig. 3 is a side view of the arm structure of the platform shown in Fig. 1 .

Fig. 4 is a schematic cross-sectional view along the direction A-A of the axis arm structure of the platform shown in Fig. 3 .

Fig. 5 is a schematic cross-sectional view along the direction B-B of the arm structure of the pan-tilt shown in Fig. 3 .

6 to 8 are schematic diagrams of the working states of the driving assembly and the sliding assembly of the shaft arm structure of the pan/tilt shown in FIG. 1 in an embodiment.

9 to 11 are schematic diagrams of the working states of the driving assembly and the sliding assembly of the shaft arm structure of the platform shown in FIG. 1 in another embodiment.

Fig. 12 is a schematic diagram of the working state of the linear drive assembly of the pan-tilt axis arm structure shown in an embodiment of the present invention in an embodiment.

Fig. 13 is a schematic view of the working state of the linear drive assembly of the pan-tilt shaft arm structure shown in another embodiment of the present invention.

Fig. 14 is a schematic perspective view of a pan-tilt structure according to an embodiment of the present invention.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

The terminology used in the present invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein and in the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

The pan-tilt shaft arm structure and the pan-tilt structure with the pan-tilt shaft arm structure of the present invention will be described in detail below in conjunction with the accompanying drawings. If there is no conflict, the features in the following embodiments and implementations can be combined with each other.

Referring to Fig. 1 to Fig. 5, the present invention provides a pan/tilt shaft arm structure 1, which includes a first shaft arm 2, a second shaft arm 3, and can adjust the second shaft arm 3 relative to the first shaft A guide mechanism 20 for moving the arm 2 , and a locking mechanism 10 capable of locking the first axis arm 2 and the second axis arm 3 . Wherein, the locking mechanism 10 includes: a sliding assembly, a driving assembly and a clamping member 151 arranged on the second shaft arm 3, the driving assembly drives the sliding assembly to move from the first position to the second position , so that the clamping member 151 clamps or loosens the first shaft arm 2 , and then locks or unlocks the first shaft arm 2 and the second shaft arm 3 .

As shown in Figure 1 and Figure 2, the second shaft arm 3 is provided with a mounting hole 30, the clamping member 151 is installed in the mounting hole 30 and formed in the mounting hole 30 for the The first shaft arm 2 passes through the through hole, and the clamping member 151 is driven by the sliding assembly to move in a direction close to or away from the first shaft arm 2 to reduce the diameter of the through hole or The expansion makes the clamping member 151 clamp or loosen the first shaft arm 2 , and then lock or unlock the first shaft arm 2 and the second shaft arm 3 .

Further, the second shaft arm 3 is equipped with a top cover 110 and a side cover 120, the side cover 120 is fixedly arranged at one end of the second shaft arm 3, and the top cover 110 is fixed on the side cover 120 together with the side cover 120 and the end of the second shaft arm 3 forms the mounting hole 30 . Optionally, the top cover 110 and the clamping member 151 are respectively located on two sides of the first shaft arm 2 . In the embodiment shown in FIG. 2 , the top cover 110 is located above the first shaft arm 2 , and the clamping member 151 is located below the first shaft arm 2 . Driven by the sliding assembly, the clamping member 151 moves toward or away from the first shaft arm 2 to cooperate with the top cover 110 to clamp or loosen the first shaft arm 2 , Then, the first shaft arm 2 and the second shaft arm 3 are locked or unlocked. Optionally, the top cover 110 and the side cover 120 are integrally formed with the second shaft arm 3 .

Further, the first shaft arm 2 is provided with a limit guide surface 130 , and the top cover 110 is provided with a limit joint surface 140 adapted to the limit guide surface 130 . Optionally, the limit guide surface 130 is a limit slope or a limit arc surface, and the limit joint surface 140 is a limit limit slope or a limit arc surface corresponding to the limit guide surface 130 . The limit joint surface 140 provided on the top cover 110 cooperates with the limit guide surface 130 provided on the first shaft arm 2 to ensure that the second shaft arm 3 moves relative to the first shaft arm 2 During the process, the first shaft arm 2 will not rotate, thereby ensuring the stability of the pan/tilt shaft arm structure 1 . It should be noted that the limit guide surface 130 and the limit joint surface 140 are not limited thereto, any one can ensure that the second axis arm 3 moves relative to the first axis arm 2, the first axis arm 2. The forms of the limiting guide surface 130 and the limiting joint surface 140 that cannot rotate should fall within the protection scope of the present invention.

Further, the clamping member 151 is provided with a plurality of abutting surfaces 154 , and the sliding assembly is provided with a guiding surface cooperating with the abutting surfaces 154 . During the movement of the sliding assembly, the guiding surface pushes against the abutting surface 154 , so that the clamping member 151 moves toward or away from the first shaft arm 2 . It should be noted that, the matching slope angle between the pushing surface 154 provided on the clamping member 151 and the guiding surface of the sliding assembly can meet the requirement that the guiding surface can push against the clip during the moving process of the sliding assembly. The pushing surface 154 of the tightening member 151 makes the clamping member 151 move toward or away from the first shaft arm 2, all of which should fall within the protection scope of the present invention.

Optionally, as shown in FIG. 2 , in one embodiment of the present application, the sliding assembly includes a connecting piece 153 arranged on one side of the clamping piece 151 and a connecting piece 153 set on the other side of the clamping piece 151 . The fitting piece 152, the connecting piece 153 is provided with a first guiding surface 1551 of the guiding surface, and the fitting piece 152 is provided with a second guiding surface 1552 of the guiding surface. The driving assembly drives the connecting part 153 to move from the first position to the second position, and drives the fitting part 152 to move closer to or away from the connecting part 153, and the fitting part 152 and the connecting part 153 face each other. During the movement or reverse movement, the second guiding surface 1552 of the fitting part 152 and the first guiding surface 1551 of the connecting part 153 jointly push against the pushing surface of the clamping part 151 154 , to move the clamping member 151 in a direction approaching or away from the first shaft arm 2 . It should be noted that the matching part 152 can also be omitted, and the movement of the connecting part 153 is used to push the movement of the clamping part 151 .

Optionally, in another embodiment of the present application, the fitting part 152 may also remain relatively fixed with the second shaft arm 3, and the driving assembly drives the connecting part 153 to move from the first position to the second position. During the process of positioning, the second guiding surface 1552 of the fitting part 152 and the first guiding surface 1551 of the connecting part 153 jointly push against the pushing surface 154 of the clamping part 151, so that The clamping member 151 moves toward or away from the first shaft arm 2 . It should be noted that the matching part 152 can also be omitted, and the movement of the connecting part 153 is used to push the movement of the clamping part 151 .

The cooperation between the driving assembly and the sliding assembly will be described below by taking the driving assembly as an example of a screw drive assembly and a rack and pinion driving assembly respectively. However, it should be noted that the form of the drive assembly of the present invention is not limited to the above two forms, and any form of drive assembly that can drive the sliding assembly to move from the first position to the second position should belong to the protection of the present invention within range.

Referring to Fig. 6, in the example shown in Fig. 6, the drive assembly is a screw drive assembly, the slide assembly is provided with a threaded connection part, and the lead screw drive assembly includes: passing through the slide The adjustment rod 160 of the assembly, the first end thread 161 is provided on the adjustment rod 160, and the first end thread 161 is screwed with the threaded connection part of the sliding assembly to drive the sliding assembly along the adjustment The rod 160 moves axially from the first position to the second position. Further, as shown in FIG. 1 and FIG. 2 , the second end of the adjustment rod 160 passes through the second shaft arm 3 , and the screw drive assembly further includes: the second end of the adjustment rod 160 The fixedly connected first driving member 170 is used to drive the adjusting rod 160 to rotate axially, so as to drive the sliding assembly to move from the first position to the second position along the axial direction of the adjusting rod 160 .

Optionally, the connecting part 153 of the sliding assembly is provided with the threaded connection part, and the adjusting rod 160 is passed through the connecting part 153 and the connecting part 152 along the axial direction of the connecting part 153 and the fitting part 152 Fitting part 152, the first end thread 161 of the adjusting rod 160 is screwed with the threaded connection part of the connecting part 153, and turning the adjusting rod 160 can make the connecting part 153 move from the first position to second position. The adjusting rod 160 is provided with a pushing part 162 for driving the fitting part 152 to move along the axial direction of the adjusting rod 160 . Further, the first driving member 170 is a knob, and a washer 171 is provided between the first driving member 170 and the first shaft arm 2 , and the first driving member 170 drives the adjusting rod 160 Rotate along the axial direction, so that the pushing part 162 drives the fitting part 152 to move toward or away from the connecting part 153 along the axial direction of the adjusting rod 160 . It should be noted that the first driving member 170 can be arranged on one side of the second shaft arm 3, or on the other side of the second shaft arm 3, or a first driving member 170 can be arranged on both sides of the second shaft arm 3 respectively. A driving member 170 should fall within the protection scope of the present invention.

In one working state, the connecting member 153 moves from the first position to the second position along the axial direction of the adjusting rod 160 , as shown in FIG. 7 , it moves from left to right. 2, 6 and 7, in this working state, the adjusting rod 160 is driven by the first driving member 170 to rotate in the direction indicated by the arrow in FIG. 7 (that is, from FIG. 7 to Rotate clockwise from right to left), so that the pushing part 162 drives the matching part 152 to move from right to left along the axial direction of the adjusting rod 160 and gradually approaches the connecting part 153, so that The respective guide surfaces of the matching part 152 and the connecting part 153 push against the pushing surface 154 of the clamping part 151, and drive the clamping part 151 to move upward, so that the clamping part 151 fits the top The cover 110 clamps the first shaft arm 2 , and then locks the first shaft arm 2 and the second shaft arm 3 .

In another working state, the connecting member 153 moves from the first position to the second position along the axial direction of the adjusting rod 160 , as shown in FIG. 8 , it moves from right to left. 2, 6 and 8, in this working state, the adjusting rod 160 is driven by the first driving member 170 to rotate in the direction indicated by the arrow in FIG. 8 (that is, from FIG. 8 to Rotate in the counterclockwise direction from right to left), so that the pushing part 162 drives the fitting part 152 to move from left to right along the axial direction of the adjusting rod 160 and gradually away from the connecting part 153, so The respective guide surfaces of the matching part 152 and the connecting part 153 push against the pushing surface 154 of the clamping part 151, and drive the clamping part 151 to move downward, so that the clamping part 151 cooperates with the clamping part 151. The top cover 110 releases the first shaft arm 2 , and then unlocks the first shaft arm 2 and the second shaft arm 3 .

Referring to FIG. 9, in the example shown in FIG. 9, the drive assembly is a rack and pinion drive assembly, and the rack and pinion drive assembly includes: a gear member 181 and a first end connected to the gear member 181 tooth condition 182, the tooth condition 182 is fixedly connected to the sliding assembly, and the tooth condition 182 is driven by the gear member 181 to drive the sliding assembly along the length direction of the tooth condition 182 from the first position to Move to second position. Further, the second end of the gear member 181 passes through the second shaft arm 3, and the rack and pinion driving assembly further includes: a second driving member fixedly connected to the second end of the gear member 181, It is used to drive the gear member 181 to rotate axially, so that the tooth condition 182 drives the sliding assembly to move from the first position to the second position along the length direction of the tooth condition 182 .

Optionally, the tooth condition 182 is fixedly connected to the connecting piece 153 along the axial direction of the fitting piece 152 and the connecting piece 153, the fitting piece 152 is relatively fixed to the second shaft arm 3, and the first The two driving parts drive the gear part 181 to rotate axially, so that the tooth part 182 drives the connecting part 153 to move from the first position to the second position along the length direction of the tooth part 182 .

In one working state, the connecting member 153 moves along the length direction of the tooth member 182 from a first position to a second position, which is shown as moving from right to left in FIG. 10 . As shown in Figure 2, Figure 9 and Figure 10, in this working state, the gear member 181 is driven by the second drive member to rotate in the direction indicated by the arrow in Figure 10 (that is, clockwise in Figure 10 direction rotation), drive the tooth condition 182 to move from right to left so as to drive the connecting piece 153 to move from right to left and gradually approach the matching piece 152, the respective connecting pieces 153 and the matching piece 152 The guide surfaces jointly push against the pushing surface 154 of the clamping part 151, and drive the clamping part 151 to move upward, so that the clamping part 151 cooperates with the top cover 110 to clamp the first shaft arm 2, and then The first shaft arm 2 and the second shaft arm 3 are locked.

In another working state, the connecting member 153 moves from the first position to the second position along the length direction of the tooth condition 182 , which is shown as moving from left to right in FIG. 11 . As shown in Figure 2, Figure 9 and Figure 11, in this working state, the gear member 181 is driven by the second driving member to rotate in the direction indicated by the arrow in Figure 11 (that is, in the counterclockwise direction in Figure 11 direction rotation), drive the tooth condition 182 to move from left to right so as to drive the connecting piece 153 to move from left to right and gradually move away from the matching piece 152, the connecting piece 153 and the matching piece 152 are respectively The guide surfaces jointly push against the pushing surface 154 of the clamping member 151, driving the clamping member 151 to move downward, so that the clamping member 151 cooperates with the top cover 110 to loosen the first shaft arm 2, Further, the first shaft arm 2 and the second shaft arm 3 are unlocked.

Referring again to FIG. 1 to FIG. 5 , in an embodiment of the present application, the first shaft arm 2 is provided with a guide channel 210 . The guide mechanism 20 includes: a guide shaft 220 and a transmission member 230 movably connected to the guide shaft 220 along the axial direction of the guide shaft 220, the guide shaft 220 is passed through the guide channel 210, so The transmission member 230 is fixedly connected with the second shaft arm 3 . Further, the guide mechanism 20 further includes: a third driving member 240 connected to the guide shaft 220 for driving the transmission member 230 to move relative to the guide shaft 220 along the axial direction of the guide shaft 220 . Optionally, the guide shaft 220 is a screw rod, and the guide shaft 220 passes through the transmission member 230 and maintains a threaded connection with the transmission member 230 . The tail end of the guide shaft 220 protrudes from the guide channel 210, and the third driving member 240 is connected to the tail end of the guide shaft 220 for driving the guide shaft 220 to rotate axially, thereby making the guide shaft 220 The transmission member 230 moves relative to the guide shaft 220 along the axial direction of the guide shaft 220 . Optionally, the second shaft arm 3 is provided with a guide seat 31, the transmission member 230 is mounted on the guide seat 31, and the guide seat 31 is provided with a through hole for the guide shaft 220 to pass through. .

Further, the guide mechanism 20 also includes: a positioning member 250 disposed between the third driving member 240 and the first shaft arm 2, the positioning member 250 is provided with a positioning hole 251, the guide A tail end of the shaft 220 passes through the positioning hole 251 and is connected to the third driving member 240 . Optionally, a positioning cavity 252 is formed by indenting the side wall of the positioning member 250 close to the side of the third driving component 240 inwardly, and the third driving component 240 includes a positioning cavity 252 disposed in the positioning cavity 252 . The block 241 and the knob block 242 fixedly connected with the positioning block 241 , the guide shaft 220 is fixedly connected with the positioning block 241 .

As shown in FIG. 2 , in actual operation, by turning the knob block 242 clockwise, the transmission member 230 moves leftward relative to the guide shaft 220 , so that the transmission member 230 drives the first shaft arm 2 to move leftward relative to the second shaft arm 3 , to achieve the purpose of shortening the length of the first shaft arm 2 . After the length of the first shaft arm 2 is adjusted, the sliding assembly of the locking mechanism 10 and the clamping member 151 cooperate with each other, so that the clamping member 151 clamps the first shaft arm 2, and then The first shaft arm 2 and the second shaft arm 3 are locked. When the length of the first shaft arm 2 needs to be adjusted again, the clamping part 151 is loosened from the first shaft arm 2 through the mutual cooperation of the sliding assembly of the locking mechanism 10 and the clamping part 151, and the It only needs to unlock the first shaft arm 2 and the second shaft arm 3 .

By turning the knob block 242 counterclockwise, the transmission member 230 moves to the right relative to the guide shaft 220, so that the transmission member 230 drives the first shaft arm 2 to move to the right relative to the second shaft arm 3, thereby increasing the length of the first shaft arm 2 the goal of. After the length of the first shaft arm 2 is adjusted, the sliding assembly of the locking mechanism 10 and the clamping member 151 cooperate with each other, so that the clamping member 151 clamps the first shaft arm 2, and then The first shaft arm 2 and the second shaft arm 3 are locked. When the length of the first shaft arm 2 needs to be adjusted again, the clamping part 151 is loosened from the first shaft arm 2 through the mutual cooperation of the sliding assembly of the locking mechanism 10 and the clamping part 151, and the It only needs to unlock the first shaft arm 2 and the second shaft arm 3 .

In another embodiment of the present application, the present invention also provides a pan/tilt shaft arm structure, including a first shaft arm, a second shaft arm, and a device capable of adjusting the movement of the second shaft arm relative to the first shaft arm. A guiding mechanism, and a locking mechanism capable of locking the first shaft arm and the second shaft arm. Wherein, the locking mechanism includes: a linear drive assembly and a clamping piece arranged on the second shaft arm, the linear drive assembly drives the clamping piece to clamp or loosen the first shaft arm, Further, the first shaft arm and the second shaft arm are locked or unlocked. It should be noted that the descriptions about the guide mechanism and the clamping member in the above-mentioned embodiments and implementations are also applicable to the structure of the pan/tilt shaft arm.

In an embodiment of the present application, the linear drive assembly directly drives the clamping member to clamp or loosen the first shaft arm.

Taking the linear drive assembly as an example, the linear drive assembly is a screw drive assembly, a rack and pinion drive assembly, and a cylinder drive assembly, and the linear drive assembly directly drives the clamping member to clamp or loosen the first shaft arm. way to explain. However, it should be noted that the form of the linear drive assembly of the present invention to directly drive the clamping member to clamp or loosen the first shaft arm is not limited to the above three forms, and any form that directly drives the clamping member to clamp The form of the linear drive assembly that tightens or loosens the first shaft arm should fall within the protection scope of the present invention.

The first method in which the linear drive assembly directly drives the clamping member to clamp or loosen the first shaft arm: the linear drive assembly is a screw drive assembly, and the screw drive assembly includes: The axial direction of the two shaft arms is threadedly connected to the screw rod of the second shaft arm, and the first end of the screw rod is used to push the clamping member to move toward or away from the first shaft arm. Optionally, the second end of the screw passes through the second shaft arm, and the screw transmission assembly further includes: a driving member fixedly connected with the second end of the screw, for driving the screw to rotate and move in the axial direction, so that the first end of the screw rod pushes the clamping member to move toward or away from the first shaft arm.

The second way that the linear drive assembly directly drives the clamping member to clamp or loosen the first shaft arm: see Figure 12, in the example of Figure 12, the linear drive assembly is a screw drive assembly , the screw drive assembly includes: a screw 160 screwed to the second shaft arm along the axial direction of the first shaft arm, the first end of the screw rod 160 is provided with an abutment slope 163 along the circumferential surface, The clamping member 151 is provided with an abutment mating surface 1511 adapted to the abutment slope 163 of the screw 160 , and when the screw 160 moves, the abutment slope 163 of the screw 160 pushes against the The clamping member 151 abuts against the mating surface 1511 , and then drives the clamping member 151 to move toward or away from the first shaft arm. When the screw rod 160 moves to the left, the abutting slope 163 of the screw rod 160 pushes against the abutting mating surface 1511 of the clamping member 151 , so that the clamping member 151 moves upward. When the screw rod 160 moves to the right, the abutting slope 163 of the screw rod 160 pushes against the abutting mating surface 1511 of the clamping member 151 , so that the clamping member 151 moves downward. Optionally, the second end of the screw rod 160 passes through the second shaft arm, and the screw drive assembly further includes: a driving member fixedly connected with the second end of the screw rod 160 for driving the The screw 160 rotates and moves in the axial direction.

A third method in which the linear drive assembly directly drives the clamping member to clamp or loosen the first shaft arm: the linear drive assembly is a rack and pinion drive assembly, and the rack and pinion drive assembly includes: a gear and the gear member connected to the first end of the gear member through transmission, the gear member is arranged along the axis direction of the second shaft arm, the gear member moves along the length direction under the drive of the gear member, the The ends of the teeth are used to push the clamping member to move toward or away from the first shaft arm. Optionally, the second end of the gear member passes through the second shaft arm, and the rack and pinion driving assembly further includes: a driving member fixedly connected to the second end of the gear member, for driving the The gear member rotates in the axial direction, so that the tooth member moves along the length direction, and then the end of the tooth member pushes the clamping member to move toward or away from the first shaft arm.

The fourth way in which the linear drive assembly directly drives the clamping member to clamp or loosen the first shaft arm: see Figure 13. In the example shown in Figure 13, the linear drive assembly is a gear tooth A rack drive assembly, the rack and pinion drive assembly includes: a gear member 181 and a tooth condition 182 that is transmission-connected to the first end of the gear member 181, the tooth condition 182 is arranged along the axial direction of the first shaft arm, The tooth condition 182 is driven by the gear member 181 to move along the length direction, the end of the tooth condition 182 is provided with an abutment slope 183 , and the clamping member 151 is provided with the abutment slope 183 Matching abutment mating surface 1511, during the movement of the tooth condition 182, the abutment slope 183 of the tooth condition 182 pushes against the abutment mating surface 1511 of the clamping member 151, thereby driving the clamping The member 151 moves toward or away from the first shaft arm. When the gear member 181 rotates clockwise, the tooth condition 182 is driven to move to the left, and the abutment slope 183 of the tooth condition 182 pushes against the abutment mating surface 1511 of the clamping member 151, so that the clamping member 151 moves upward. . When the gear member 181 rotates counterclockwise, the tooth condition 182 is driven to move to the right, and the abutment slope 183 of the tooth condition 182 pushes against the abutment mating surface 1511 of the clamping member 151, so that the clamping member 151 is downward sports. Optionally, the second end of the gear member 181 passes through the second shaft arm, and the rack and pinion driving assembly further includes: a driving member fixedly connected to the second end of the gear member 181 for Driving the gear member 181 to rotate in the axial direction makes the tooth condition 182 move in the longitudinal direction.

The fifth way in which the linear drive assembly directly drives the clamping member to clamp or loosen the first shaft arm: the linear drive assembly directly drives the clamping member to move, and the linear drive assembly is a cylinder transmission assembly , the cylinder transmission assembly includes: a cylinder transmission part connected to the second shaft arm along the axis direction of the second shaft arm, the first end of the cylinder part is used to push the clamping part along the moving in a direction away from the first shaft arm. Optionally, the second end of the cylinder transmission member passes through the second shaft arm, and the cylinder transmission assembly further includes: a driving member fixedly connected to the second end of the cylinder transmission member, for driving the The telescopic movement of the cylinder transmission part.

A sixth way in which the linear drive assembly directly drives the clamping member to clamp or loosen the first shaft arm: the linear drive assembly is a cylinder transmission assembly, and the cylinder transmission assembly includes: The axial direction of the arm is connected to the cylinder transmission part of the second shaft arm, the first end of the cylinder part is provided with an abutting inclined surface, and the clamping part is provided with an abutting surface suitable for the abutting inclined surface. During the movement of the cylinder, the abutting inclined surface of the cylinder transmission part pushes against the abutting mating surface of the clamping part, and then drives the clamping part to move closer to or away from the first shaft arm. direction to move. Optionally, the second end of the cylinder transmission member passes through the second shaft arm, and the cylinder transmission assembly further includes: a driving member fixedly connected to the second end of the cylinder transmission member, for driving the The telescopic movement of the cylinder transmission part. In another embodiment of the present application, the linear drive assembly can drive the clamping member to clamp or loosen the first shaft arm through a conversion drive assembly, and the conversion drive assembly is on the side of the linear drive assembly. to move under driving, and convert the driving force of the linear drive assembly into a driving force for the clamping member, so that the clamping member moves in a direction approaching or away from the first shaft arm.

Taking the linear drive assembly as an example of a screw drive assembly and a rack and pinion drive assembly, the linear drive assembly drives the clamping member to clamp or loosen the first shaft through the conversion drive assembly. The way of the arm is described. However, it should be noted that the form of the linear drive assembly of the present invention to drive the clamping member to clamp or loosen the first shaft arm through the conversion drive assembly is not limited to the above two forms. The conversion of the drive assembly to drive the clamping member to clamp or loosen the form of the linear drive assembly of the first shaft arm should fall within the protection scope of the present invention.

The first way in which the linear drive assembly drives the clamping member to clamp or loosen the first shaft arm through the conversion drive group: the conversion drive assembly includes: a transmission wheel supported at the bottom of the clamping member And a transmission block arranged on the transmission wheel. The linear drive assembly is a screw transmission assembly, and the screw transmission assembly includes: a screw threaded to the second shaft arm along the axial direction of the first shaft arm, and a first end of the screw rod is provided with a As for the pushing block that pushes the transmission block, the transmission block drives the transmission wheel to rotate under the push of the pushing block, and then drives the clamping member to move toward or away from the first shaft arm. Optionally, the second end of the screw passes through the second shaft arm, and the screw transmission assembly further includes: a driving member fixedly connected with the second end of the screw, for driving the screw along the Axial movement, and then drive the push block to push the transmission block.

When the screw rod moves to the left, the transmission block moves to the left together under the push of the push block and drives the transmission wheel to rotate clockwise, and then drives the clamping member to move upward. When the screw rod moves to the right, the transmission block moves to the right together under the push of the push block and drives the transmission wheel to rotate counterclockwise, and then drives the clamping member to move downward.

The second way in which the linear drive assembly drives the clamping member to clamp or loosen the first shaft arm through the conversion drive group: the conversion drive assembly includes: a transmission wheel supported at the bottom of the clamping member And a transmission block arranged on the transmission wheel. The linear drive assembly is a rack-and-pinion drive assembly, and the rack-and-pinion drive assembly includes: a gear member and a tooth element that is drive-connected to the first end of the gear element, and the tooth element is along the length of the first shaft arm. It is arranged in the axial direction, the tooth condition is driven by the gear to move along the length direction, and the end of the tooth condition is provided for pushing the clamping component to move in a direction close to or away from the first shaft arm The driving block is pushed by the pushing block to drive the transmission wheel to rotate, and then drive the clamping member to move in a direction approaching or away from the first shaft arm. Optionally, the second end of the gear member passes through the second shaft arm, and the rack and pinion driving assembly further includes: a driving member fixedly connected to the second end of the gear member, for driving the The gear member is rotated in the axial direction, so that the gear member moves along the length direction, and then drives the pushing block to push the transmission block.

When the gear part rotates clockwise, the drive tooth condition moves to the left, and the transmission block moves to the left together under the push of the push block and drives the transmission wheel to rotate clockwise, and then drives the clamping part to move upward. When the gear part rotates counterclockwise, the drive tooth condition moves to the right, and the transmission block moves to the right together under the push of the push block and drives the transmission wheel to rotate counterclockwise, and then drives the clamping part to move downward .

The pan-tilt shaft arm structure of the present invention can provide a reliable locking method, with high locking force, simple appearance and structure, and convenient operation. It can make the pan-tilt lock reliably after leveling, and the rigidity of the pan-tilt is large enough, so that the control effect of the pan-tilt is better.

As shown in FIG. 14 , the present invention also provides a pan-tilt structure 4 , including a motor assembly and the pan-tilt shaft arm structure described in the above-mentioned embodiments of the present invention. Described cloud platform axis arm structure comprises first axis arm 2, second axis arm 3 and the 3rd axis arm 7, and described motor assembly comprises first motor 5 and second motor 6, and described first motor 5 drives first The shaft arm 2 rotates, and the second motor 6 is arranged on the second shaft arm 3 for driving the third shaft arm 7 to rotate. It should be noted that, the descriptions about the pan/tilt shaft arm structure in the above-mentioned embodiments and implementations are also applicable to the pan/tilt structure 4 of the present invention.

It should be noted that in this article, 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 that there is a relationship between these entities or operations. any such actual relationship or order exists between them. The term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements but also other elements not expressly listed elements, or also elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The methods and devices provided by the embodiments of the present invention have been described in detail above. The principles and implementation methods of the present invention have been explained by using specific examples in this paper. The descriptions of the above embodiments are only used to help understand the methods and methods of the present invention. core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and scope of application. In summary, the content of this specification should not be construed as limiting the present invention .

The disclosure of this patent document contains material that is protected by copyright. This copyright belongs to the copyright owner. The copyright owner has no objection to the reproduction by anyone of the patent document or the patent disclosure as it exists in the official records and files of the Patent and Trademark Office.

Claims (54)

1. a kind of head armshaft structure, it is characterised in that including the first armshaft, the second armshaft and can be by first armshaft The retaining mechanism locked with second armshaft；Wherein, the retaining mechanism includes：

Slide assemblies, drive component and the clamping element being arranged on second armshaft, the drive component drive the cunning Dynamic component is moved to the second place from first position so that the clamping element clamps or released first armshaft, and then by institute State the first armshaft and second armshaft locking or unlock.

2. head armshaft structure according to claim 1, it is characterised in that：

Mounting hole is offered on second armshaft, the clamping element is installed in the mounting hole and the shape in the mounting hole Into the through hole worn for first armshaft, the clamping element is under the drive of the slide assemblies, along closer or far from institute Move so that the aperture of the through hole reduces or expanded so that the clamping element is clamped or released in the direction for stating the first armshaft First armshaft, and then first armshaft and second armshaft are locked or unlocked.

3. head armshaft structure according to claim 2, it is characterised in that：Top cover is equiped with second armshaft, institute Top cover is stated to be fixed on one end of second armshaft and surround the mounting hole, the top cover and institute jointly with second armshaft State the both sides that clamping element is located at first armshaft respectively.

4. head armshaft structure according to claim 3, it is characterised in that first armshaft is provided with spacing guiding Face, the top cover is provided with the spacing faying face being adapted with the spacing guide surface.

5. head armshaft structure according to claim 4, it is characterised in that the spacing guide surface is spacing inclined-plane or limit Circle of position cambered surface, the spacing faying face is the spacing inclined-plane or spacing arc surface corresponding with the spacing guide surface.

6. head armshaft structure according to claim 1, it is characterised in that：

The clamping element be provided with multiple pushing and pressing faces；

The slide assemblies are provided with the guide surface coordinated with the pushing and pressing face；

In the slide assemblies moving process, the guide surface pushes against the pushing and pressing face, make the clamping element along closer or far from The direction movement of first armshaft.

7. head armshaft structure according to claim 6, it is characterised in that：

The slide assemblies include being arranged at the connector of the clamping element side, the drive component drive the connector from First position is moved to the second place, and the connector is provided with the first guide surface of the guide surface；

In the slide assemblies moving process, first guide surface of the connector pushes against the pushing and pressing of the clamping element Face, makes the clamping element be moved along the direction closer or far from first armshaft.

8. head armshaft structure according to claim 7, it is characterised in that the slide assemblies are also described including being arranged at The counterpart of clamping element opposite side, the drive component drives the counterpart to be moved towards closer or far from the connector, The counterpart is provided with the second guide surface of the guide surface；

In the slide assemblies moving process, second guide surface of the counterpart draws with described the first of the connector Guide face pushes against the pushing and pressing face of the clamping element jointly, makes the clamping element along the direction closer or far from first armshaft It is mobile.

9. head armshaft structure according to claim 1, it is characterised in that the drive component is lead screw transmission component, The slide assemblies include being provided with threaded joints in connector, the connector, and the lead screw transmission component includes：It is arranged in The adjusting rod of the connector, the adjusting rod is provided with first end screw thread, the institute of the first end screw thread and the connector Threaded joints are stated to be spirally connected to drive the connector to be moved to the second place from first position along the axial direction of the adjusting rod.

10. head armshaft structure according to claim 9, it is characterised in that pushing and pressing part, institute are additionally provided with the adjusting rod Stating slide assemblies also includes counterpart, and the connector and part joined together are located at the both sides of the clamping element, the first end spiral shell When the line driving connector is moved to the second place from first position, the pushing and pressing part is close or remote by counterpart direction Direction from the connector is promoted.

11. head armshaft structure according to claim 9, it is characterised in that the second end of the adjusting rod passes described Second armshaft, the lead screw transmission component also includes：The first actuator being fixedly connected with the second end of the adjusting rod, it is described First actuator be used for drive the adjusting rod to axially rotate, with drive the slide assemblies along the adjusting rod axially from First position is moved to the second place.

12. head armshaft structure according to claim 1, it is characterised in that the drive component is gear-rack drive Component, the gear-rack drive component includes：Gear member and it is connected in the rack member of the gear member first end, it is described Rack member is fixedly connected on the slide assemblies, and the rack member drives the slide assemblies edge under the driving of the gear member The length direction of the rack member is moved to the second place from first position.

13. head armshaft structure according to claim 12, it is characterised in that the second end of the gear member passes described Second armshaft, the gear-rack drive component also includes：The second actuator being fixedly connected with the second end of the gear member, For driving the gear member to axially rotate, the rack member is set to drive length side of the slide assemblies along the rack member The second place is moved to from first position.

14. head armshaft structure according to claim 1, it is characterised in that first armshaft is provided with guide channel, The head armshaft structure also includes that the guiding mechanism that second armshaft is moved relative to first armshaft can be adjusted；

The guiding mechanism includes：The axis of guide and it is movably connected on the transmission on the axis of guide along the axial direction of the axis of guide Part, the axis of guide is arranged in the guide channel, and the driving member is fixedly connected with second armshaft.

15. head armshaft structure according to claim 14, it is characterised in that the guiding mechanism also includes：It is connected to 3rd actuator of the axis of guide, for driving the driving member to be moved along the axially opposing axis of guide of the axis of guide It is dynamic.

16. head armshaft structure according to claim 15, it is characterised in that the axis of guide is screw rod, the guiding Axle is arranged in the driving member and keeps being threadedly coupled with the driving member；The tail end of the axis of guide stretches out described be oriented to and led to Road, the 3rd actuator is connected to the tail end of the axis of guide, for driving the axis of guide to axially rotate, and then makes institute Driving member is stated to move along the axially opposing axis of guide of the axis of guide.

17. head armshaft structure according to claim 15, it is characterised in that the guiding mechanism also includes：It is arranged at Keeper between 3rd actuator and first armshaft, the keeper is provided with positioning hole, the axis of guide Tail end is connected through the positioning hole and then with the 3rd actuator.

18. head armshaft structure according to claim 17, it is characterised in that driven on the keeper close to the described 3rd The side wall of moving part side, which caves inward, is formed with positioning chamber, and the 3rd actuator includes the locating piece in the positioning chamber And the knob block being fixedly connected with the locating piece, the axis of guide is fixedly connected with the locating piece.

19. a kind of cradle head structure, including electric machine assembly, it is characterised in that：

The cradle head structure also include head armshaft structure, the head armshaft structure include the first armshaft, the second armshaft and The retaining mechanism that first armshaft and second armshaft can be locked；Wherein, the retaining mechanism includes：Slide Group Part, drive component and the clamping element being arranged on second armshaft, the drive component drive the slide assemblies from the One position is moved to the second place so that the clamping element clamps or released first armshaft, and then by first armshaft Lock or unlock with second armshaft；

The electric machine assembly includes the first motor and the second motor, and first motor drives first armshaft to rotate, described Second motor, which is arranged on second armshaft, to be used to drive the 3rd armshaft to rotate.

20. cradle head structure according to claim 19, it is characterised in that：

Mounting hole is offered on second armshaft, the clamping element is installed in the mounting hole and the shape in the mounting hole Into the through hole worn for first armshaft, the clamping element is under the drive of the slide assemblies, along closer or far from institute Move so that the aperture of the through hole reduces or expanded so that the clamping element is clamped or released in the direction for stating the first armshaft First armshaft, and then first armshaft and second armshaft are locked or unlocked.

21. cradle head structure according to claim 20, it is characterised in that：Top cover is equiped with second armshaft, it is described Top cover is fixed on one end of second armshaft and surrounds the mounting hole jointly with second armshaft, the top cover and described Clamping element is located at the both sides of first armshaft respectively.

22. cradle head structure according to claim 21, it is characterised in that first armshaft is provided with spacing guide surface, The top cover is provided with the spacing faying face being adapted with the spacing guide surface.

23. cradle head structure according to claim 22, it is characterised in that the spacing guide surface is spacing inclined-plane or spacing Arc surface, the spacing faying face is the spacing inclined-plane or spacing arc surface corresponding with the spacing guide surface.

24. cradle head structure according to claim 19, it is characterised in that：

The clamping element be provided with multiple pushing and pressing faces；

The slide assemblies are provided with the guide surface coordinated with the pushing and pressing face；

In the slide assemblies moving process, the guide surface pushes against the pushing and pressing face, make the clamping element along closer or far from The direction movement of first armshaft.

25. head armshaft structure according to claim 24, it is characterised in that：

The slide assemblies include being arranged at the connector of the clamping element side, the drive component drive the connector from First position is moved to the second place, and the connector is provided with the first guide surface of the guide surface；

In the slide assemblies moving process, first guide surface of the connector pushes against the pushing and pressing of the clamping element Face, makes the clamping element be moved along the direction closer or far from first armshaft.

26. head armshaft structure according to claim 25, it is characterised in that the slide assemblies also include being arranged at institute The counterpart of clamping element opposite side is stated, the drive component drives the counterpart to be moved towards closer or far from the connector Dynamic, the counterpart is provided with the second guide surface of the guide surface；

In the slide assemblies moving process, second guide surface of the counterpart draws with described the first of the connector Guide face pushes against the pushing and pressing face of the clamping element jointly, makes the clamping element along the direction closer or far from first armshaft It is mobile.

27. cradle head structure according to claim 19, it is characterised in that the drive component is lead screw transmission component, institute Stating slide assemblies includes being provided with threaded joints in connector, the connector, and the lead screw transmission component includes：It is arranged in institute The adjusting rod of connector is stated, the adjusting rod is provided with first end screw thread, and the first end screw thread is described with the connector Threaded joints are spirally connected to drive the connector to be moved to the second place from first position along the axial direction of the adjusting rod.

28. head armshaft structure according to claim 27, it is characterised in that be additionally provided with pushing and pressing part on the adjusting rod, The slide assemblies also include counterpart, and the connector and part joined together are located at the both sides of the clamping element, the first end When connector described in screw drive is moved to the second place from first position, the pushing and pressing part by the counterpart towards close to or Direction away from the connector is promoted.

29. cradle head structure according to claim 27, it is characterised in that the second end of the adjusting rod passes described second Armshaft, the lead screw transmission component also includes：The first actuator being fixedly connected with the second end of the adjusting rod, described first Actuator is used to drive the adjusting rod to axially rotate, to drive the slide assemblies along the adjusting rod axially from first Position is moved to the second place.

30. cradle head structure according to claim 19, it is characterised in that the drive component is gear-rack drive group Part, the gear-rack drive component includes：Gear member and it is connected in the rack member of the gear member first end, the tooth Condition is fixedly connected on the slide assemblies, and the rack member drives the slide assemblies along institute under the driving of the gear member The length direction for stating rack member is moved to the second place from first position.

31. cradle head structure according to claim 30, it is characterised in that the second end of the gear member passes described second Armshaft, the gear-rack drive component also includes：The second actuator being fixedly connected with the second end of the gear member, is used for Drive the gear member to axially rotate, make the rack member drive length direction of the slide assemblies along the rack member from First position is moved to the second place.

32. cradle head structure according to claim 19, it is characterised in that first armshaft is provided with guide channel, institute Stating head armshaft structure also includes that the guiding mechanism that second armshaft is moved relative to first armshaft can be adjusted；

The guiding mechanism includes：The axis of guide and it is movably connected on the transmission on the axis of guide along the axial direction of the axis of guide Part, the axis of guide is arranged in the guide channel, and the driving member is fixedly connected with second armshaft.

33. cradle head structure according to claim 32, it is characterised in that the guiding mechanism also includes：It is connected to described 3rd actuator of the axis of guide, for driving the driving member to be moved along the axially opposing axis of guide of the axis of guide.

34. cradle head structure according to claim 33, it is characterised in that the axis of guide is screw rod, the axis of guide is worn Keep being threadedly coupled located at the driving member and with the driving member；The tail end of the axis of guide stretches out the guide channel, institute The tail end that the 3rd actuator is connected to the axis of guide is stated, for driving the axis of guide to axially rotate, and then makes the biography Moving part is moved along the axially opposing axis of guide of the axis of guide.

35. cradle head structure according to claim 33, it is characterised in that the guiding mechanism also includes：It is arranged at described Keeper between 3rd actuator and first armshaft, the keeper is provided with positioning hole, the tail end of the axis of guide It is connected through the positioning hole and then with the 3rd actuator.

36. cradle head structure according to claim 35, it is characterised in that close to the 3rd actuator on the keeper The side wall of side, which caves inward, is formed with positioning chamber, the 3rd actuator include locating piece in the positioning chamber and The knob block being fixedly connected with the locating piece, the axis of guide is fixedly connected with the locating piece.

37. a kind of head armshaft structure, it is characterised in that including the first armshaft, the second armshaft and can be by the first axle Arm and the retaining mechanism of second armshaft locking；Wherein, the retaining mechanism includes：

Linear drives component and the clamping element being arranged on second armshaft, clamping element described in the linear drives Component driver First armshaft is clamped or released, and then first armshaft and second armshaft are locked or unlocked.

38. the head armshaft structure according to claim 37, it is characterised in that：

Mounting hole is offered on second armshaft, the clamping element is installed in the mounting hole and the shape in the mounting hole Into the through hole worn for first armshaft, the clamping element is under the drive of the slide assemblies, along closer or far from institute Move so that the aperture of the through hole reduces or expanded so that the clamping element is clamped or released in the direction for stating the first armshaft First armshaft, and then first armshaft and second armshaft are locked or unlocked.

39. the head armshaft structure according to claim 38, it is characterised in that：Top cover is equiped with second armshaft, The top cover is fixed on one end of second armshaft and surrounds the mounting hole jointly with second armshaft, the top cover and The clamping element is located at the both sides of first armshaft respectively.

40. the head armshaft structure according to claim 39, it is characterised in that first armshaft is provided with spacing guiding Face, the top cover is provided with the spacing faying face being adapted with the spacing guide surface.

41. head armshaft structure according to claim 40, it is characterised in that the spacing guide surface be spacing inclined-plane or Spacing arc surface, the spacing faying face is the spacing inclined-plane or spacing arc surface corresponding with the spacing guide surface.

42. the head armshaft structure according to claim 37, it is characterised in that the linear drives component is lead screw transmission Component, the lead screw transmission component includes：The spiral shell of second armshaft is threadedly connected to along the axis direction of second armshaft Bar, the first end of the screw rod is used to promote the clamping element to move along the direction closer or far from first armshaft.

43. the head armshaft structure according to claim 37, it is characterised in that the linear drives component is lead screw transmission Component, the lead screw transmission component includes：The spiral shell of second armshaft is threadedly connected to along the axis direction of first armshaft Bar, circumferentially face is provided with and is adapted with the abutting inclined-plane provided with inclined-plane, the clamping element is abutted the first end of the screw rod Abutting mating surface, in the screw rod moving process, the abutting inclined-plane pushes against the abutting mating surface of the clamping element, makes described Clamping element is moved along the direction closer or far from first armshaft.

44. the head armshaft structure according to claim 37, it is characterised in that the linear drives component is rack-and-pinion Drive component, the gear-rack drive component includes：Gear member and it is connected in the rack member of the gear member first end, Axis direction of the rack member along second armshaft is set, and the rack member is under the driving of the gear member along length side To movement, the end of the rack member is used to promote the clamping element to move along the direction closer or far from first armshaft.

45. the head armshaft structure according to claim 37, it is characterised in that the linear drives component is rack-and-pinion Drive component, the gear-rack drive component includes：Gear member and it is connected in the rack member of the gear member first end, Axis direction of the rack member along first armshaft is set, and the rack member is under the driving of the gear member along length side To movement, the end of the rack member is provided with and supporting that the abutting inclined-plane is adapted provided with inclined-plane, the clamping element is abutted Connect in mating surface, the rack member moving process, the abutting inclined-plane pushes against the abutting mating surface of the clamping element, makes the folder Tight part is moved along the direction closer or far from first armshaft.

46. a kind of cradle head structure, including electric machine assembly, it is characterised in that：

The cradle head structure also include head armshaft structure, the head armshaft structure include the first armshaft, the second armshaft and The retaining mechanism that first armshaft and second armshaft can be locked；Wherein, the retaining mechanism includes：Linear drives Component and the clamping element being arranged on second armshaft, clamping element described in the linear drives Component driver clamp or released institute The first armshaft is stated, and then first armshaft and second armshaft are locked or unlocked；

The electric machine assembly includes the first motor and the second motor, and first motor drives first armshaft to rotate, described Second motor, which is arranged on second armshaft, to be used to drive the 3rd armshaft to rotate.

47. cradle head structure according to claim 46, it is characterised in that：

Mounting hole is offered on second armshaft, the clamping element is installed in the mounting hole and the shape in the mounting hole Into the through hole worn for first armshaft, the clamping element is under the drive of the slide assemblies, along closer or far from institute Move so that the aperture of the through hole reduces or expanded so that the clamping element is clamped or released in the direction for stating the first armshaft First armshaft, and then first armshaft and second armshaft are locked or unlocked.

48. cradle head structure according to claim 47, it is characterised in that：Top cover is equiped with second armshaft, it is described Top cover is fixed on one end of second armshaft and surrounds the mounting hole jointly with second armshaft, the top cover and described Clamping element is located at the both sides of first armshaft respectively.

49. cradle head structure according to claim 48, it is characterised in that first armshaft is provided with spacing guide surface, The top cover is provided with the spacing faying face being adapted with the spacing guide surface.

50. cradle head structure according to claim 49, it is characterised in that the spacing guide surface is spacing inclined-plane or spacing Arc surface, the spacing faying face is the spacing inclined-plane or spacing arc surface corresponding with the spacing guide surface.

51. cradle head structure according to claim 46, it is characterised in that the linear drives component is lead screw transmission group Part, the lead screw transmission component includes：The screw rod of second armshaft is threadedly connected to along the axis direction of second armshaft, The first end of the screw rod is used to promote the clamping element to move along the direction closer or far from first armshaft.

52. cradle head structure according to claim 46, it is characterised in that the linear drives component is lead screw transmission group Part, the lead screw transmission component includes：The screw rod of second armshaft is threadedly connected to along the axis direction of first armshaft, Circumferentially face is provided with and supporting that the abutting inclined-plane is adapted the first end of the screw rod provided with inclined-plane, the clamping element is abutted Connect in mating surface, the screw rod moving process, the abutting inclined-plane pushes against the abutting mating surface of the clamping element, makes the clamping Part is moved along the direction closer or far from first armshaft.

53. cradle head structure according to claim 46, it is characterised in that the linear drives component is gear-rack drive Component, the gear-rack drive component includes：Gear member and it is connected in the rack member of the gear member first end, it is described Axis direction of the rack member along second armshaft is set, and the rack member is moved along its length under the driving of the gear member Dynamic, the end of the rack member is used to promote the clamping element to move along the direction closer or far from first armshaft.

54. cradle head structure according to claim 46, it is characterised in that the linear drives component is gear-rack drive Component, the gear-rack drive component includes：Gear member and it is connected in the rack member of the gear member first end, it is described Axis direction of the rack member along first armshaft is set, and the rack member is moved along its length under the driving of the gear member Dynamic, the end of the rack member is provided with the abutting being adapted with the abutting inclined-plane and matched somebody with somebody provided with inclined-plane, the clamping element is abutted In conjunction face, the rack member moving process, the abutting inclined-plane pushes against the abutting mating surface of the clamping element, makes the clamping element Moved along the direction closer or far from first armshaft.