CN117751258A

CN117751258A - Rotating shaft mechanism, cradle head and cradle head system

Info

Publication number: CN117751258A
Application number: CN202180100514.2A
Authority: CN
Inventors: 刘彦辰; 徐振华; 刘芳; 杨乃旭
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2021-10-27
Filing date: 2021-10-27
Publication date: 2024-03-22
Also published as: WO2023070395A1

Abstract

A rotating shaft mechanism (100), a cradle head (1001) and a cradle head system (1000), wherein the rotating shaft mechanism (100) comprises a shaft arm (10), a motor (20) and a transmission structure (30); the axle arm (10) is used for driving a load carried on the cradle head (1001) to rotate; the motor (20) comprises a fixed part (21) and a rotating part (22) capable of rotating relative to the fixed part (21) and is used for driving the shaft arm (10) to move; the rotating part (22) is coupled with the shaft arm (10) through a transmission structure (30) so that the shaft arm (10) can rotate along with the rotating part (22) in a first working state, thereby adjusting the attitude angle of a load; the shaft arm (10) can rotate along with the rotating part (22) to move relative to the fixed part (21) in the second working state, so that the gravity center of the cradle head (1001) is adjusted; the first operating state is different from the second operating state.

Description

Rotating shaft mechanism, cradle head and cradle head system

Technical Field

The application relates to the technical field of motors, in particular to a rotating shaft mechanism, a cradle head and a cradle head system.

Background

For a cradle head stability augmentation system with replaceable load and adjustable mounting position, leveling operation is usually required before use, so as to improve the performance of a motor of the cradle head as much as possible. The unsuccessful leveling can lead the cradle head to work in an unbalanced state, which can affect the control effect of the cradle head, lead the stability increasing capability of the cradle head to be reduced, even greatly improve the power consumption of the cradle head, waste precious shooting time, opportunity and the like. However, the existing cradle head stability augmentation system generally needs a user to independently finish leveling and grasp the leveling result by himself, and has a certain difficulty for leveling, especially for a user entering the door, and has low user experience.

Disclosure of Invention

The application provides a pivot mechanism, cloud platform and cloud platform system to simplify the leveling operation of cloud platform, reduce threshold and the degree of difficulty that the user used, improve user's use experience.

In a first aspect, an embodiment of the present application provides a rotation axis mechanism of a pan-tilt, including:

the shaft arm is used for driving a load carried on the cradle head to rotate;

the motor comprises a fixed part and a rotating part capable of rotating relative to the fixed part and is used for driving the shaft arm to move;

the transmission structure is coupled with the shaft arm through the transmission structure, so that the shaft arm can rotate along with the rotation of the rotation part in a first working state, and the attitude angle of the load is adjusted; the shaft arm can rotate along with the rotating part and slide relative to the fixed part in a second working state, so that the gravity center of the cradle head is adjusted; the first operating state is different from the second operating state.

In a second aspect, embodiments of the present application provide a rotation axis mechanism for a parent device, the rotation axis mechanism including:

a driven member;

the motor is used for driving the driven piece to move;

The motor is coupled with the driven piece through the transmission structure, so that the driven piece can rotate along with the rotation of the rotating part of the motor in a first working state; the driven piece can rotate along with the rotating part of the motor and move relative to the fixed part of the motor in a second working state, so that the gravity center of the parent equipment is adjusted; the first operating state is different from the second operating state.

In a third aspect, an embodiment of the present application provides a pan-tilt, including:

one or more of the spindle mechanisms described above; and

and a loading part connected with the rotating shaft mechanism and used for loading a load.

In a fourth aspect, an embodiment of the present application provides a pan-tilt system, including:

the rotating shaft mechanism or the cradle head; and

and an imaging device mounted on the rotating shaft mechanism or the mounting portion.

The embodiment of the application provides a pivot mechanism, cloud platform and cloud platform system, because the rotation part of motor passes through transmission structure and armshaft coupling, therefore when pivot mechanism is in first operating condition, the rotation part of motor rotates, and the rotation part of motor can drive the armshaft through transmission structure and rotate, and then drives the load and rotate to adjust the attitude angle of load. When the rotating shaft mechanism is in the second working state, the rotating part of the motor rotates, and the rotating part of the motor can drive the shaft arm to move relative to the fixed part of the motor through the transmission structure, so that the gravity center of the tripod head is adjusted, namely, the tripod head is subjected to leveling operation, the stability increasing capability of the tripod head is improved, and the power consumption of the motor is reduced. The leveling mode simplifies the leveling operation of the cradle head, reduces the threshold and difficulty used by a user, and greatly improves the use experience of the user.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of embodiments of the present application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a pan-tilt system according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a rotating shaft mechanism according to an embodiment of the present application;

FIG. 3 is an exploded view of a spindle mechanism according to an embodiment of the present application;

FIG. 4 is a cross-sectional view of a spindle mechanism according to an embodiment of the present application, wherein a first driving member is disengaged from a second driving member;

FIG. 5 is an enlarged partial schematic view of the turntable mechanism at A of FIG. 4;

FIG. 6 is a cross-sectional view of a spindle mechanism according to an embodiment of the present application, wherein a first driving member is in driving engagement with a second driving member;

FIG. 7 is an enlarged partial schematic view of the turntable mechanism at B of FIG. 6;

FIG. 8 is a schematic view of a portion of a spindle mechanism according to an embodiment of the present disclosure;

FIG. 9 is a schematic view of a rotating part according to an embodiment of the present application;

FIG. 10 is a partial cross-sectional view of a spindle mechanism provided in an embodiment of the present application;

FIG. 11 is a schematic structural view of a first coupling member according to an embodiment of the present application;

FIG. 12 is a schematic view of a second coupling member according to an embodiment of the present disclosure;

FIG. 13 is a schematic view of another angle of a second coupling provided in an embodiment of the present application;

fig. 14 is a schematic structural view of a second operation member according to an embodiment of the present application.

Reference numerals illustrate:

1000. a cradle head system; 1001. a cradle head; 1002. an imaging device;

100. a spindle mechanism; 200. a carrying part;

10. an axle arm;

20. a motor; 21. a fixing portion; 22. a rotating portion; 221. a first shaft portion; 222. a second shaft portion; 223. a first projection; 224. a second projection; 225. a limit space; 23. a cover member; 231. a protective cover; 232. a fastener; 2321. a first connection portion; 2322. a concave groove; 233. a rotating shaft;

30. A transmission structure; 31. a first transmission; 311. a first transmission member; 3111. a mating groove; 312. a second transmission member; 3121. a first inclined surface; 313. a driving mechanism; 3131. a first connection assembly; 3132. a reset member; 3133. a first operating member; 3134. a second connection assembly;

32. a second transmission; 321. a first coupling; 3211. a first coupling groove; 3212. a first accommodation groove; 3213. a first lug; 3214. a second connecting portion; 322. a second coupling; 3221. a second coupling groove; 3222. a receiving hole; 3223. a first through hole; 3224. a second accommodation groove; 3225. a second lug; 3226. a third connecting portion; 323. a second operating member; 3231. a connecting lug; 324. a fifth connecting member; 325. a sixth connecting member;

41. a first connector; 42. a second connector; 421. a second inclined surface; 422. a first connector sub-member; 423. a second connector sub-member; 4231. a second through hole; 43. a third connecting member; 44. a fourth connecting member; 441. an assembling portion; 442. a mating portion;

51. an accommodating space; 52. an assembly space;

60. locking device.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

It is also to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

The inventor of the application finds that, for a stabilizer such as a tripod head with changeable load and adjustable mounting position, the tripod head needs to be leveled before being used due to different weights of different loads, so that the performance of a motor of the tripod head is extremely played. The leveling is to adjust the gravity centers of the load and the corresponding parts of the cradle head to fall on or approximately fall on each rotating shaft of the cradle head so as to prevent the motor of the cradle head from outputting unnecessary torque due to overcoming the gravity. The leveling effect of the cradle head is one of important factors influencing the stability enhancement performance of the cradle head. Unsuccessful leveling can lead to the operation of the holder device in an unbalanced state, which can affect the holder control effect, lead to the reduction of holder stability increasing capability, even greatly improve the holder power consumption, waste precious shooting time and opportunity, and the like.

However, leveling of the pan-tilt, particularly of the professional level pan-tilt, is usually performed manually and independently by a user, and the leveling result is grasped by the user. By the leveling mode, a common user, particularly a user entering the door, is difficult to learn how to level, is difficult to master whether to level or not, is difficult to judge whether the leveling effect is good enough or not, is difficult to level, and has large threshold and difficulty used by the user, so that the use experience of the user is influenced.

Therefore, the inventor of the application provides a rotating shaft mechanism, a cradle head and a cradle head system, so that the leveling operation of the cradle head is simplified, the threshold and difficulty used by a user are reduced, and the use experience of the user is improved.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

The embodiment of the application provides a parent device, which may be a vehicle, an aircraft, a robot, a ship, or a tripod head 1001 (refer to fig. 1), and so on. Referring to fig. 1 and 2, a parent device includes a spindle mechanism 100 according to any of the embodiments of the present application.

Illustratively, the parent device includes a fuselage. The motor 20 of the spindle mechanism 100 is connected to the body. For example, the motor 20 may be a motor of the pan-tilt 1001 and the body may be part of the pan-tilt 1001, such as the body including the arm 10 of fig. 2. As another example, the motor 20 may be a motor associated with a power assembly of an aircraft and the fuselage may include a horn of the aircraft. The power assembly of the aircraft is used to provide flight power to the aircraft, which may include a propeller and an electric motor 20 of any of the embodiments of the present application.

Referring to fig. 1, an exemplary parent device is a cradle head 1001, which may be used to carry a load, so as to adjust the position and orientation of the load, thereby meeting the job requirements of various scenarios. In some embodiments, the pan-tilt 1001 can also compensate the vibration of the load by rotating, so as to play a role in stabilizing and balancing the load, so that the load can work in a better posture, and further obtain more accurate information.

The load may be one of an imaging device 1002, a mobile terminal, a sensor, and the like. The imaging device 1002 may be an image acquisition device such as a video camera, a still camera, an ultrasonic imaging device, an infrared imaging device, an imaging lens, or the like. The mobile terminal can be a mobile phone, a tablet computer and the like. It will be appreciated that the imaging device 1002 may also be some mobile terminal, for example, the imaging device 1002 may be a mobile phone, tablet computer, etc. with video and photo capabilities. Of course, it can be said that the mobile terminal may also be some imaging device. The sensor may be an audio capture device, a radio frequency sensor, a magnetic sensor, an ultrasonic sensor, or the like.

Referring to fig. 1, illustratively, the load is an imaging device 1002, and a user can carry out a shooting operation by mounting the imaging device 1002 on the cradle head 1001. Cradle head 1001 stabilizes imaging device 1002 or controls the pose of imaging device 1002.

In some embodiments, pan-tilt 1001 includes one or more spindle mechanisms 100, which spindle mechanisms 100 are used to adjust the attitude angle of a load mounted on pan-tilt 1001.

In some embodiments, the spindle mechanism 100 is a Pitch axis (Pitch axis) mechanism, a translation axis (YAW axis) mechanism, or a Roll axis (Roll axis) mechanism.

In some embodiments, pan-tilt 1001 is a three-axis pan-tilt. The one or more spindle mechanisms 100 include a pitch axis mechanism, a translation axis mechanism, and a roll axis mechanism. Illustratively, a pitch axis mechanism may be used to carry the load. The load is driven to do pitching motion around the pitching axis by the motor 20 of the pitching axis mechanism. The pitching shaft mechanism is arranged on the rolling shaft mechanism. The motor 20 of the roll shaft mechanism drives the load to roll around the roll shaft. The transverse rolling shaft mechanism is arranged on the translation shaft mechanism. The load is controlled by the motor 20 of the translation axis mechanism to perform a translational motion about the translation axis. It will be appreciated that in other embodiments, the mechanical coupling between the pitch, translation and roll axis mechanisms may be other as well, without limitation.

In some embodiments, one of the pitch axis mechanism, the translation axis mechanism, and the roll axis mechanism in the three-axis pan/tilt head comprises the spindle mechanism 100 of any of the embodiments of the present application. For example, the translation axis mechanism includes the spindle mechanism 100 of any of the embodiments of the present application.

In some embodiments, two of the pitch axis mechanism, the translation axis mechanism, and the roll axis mechanism in the three-axis pan/tilt head each comprise the spindle mechanism 100 of any of the embodiments of the present application. For example, each of the pitch axis mechanism and the translation axis mechanism includes the spindle mechanism 100 of any of the embodiments of the present application.

It should be noted that, although a three-axis pan-tilt is illustrated in the drawings, the solution provided in the embodiments of the present application is also applicable to other axis pan-tilt, such as a single-axis pan-tilt, a two-axis pan-tilt, and the like. Illustratively, at least one of the two spindle mechanisms 100 of the two-axis head includes the spindle mechanism 100 of any of the embodiments of the present application. For example, the translation axis mechanism of the two-axis head includes the spindle mechanism 100 of any of the embodiments of the present application.

Referring to fig. 2, in some embodiments, a spindle mechanism 100 includes a spindle arm 10, a motor 20, and a drive structure 30. The axle arm 10 is used to rotate the load. The motor 20 is used to drive the movement of the shaft arm 10. The motor 20 includes a fixed portion 21 and a rotating portion 22 rotatable relative to the fixed portion 21. The rotating portion 22 is coupled with the axle arm 10 through the transmission structure 30 so that the axle arm 10 can rotate following the rotation of the rotating portion 22 of the motor 20 in the first operation state, thereby adjusting the attitude angle of the load; the axle arm 10 is movable relative to the fixed part 21 of the motor 20 in the second operating state following the rotation of the rotating part 22, thereby adjusting the center of gravity of the pan/tilt head 1001. The first operating state is different from the second operating state.

The spindle mechanism 100 of the above-described embodiment includes a first operating state and a second operating state different from the first operating state. Since the rotating portion 22 of the motor 20 is coupled to the shaft arm 10 through the transmission structure 30, when the spindle mechanism 100 is in the first operating state, the rotating portion 22 of the motor 20 rotates, and the rotating portion 22 of the motor 20 can drive the shaft arm 10 to rotate through the transmission structure 30, thereby driving the load to rotate, so as to adjust the attitude angle of the load. When the rotation shaft mechanism 100 is in the second working state, the rotation part 22 of the motor 20 rotates, and the rotation part 22 of the motor 20 can drive the shaft arm 10 to move relative to the fixed part 21 of the motor 20 through the transmission structure 30, so as to adjust the center of gravity of the pan-tilt 1001, that is, perform leveling operation on the pan-tilt 1001, improve the stability-increasing capability of the pan-tilt 1001, and reduce the power consumption of the motor 20. As can be seen from this, when the pivot mechanism 100 needs to adjust the attitude angle of the load, the motor 20 can drive the pivot arm 10 to rotate so as to adjust the attitude angle of the load; when needing to level cloud platform 1001, motor 20 can drive the arm 10 and remove to adjust the focus of cloud platform 1001, this kind of leveling mode has simplified the leveling operation of cloud platform 1001, has improved the leveling efficiency of cloud platform 1001, has reduced threshold and the degree of difficulty that the user used, has promoted user's use experience greatly.

Illustratively, when the motor 20 is in the power-on standby state, the spindle mechanism 100 is in the first operating state, and the motor 20 is capable of driving the spindle arm 10 to rotate.

Illustratively, when the motor 20 is in the de-energized state, the spindle mechanism 100 is in the first operating state.

Illustratively, in the first operating state and the second operating state of the spindle mechanism 100, different parts of the transmission structure 30 are coupled to the rotating portion 22, so that the spindle arm 10 can rotate following the rotation of the rotating portion 22 in the first operating state, that is, when the spindle mechanism 100 is in the first operating state, the rotating portion 22 can drive the spindle arm 10 to rotate through a portion of the transmission structure 30, thereby adjusting the attitude angle of the load; when the spindle mechanism 100 is in the second working state, the spindle arm 10 can rotate along with the rotating part 22 and move relative to the fixed part 21 of the motor 20, namely, the rotating part 22 rotates, and the rotating part 22 drives the spindle arm 10 to slide relative to the fixed part 21 through the other part of the transmission structure 30, so that leveling is performed.

Referring to fig. 3 and 4, in some embodiments, the rotating portion 22 includes a rotational axis. When the spindle mechanism 100 is in the first working state, a certain part of the transmission structure 30 is coupled with the rotating shaft, and when the rotating shaft rotates, the certain part of the transmission structure 30 drives the spindle arm 10 and/or the cover member 23 (refer to fig. 3) to rotate under the action of the rotating shaft, so that the attitude angle of the load is adjusted. When the spindle mechanism 100 is in the second working state, the other part of the transmission structure 30 is coupled with the rotating shaft, and when the rotating shaft rotates, the other part of the transmission structure 30 drives the spindle arm 10 to slide relative to the fixed part 21 under the action of the rotating shaft, so that leveling is performed.

In other embodiments, the rotating portion 22 may be of any other suitable configuration. For example, the rotating portion 22 includes a rotating housing rotatably connected to the fixed portion 21. At least part of the stationary part 21 is provided in the rotating housing.

Illustratively, the stationary portion 21 includes a stator.

Referring to fig. 3 and 4, in some embodiments, the motor 20 further includes a cover 23. The cover 23 is mechanically coupled to the transmission structure 30. When the spindle mechanism 100 is in the first operating state, the cover 23 and the spindle arm 10 can rotate following the rotating portion 22, thereby adjusting the attitude angle of the load. When the spindle mechanism 100 is in the second operating state, the rotating portion 22 rotates, and the spindle arm 10 can slide relative to the cover member 23 and the fixed portion 21, thereby leveling.

In some embodiments, the cover 23 is mechanically coupled to the first coupling member 321 and/or the second coupling member 322 of the transmission structure 30 (see fig. 3). Illustratively, the cover 23 is integrally formed with the first coupling member 321 of the transmission structure 30, or alternatively, the cover 23 is integrally formed with the second coupling member 322 of the transmission structure 30.

Illustratively, the mechanical coupling of the cover 23 with the first coupling member 321 and/or the second coupling member 322 of the transmission structure 30 includes: at least one of screw locking connection, threaded connection, clamping connection, magnetic attraction connection, adhesive connection and the like.

Referring to fig. 3 and 4, in some embodiments, the cover 23 includes a protective cap 231 and a fastener 232. The protective cover 231 is mechanically coupled to a portion of the transmission structure 30. The fastening piece 232 is movably connected with the protective cover 231, and the transmission structure 30 can drive the fastening piece 232 to move relative to the protective cover 231, so that the fastening piece 232 locks the shaft arm 10 when the rotating shaft mechanism 100 is in the first working state, and therefore the shaft arm 10 and the cover piece 23 can rotate along with the rotation of the rotating part 22, and the attitude angle of a load is adjusted; the fastener 23 releases the arm 10 when the spindle mechanism 100 is in the second operating state, preventing the protective cap 231 and/or the fastener 232 from interfering with movement of the arm 10, thereby providing a precondition for leveling.

Illustratively, the fastener 232 is rotatably coupled to the protective cover 231, and the transmission structure 30 is capable of driving the fastener 232 to rotate relative to the protective cover 231 such that the fastener 232 locks the arm 10 when the spindle mechanism 100 is in the first operating state and unlocks the arm 10 when the spindle mechanism 100 is in the second operating state.

In other embodiments, the drive mechanism 30 is capable of driving the fastener 232 in translational or non-rotational movement relative to the protective cap 231, so long as the fastener 232 is capable of locking the arm 10 in the first operating condition and unlocking the arm 10 in the second operating condition.

In other embodiments, locking or unlocking of the axle arm 10 may also be accomplished by a user manually operating the fastener 232. It is of course also possible to implement locking in the first operating state or unlocking in the second operating state by means of other structures such as knobs or wrenches, without limitation.

Referring to fig. 3 and 4, in some embodiments, the fastener 232 can be engaged with or disengaged from the axle arm 10 to lock or unlock the axle arm 10. Thus, the locking or unlocking of the shaft arm 10 is conveniently and rapidly realized, and the structure is simple, and the operation is easy and convenient. In other embodiments, the fastener 232 may also be configured to lock or unlock the arm 10 by other means, such as a magnetic structure. For example, the fastener 232 can magnetically engage the arm 10 to lock the arm 10 and can magnetically disengage the arm 10 to unlock the arm 10.

It will be appreciated that the shape and structure of the protective cover 231 and the fastener 232 can be designed according to practical needs, and are not limited herein.

Referring to fig. 3 and 4, in some embodiments, the transmission structure 30 includes a first transmission 31 and a second transmission 32. Referring to fig. 4 and 5, when the axle arm 10 is in the first operating state, the first transmission 31 is in the first non-transmission state and the second transmission 32 is in the first transmission state. Referring to fig. 6 and 7, when the axle arm 10 is in the second operating state, the first transmission 31 is in the second transmission state and the second transmission 32 is in the second non-transmission state.

The second transmission 32 is mechanically coupled to the cover 23, for example.

In some embodiments, when the first transmission 31 is in the first non-transmission state and the second transmission 32 is in the first transmission state, the first transmission 31 is decoupled from the axle arm 10; the cover member 23 is mechanically coupled to the axle arm 10, and the rotating part 22 is in driving connection with the second transmission means 32, so that the axle arm 10 rotates following the rotation of the rotating part 22.

Referring to fig. 4 and 5, it will be appreciated that when the first transmission 31 is in the first non-transmission state, the first transmission 31 is disengaged from the arm 10. When the second transmission 32 is in the first transmission state, the fastener 232 locks the shaft arm 10 and the rotating portion 22 is in driving connection with the second transmission 32. When the rotating portion 22 rotates, the second transmission device 32, the cover member 23, the fastener 232, and the shaft arm 10 can rotate following the rotation of the rotating portion 22, thereby adjusting the attitude angle of the load.

Illustratively, as the rotating portion 22 rotates, the first transmission 31, the second transmission 32, the cover 23, the fastener 232, and the shaft arm 10 can rotate following the rotation of the rotating portion 22, thereby adjusting the attitude angle of the load.

In some embodiments, when the first transmission 31 is in the second transmission state and the second transmission 32 is in the second non-transmission state, the rotating portion 22 can be drivingly connected to the axle arm 10 through the first transmission 31 such that the axle arm 10 slides relative to the stationary portion 21 of the motor 20 as the rotating portion 22 rotates, the second transmission 32 being decoupled from the rotating portion 22.

It will be appreciated that when the second transmission 32 is in the second non-transmitting state, the second transmission 32 is decoupled from the rotating portion 22 and the second transmission 32 does not rotate following the rotation of the rotating portion 22. Referring to fig. 6 and 7, when the first transmission 31 is in the second transmission state, the fastener 232 releases the shaft arm 10, the first transmission 31 is in driving connection with the rotating portion 22, and the first transmission 31 is in driving connection with the shaft arm 10. Thus, when the rotating part 22 rotates, the first transmission device 31 can drive the shaft arm 10 to slide relative to the fixed part 21 of the motor 20 under the action of the rotating part 33, so that leveling is performed.

Referring to fig. 4, in some embodiments, the first transmission device 31 is disposed between the cover member 23 and the fixed portion 21 of the motor 20, so that the space of the spindle mechanism 100 can be fully utilized and at least a portion of the first transmission device 31 can be blocked by the cover member 23 under the condition that the motor 20 is guaranteed to slide the spindle arm 10 to perform leveling in the second working state. In other embodiments, the first transmission 31 may be provided at any other suitable location, which is not limited herein.

Referring to fig. 4, in some embodiments, a second transmission 32 is provided between the axle arm 10 and the stationary portion 21 of the motor 20. Under the premise of ensuring that the motor 20 drives the shaft arm 10 to rotate under the first working state so as to adjust the attitude angle of the load, the space of the rotating shaft mechanism 100 can be fully utilized, and the miniaturized design of the rotating shaft mechanism 100 is facilitated.

Referring to fig. 4, in some embodiments, the second transmission device 32 is disposed between the cover member 23 and the fixed portion 21 of the motor 20. Under the premise of ensuring that the motor 20 drives the shaft arm 10 to rotate under the first working state so as to adjust the attitude angle of the load, the space of the rotating shaft mechanism 100 can be fully utilized, and the miniaturized design of the rotating shaft mechanism 100 is facilitated. In other embodiments, the second transmission 32 may be provided at any other suitable location, without limitation.

Referring to fig. 4, in some embodiments, the first transmission 31 includes a first transmission member 311, a second transmission member 312, and a driving mechanism 313. The first transmission member 311 is mechanically coupled to the axle arm 10. The second transmission member 312 is capable of driving engagement with the first transmission member 311 and is coupled to the rotating portion 22. The drive mechanism 313 is capable of driving the second transmission member 312 in motion such that the first transmission member 311 is in driving engagement with the second transmission member 312 or out of driving engagement.

Illustratively, when the spindle mechanism 100 is in the first operating state, the first transmission member 311 is disengaged from the second transmission member 312, and the spindle arm 10 is able to rotate following the rotation of the rotating portion 22, thereby adjusting the attitude angle of the load. When the spindle mechanism 100 is in the second working state, the first transmission member 311 is in transmission fit with the second transmission member 312, the rotating portion 22 rotates, the second transmission member 312 rotates along with the rotating portion 22, and the first transmission member 311 drives the spindle arm 10 to slide relative to the fixed portion 21 under the action of the second transmission member 312, so that leveling is performed.

For example, referring to fig. 4 and 5, the first transmission member 311 is disengaged from the second transmission member 312. Referring to fig. 6 and 7, the first transmission member 311 is in driving engagement with the second transmission member 312.

In some embodiments, the driving manner of the first driving member 311 and the second driving member 312 includes at least one of the following: rack and pinion drive, worm and gear drive, screw drive, gear drive, belt drive, chain drive, and the like.

Referring to fig. 3 and 4, in some embodiments, one of the first transmission member 311 and the second transmission member 312 includes a rack (not shown), and the other includes a gear (not shown) in meshing engagement with the rack. Illustratively, the first transfer member 311 includes a rack and the second transfer member 312 includes a gear engaged with the rack. The transmission mode has simple structure and small occupied space, and is beneficial to the miniaturization design of the rotating shaft mechanism 100.

Referring to fig. 5 and 6, in some embodiments, the first transmission member 311 is at least partially embedded in the shaft arm 10. In this way, the space occupied by the first transmission member 311 and the shaft arm 10 can be reduced, and the weight of the shaft arm 10 can be reduced, which is advantageous in achieving miniaturization and weight saving of the spindle mechanism 100.

Referring to fig. 5 to 7, in some embodiments, the first transmission member 311 is provided with a fitting groove 3111. The drive mechanism 313 can drive at least a portion of the second transmission member 312 into the engagement slot 3111 for driving engagement with the first transmission member 311, or out of the engagement slot 3111 for out of driving engagement with the first transmission member 311.

Illustratively, the racks are provided on the groove walls of the mating groove 3111. The driving mechanism 313 can drive at least part of the second transmission member 312 into the mating slot 3111 such that the gear of the second transmission member 312 meshes with the rack on the slot wall of the mating slot 3111. The driving mechanism 313 can drive at least a portion of the second transmission member 312 from within the mating slot 3111 to outside the mating slot 3111, thereby disengaging the gear of the second transmission member 312 from the rack on the slot wall of the mating slot 3111.

Illustratively, the mechanical coupling of the first transmission member 311 to the axle arm 10 includes: at least one of screw locking connection, threaded connection, clamping connection, magnetic attraction connection, adhesive connection and the like. In other embodiments, the first transmission member 311 may be integrally formed with the shaft arm 10.

The second transmission member 312 is coupled to the rotating portion 22 in a manner including: at least one of screw locking connection, threaded connection, clamping connection, magnetic attraction connection, adhesive connection and the like. Illustratively, the second transmission member 312 is disposed on the rotating portion 22 and is capable of moving relative to the rotating portion 22 along the axial direction of the rotating portion 22.

Referring to fig. 3-5, in some embodiments, the drive mechanism 313 includes a first coupling assembly 3131 and a reset member 3132. The first coupling assembly 3131 is capable of driving connection with the second driving member 312. The reset element 3132 is provided between the second transmission element 312 and the rotating portion 22 for resetting the second transmission element 312.

For example, when the spindle mechanism 100 needs to be switched from the second operating state to the first operating state, the first connecting assembly 3131 can drive the second transmission member 312 to move until the second transmission member 312 is out of driving engagement with the first transmission member 311, and enable the reset member 3132 to elastically deform under the action of the second transmission member 312. When the spindle mechanism 100 needs to be switched from the first working state to the second working state, the reset member 3132 can drive the second transmission member 312 to move to the second transmission member 312 in driving engagement with the first transmission member 311.

Referring to fig. 4 and 5, in some embodiments, the first connecting assembly 3131 can drive the second transmission member 312 to move from the first position to the second position along the axial direction of the rotating portion 22, so that the second transmission member 312 is disengaged from the first transmission member 311, and the reset member 3132 is compressed or elongated. The second transmission member 312 is capable of moving from the second position to the first position under the elastic force of the reset member 3132, so that the second transmission member 312 is in driving engagement with the first transmission member 311.

Illustratively, the reset member 3132 is compressible during movement of the second transmission member 312 from the first position to the second position.

The first position is, for example, a position corresponding to the second transmission member 312 in the second operating state. The second position is a position corresponding to the second transmission member 312 in the first operating state.

Illustratively, the first position is the position in which the second transmission member 312 is in fig. 6 and 7. The second position is the position of the second transmission member 312 in fig. 4 and 5.

In other embodiments, the second transmission member 312 may also move in other suitable directions of movement, without limitation.

Referring to fig. 6 and 7, in some embodiments, the driving mechanism 313 further includes a first manipulator 3133. The first operating member 3133 can be in driving connection with the first connecting assembly 3131. The first manipulator 3133 is capable of driving the first connecting assembly 3131 to move under the action of an external force, so that the first connecting assembly 3131 drives the second transmission member 312 to move from the first position to the second position, and further the second transmission member 312 is separated from the first transmission member 311 and the reset member 3132 is elastically deformed under the action of the second transmission member 312.

Illustratively, the first operating member 3133 drives the first connecting assembly 3131 out of driving connection with the second driving member 312 under the action of an external force in another opposite direction. At this time, the reset member 3132 can drive the second transmission member 312 to move from the second position to the first position, so that the second transmission member 312 is in driving engagement with the first transmission member 311.

Illustratively, when the external force applied to the first operating member 3133 is removed, the reset member 3132 is able to move the second transmission member 312 from the second position to the first position such that the second transmission member 312 is in driving engagement with the first transmission member 311.

In some embodiments, the first operating member 3133 includes a knob, a rotary knob, a push button, or the like.

Referring to fig. 6 and 7, in some embodiments, the first connection assembly 3131 includes a first connection 41 and a second connection 42. The first connecting member 41 is mechanically coupled to the first operating member 3133. The second connecting member 42 is coupled to the first connecting member 41 and is capable of driving connection with the second driving member 312. The first operating member 3133 can drive the first connecting member 41 to move, so as to drive the second connecting member 42 to move near the rotating portion 22, so that the second connecting member 42 drives the second transmission member 312 to move from the first position to the second position, that is, drives the second transmission member 312 to move from the position corresponding to the second working state to the position corresponding to the first working state.

As can be appreciated, the first operating member 3133 can move the first connecting member 41 under the action of an external force, so as to move the second connecting member 42 close to the rotating portion 22, and further, the second connecting member 42 moves the second transmission member 312 from the first position to the second position.

Illustratively, the first operating member 3133 moves the first connecting member 41 under the action of an external force in another opposite direction, so that the second connecting member 42 moves away from the rotating portion 22, and the second connecting member 42 is disengaged from the second transmission member 312. At this time, the reset member 3132 can drive the second transmission member 312 to move from the second position to the first position, so that the second transmission member 312 is in driving engagement with the first transmission member 311.

Illustratively, when the external force applied to the first operating member 3133 is removed, the reset member 3132 is able to drive the second transmission member 312 to move from the second position to the first position, that is, from the position corresponding to the first operating state to the position corresponding to the second operating state. The second transmission member 312 is capable of moving the second connection member 42 away from the rotating portion 22 to avoid interference of the second connection member 42 with movement of the second transmission member 312 from the second position to the first position.

Referring to fig. 6 and 7, in some embodiments, the first operating member 3133 can rotate the first connecting member 41, thereby moving the second connecting member 42 in the radial direction of the rotating portion 22 toward the rotating portion 22. Thus, the first connecting assembly 3131 has a simple structure and occupies a small space.

Referring to fig. 6 and 7, the first operating member 3133 is illustratively capable of rotating the first coupling member 41, thereby moving the second coupling member 42 toward or away from the rotating portion 22 in a radial direction of the rotating portion 22.

It will be appreciated that in other embodiments, the second link 42 may also move along other trajectories, such as curves, to move closer to or farther from the rotating portion 22.

The mechanical coupling manner of the first connecting member 41 and the first operating member 3133 includes: at least one of screw locking connection, threaded connection, clamping connection, magnetic attraction connection, adhesive connection, grafting and the like. An end of the first connector 41 is illustratively inserted over the first operator 3133.

In some embodiments, the first connector 41 comprises a cam member. When the first operating member 3133 is operated, the cam member can move the second connecting member 42 toward or away from the rotating portion 22.

Referring to fig. 5 and 7, in some embodiments, the second transmission member 312 is provided with a first inclined surface 3121, and the second connection member 42 is provided with a second inclined surface 421. The first inclined surface 3121 is engaged with the second inclined surface 421. Illustratively, the included angle between the first inclined surface 3121 and the axial direction of the rotating portion 22 is an acute angle. Illustratively, the first incline 3121 is parallel or substantially parallel to the second incline 421.

The first operating member 3133 drives the first connecting member 41 to rotate under the action of the external force, the second connecting member 42 moves close to the rotating portion 22 under the action of the first connecting member 41, and the second inclined surface 421 can apply a force to the first inclined surface 3121, so that the second connecting member 42 drives the second transmission member 312 to move from a position corresponding to the second operating state to a position corresponding to the first operating state along the axial direction of the rotating portion 22.

Illustratively, the first operating member 3133 moves the first connecting member 41 under the action of an external force in another opposite direction, so that the second connecting member 42 moves away from the rotating portion 22 to disengage the first inclined surface 3121 from the second inclined surface 421. At this time, the reset member 3132 can drive the second transmission member 312 to move from the second position to the first position, so that the second transmission member 312 is in driving engagement with the first transmission member 311.

Illustratively, when the external force applied to the first operating member 3133 is removed, the reset member 3132 is able to drive the second transmission member 312 to move from the second position to the first position, that is, from the position corresponding to the first operating state to the position corresponding to the second operating state. The first inclined surface 3121 is capable of applying a force to the second inclined surface 421 such that the second connection member 42 moves away from the rotating portion 22.

Referring to fig. 6 and 7, in some embodiments, the second connector 42 includes a first connector sub 422 and a second connector sub 423. The first connector piece 422 is coupled with the first connector piece 41. The second connector piece 423 is mechanically coupled to the first connector piece 422 and is capable of driving connection with the second driving piece 312. The first connecting sub-member 422 can move close to the rotating portion 22 under the action of the first connecting member 41, and further drive the second connecting sub-member 423 to move close to the rotating portion 22.

Illustratively, the first connecting sub 422 is capable of moving toward or away from the rotating portion 22 under the action of the first connecting member 41, thereby driving the second connecting sub 423 to move toward or away from the rotating portion 22.

Illustratively, the second ramp 421 is provided on the second connector piece 423.

Illustratively, the coupling between the first connector sub-member 422 and the first connector member 41 comprises: snap-fit connection or plug-in connection, etc.

Illustratively, the first connector piece 422 is provided separately from the second connector piece 423. The mechanical coupling between the first connector piece 422 and the second connector piece 423 includes at least one of: screw locking connection, threaded connection, clamping connection, interference fit, adhesive connection, riveting and the like. In other embodiments, the first connector piece 422 may also be integrally formed with the second connector piece 423.

Referring to fig. 6 and 7, in some embodiments, the first connecting sub-member 422 is at least partially protruding above the second connecting sub-member 423. The portion of the first connector piece 422 protruding from the second connector piece 423 is configured to be inserted into the first connector piece 41.

The shapes and structures of the first connector piece 422 and the second connector piece 423 can be designed according to practical requirements. For example, the first connector piece 422 includes a pin and the second connector piece 423 includes a pin.

Referring to fig. 6 and 7, in some embodiments, the drive mechanism 313 can drive the fastener 232 to rotate relative to the protective cap 231 to lock or unlock the axle arm 10. It can be appreciated that the driving mechanism 313 can drive the second transmission member 312 to move and drive the fastening member 232 to rotate relative to the protecting cover 231, so that the rotating shaft mechanism 100 can be simply and quickly switched between the first working state and the second working state, and after the rotating shaft mechanism is switched to the second working state, the rotating portion 22 of the motor 20 rotates to drive the shaft arm 10 to slide relative to the fixed portion 21 so as to realize leveling.

Referring to fig. 6 and 7, in some embodiments, the drive mechanism 313 further includes a second coupling assembly 3134. The second connecting member 3134 is mechanically coupled to the first operating member 3133 and to the fastener 232. The first operating member 3133 can drive the second connecting component 3134 to move under the action of external force, so as to drive the fastener 232 to rotate relative to the protective cover 231.

Illustratively, the first and second connection assemblies 3131, 3134 are disposed opposite one another.

Illustratively, the first and second coupling assemblies 3131, 3134 are disposed in an aligned parallel orientation with the axial direction of the rotating portion 22. In this way, the structure of the spindle mechanism 100 is compact, so that space can be effectively utilized, and miniaturization of the spindle mechanism 100 is facilitated.

Referring to fig. 3, 6 and 7, in some embodiments, the second connection assembly 3134 includes a third connection 43. The third connecting member 43 is mechanically coupled to the first operating member 3133. The first operating member 3133 can move the third connecting member 43, thereby driving the fastener 232 to lock or unlock the arm 10.

The mechanical coupling means between the third connecting member 43 and the first operating member 3133 includes: at least one of screw locking connection, threaded connection, clamping connection, magnetic attraction connection, adhesive connection, grafting and the like. The third connector 43 is illustratively inserted over the first manipulator 3133.

It will be appreciated that the fastener 232 can be mechanically coupled, either directly or indirectly, to the third connector 43. Thus, the first operating member 3133 is operated, and the third connecting member 43 can lock or unlock the shaft arm 10 by driving the fastener 232 by the first operating member 3133.

The structure and shape of the third connecting member 43 may be set according to actual needs. Illustratively, the third connector 43 comprises a hugging screw.

Referring to fig. 7 and 8, in some embodiments, second coupling assembly 3134 further includes fourth coupling 44. The fourth link 44 is mechanically coupled to the third link 43. And the fourth connector 44 can be mechanically coupled to the fastener 232. The first operating member 3133 is operated, and the third connecting member 43 can drive the fourth connecting member 44 to move under the action of the first operating member 3133, so that the fastening member 232 is driven to lock or unlock the shaft arm 10.

Illustratively, rotating the first operating member 3133, the third connecting member 43 and the fourth connecting member 44 can move in a first direction or a second direction opposite to the first direction to compress or loosen the fastener 232, thereby rotating the fastener 232 relative to the protective cap 231 in the first rotational direction to lock the shaft arm 10 or in the second rotational direction opposite to the first rotational direction to loosen the shaft arm 10. Illustratively, the first direction is parallel to the axial direction of the rotating portion 22.

Referring to fig. 7 and 8, in some embodiments, a rotation shaft 233 is connected to one side of the fastening member 232, and the fastening member 232 is rotatably connected to the protective cover 231 through the rotation shaft 233. Illustratively, the shaft 233 may be provided separate from the fastener 232 or integrally formed therewith, without limitation.

Referring to fig. 7 and 8, in some embodiments, a first connection portion 2321 is connected to the other opposite side of the fastener 232, the first connection portion 2321 being formed with a recessed groove 2322. The fourth connecting member 44 includes a fitting portion 441 and a fitting portion 442 connected with the fitting portion 441. The fitting portion 441 is mechanically coupled to the third connecting member 43. The engaging portion 442 engages with the recess 2322 and can be mounted on the recess 2322.

For example, the first connection 2321 may be integrally formed with the fastener 232 or provided separately. And are not limited herein.

An end of the third connecting member 43 is illustratively inserted into the first operating member 3133. The other end of the third connector 43 is inserted into the fitting portion 441.

Illustratively, the mating portion 442 is adapted to the shape of the recessed slot 2322, such as the recessed slot 2322 including a first arcuate surface (not labeled), the mating portion 442 including a second arcuate surface that mates with the first arcuate surface.

The number of the engaging portions 442 and the concave grooves 2322 may be designed according to practical needs, such as one, two, three, four or more, respectively. Illustratively, the number of mating portions 442, first connecting portions 2321, and recessed slots 2322 is two, which enables a reliable, stable connection of the fourth connector 44 with the fastener 232. Illustratively, the two mating portions 442 are spaced apart, which can provide both secure connection of the fourth connector 44 to the fastener 232 and minimizing weight of the fastener 232 or spindle mechanism 100, as well as providing clearance for the mounting portion 441 and/or the third connector 43.

In other embodiments, the fastener 232 may be rotated relative to the protective cap 231 by another operating mechanism to lock or unlock the arm 10.

In some embodiments, the second transmission 32 includes a first coupling 321 and a second coupling 322. One of the first coupling member 321 and the second coupling member 322 is mechanically coupled with the cover member 23 of the motor 20. The first coupling member 321 can engage with the second coupling member 322 to hug the rotating portion 22 or disengage to release the rotating portion 22.

Illustratively, the first coupling 321 is capable of mating with the second coupling 322 to hug the rotating portion 22 when the spindle mechanism 100 is in the first operating state. In this way, the rotating portion 22 rotates, and can drive the first coupling member 321 and the second coupling member 322 to rotate along with the rotation of the rotating portion 22, and further drive the cover member 23 and the shaft arm 10 to rotate, so as to adjust the attitude angle of the load.

When the spindle mechanism 100 is in the second operating state, the first coupling member 321 can disengage from the second coupling member 322 to release the rotating portion 22, and the first coupling member 321 and the second coupling member 322 no longer hugs the rotating portion 22. In this way, the rotating part 22 rotates, and the first coupling member 321 and the second coupling member 322 do not rotate along with the rotation of the rotating part 22 any more, so that a guarantee is provided for the rotating part 22 to drive the shaft arm 10 to slide relative to the fixed part 21 for leveling.

The relative positions of the first coupling member 321 and the second coupling member 322 can be designed according to practical requirements. For example, the first coupling member 321 is disposed opposite to the second coupling member 322.

Referring to fig. 3, 6 and 7, in some embodiments, the first coupling member 321, the second coupling member 322 and the rotating portion 22 cooperate to form a receiving space 51 for at least partially receiving the second transmission member 312. For example, when the spindle mechanism 100 needs to be switched from the second working state to the first working state, the first connecting assembly 3131 can drive at least part of the second transmission member 312 to enter the accommodating space 51 from the matching groove 3111, so that the second transmission member 312 is disengaged from the first transmission member 311, and the reset member 3132 is elastically deformed under the action of the second transmission member 312. When the spindle mechanism 100 needs to be switched from the first working state to the second working state, the reset member 3132 can drive at least part of the second transmission member 312 to enter the matching groove 3111 from the accommodating space 51, so that the first transmission member 311 is in transmission fit with the second transmission member 312.

In some embodiments, the first coupling 321 and the second coupling 322 can cooperate to hug the rotating portion 22 in a radial direction of the rotating portion 22. In other embodiments, the first coupling member 321 and the second coupling member 322 can hug the rotating portion 22 along other tracks, such as non-radial tracks, without limitation.

Illustratively, one of the first coupling member 321 and the second coupling member 322 is mechanically coupled to the protective cover 231. For example, the first coupling 321 is mechanically coupled to the protective cover 231.

Illustratively, the first coupling member 321 is integrally formed with the protective cover 231 or separately provided, without limitation.

Referring to fig. 3, 6 and 7, in some embodiments, the second transmission 32 further includes a second operating member 323. One of the first coupling member 321 and the second coupling member 322 is mechanically coupled to the second operating member 323. The second operating member 323 can move the coupling member coupled with the second operating member 323 under the action of an external force, so that the first coupling member 321 and the second coupling member 322 are engaged to hug the rotating portion 22 or disengaged to release the rotating portion 22.

In some embodiments, the second operating member 323 includes at least one of a cinching cam, a toggle, a knob, a press, and the like. Illustratively, the second operating member 323 includes a enclasping cam.

Illustratively, the first coupling member 321 is mechanically coupled to the protective cap 231 and the second coupling member 322 is mechanically coupled to the second operating member 323. The second operating member 323 can move the second coupling member 322 under an external force, so that the first coupling member 321 and the second coupling member 322 are engaged to hug the rotating portion 22 or disengaged to release the rotating portion 22.

Illustratively, the first coupling member 321 is mechanically coupled to the second coupling member 322, and the first coupling member 321 and the second coupling member 322 are capable of relative movement to hug or unclamp the rotating portion 22. For example, one end of the first coupling member 321 may be rotatably connected to one end of the second coupling member 322, and the second coupling member 322 may be rotated relative to the first coupling member 321 by the second operating member 323, thereby holding or releasing the rotating portion 22.

Illustratively, the first transmission 31 is mechanically coupled to the second coupling 322.

Illustratively, the mechanical coupling between the first transmission 31 and the second coupling 322 includes: at least one of screw locking connection, threaded connection, clamping connection, magnetic attraction connection, adhesive connection, grafting and the like.

Referring to fig. 3, 6 and 7, in some embodiments, the second coupling member 322 is mechanically coupled to the second operating member 323, and the second connecting member 42 of the first transmission 31 passes through the second coupling member 322.

The second coupling member 322 may be mechanically coupled directly or indirectly to the second operating member 323. Referring to FIG. 3, the second transmission 32 also illustratively includes a fifth link 324 and a sixth link 325. The fifth connecting piece 324 is inserted through the second operating piece 323, and the fifth connecting piece 324 is plugged with the sixth connecting piece 325. The sixth connection member 325 penetrates the first coupling member 321 and the second coupling member 322. When the second operating member 323 is operated, the fifth connecting member 324 can rotate the second coupling member 322 relative to the first coupling member 321 under the action of the second operating member 323 to tighten or loosen the rotating portion 22.

Illustratively, the fifth link 324 is perpendicular or substantially perpendicular to the sixth link 325. The length of the fifth link 324 extends in a direction substantially parallel to the axial direction of the rotating portion 22.

Illustratively, the fifth link 324 comprises a hug pin. The sixth connector 325 comprises a rod-like member.

Referring to fig. 9 and 10, in some embodiments, the rotating portion 22 includes a first shaft portion 221 and a second shaft portion 222 connected to the first shaft portion 221. The second transmission member 312, the first shaft portion 221, and the second shaft portion 222 cooperate to form the fitting space 52. The reset member 3132 is provided in the fitting space 52. Illustratively, the reset member 3132 has one end abutting against the second transmission member 312 and the other end abutting against the second shaft portion 222.

Referring to fig. 9 and 10, illustratively, the radial dimension of the portion of the second shaft portion 222 for connection with the first shaft portion 221 is greater than the radial dimension of the first shaft portion 221. In this way, a step is formed at the connection between the first shaft 221 and the second shaft 222 for the other end of the reset element to abut.

Referring to fig. 9 and 10, in some embodiments, the rotating portion 22 further includes a first protruding portion 223 and a second protruding portion 224, where the first protruding portion 223 and the second protruding portion 224 are both protruding on the second shaft portion 222. The first protruding portion 223 and the second protruding portion 224 are disposed at intervals along the axial direction of the second shaft portion 222 to form a limiting space 225. At least part of the first coupling member 321 and at least part of the second coupling member 322 can be accommodated in the spacing space 225. The first projection 223 and/or the second projection 224 are capable of limiting axial movement of the first coupling 321 along the second shaft 222. The first projection 223 and/or the second projection 224 are capable of limiting axial movement of the second coupling member 322 along the second shaft portion 222.

Referring to fig. 11 to 13, in some embodiments, a first coupling groove 3211 is formed on the first coupling member 321, and a second coupling groove 3221 is formed on the second coupling member 322 to be matched with the first coupling groove 3211. The groove wall of the first coupling groove 3211 can be engaged with the groove wall of the second coupling groove 3221 to clamp the second shaft portion 222. The shape of each of the first coupling groove 3211 and the second coupling groove 3221 is adapted to the shape of the second shaft portion 222. Illustratively, the first coupling groove 3211 and the second coupling groove 3221 are both arcuate grooves.

Referring to fig. 13, in some embodiments, the second coupling member 322 is formed with a receiving hole 3222 for receiving the first connecting member 41 and a first penetration hole 3223 communicating with the receiving hole 3222. The first penetration hole 3223 communicates with the second coupling groove 3221. The second connector piece 423 is inserted through the first insertion hole 3223. Referring to fig. 3, a second through hole 4231 is formed in the second connecting sub-member 423. The first connection sub 422 is penetrated through the second penetration hole 4231. The first connector sub-member 422 is at least partially positioned within the receiving aperture 3222.

Referring to fig. 11 to 13, in some embodiments, a first receiving groove 3212 is formed on the first coupling member 321. The second coupling piece 322 has a second receiving groove 3224 formed therein. The first receiving groove 3212, the second receiving groove 3224 and the rotating portion 22 cooperate to form a receiving space 51 for at least partially receiving the second transmission member 312.

Referring to fig. 11 to 13, in some embodiments, a first lug 3213 is formed on the first coupling member 321, and a second lug 3225 is formed on the second coupling member 322. A connecting member such as a connecting shaft is provided through the first and second lugs 3213 and 3225 to thereby achieve rotatable connection of the first coupling 321 and the second coupling 322.

Referring to fig. 11 to 13, in some embodiments, a second connection portion 3214 is formed on the first coupling member 321, and a third connection portion 3226 is formed on the second coupling member 322. The sixth connection member 325 is provided through the second connection portion 3214 and the third connection portion 3226.

Referring to fig. 14, in some embodiments, the second operating member 323 has a connecting lug 3231 formed thereon. The fifth link 324 is provided through the link lug 3231 to achieve mechanical coupling with the second operating element 323.

The number of the connection lugs 3231 can be designed according to actual demands, such as one, two, three or more. Illustratively, the number of the connecting lugs 3231 is two, and the two connecting lugs 3231 are spaced apart. In this way, not only can the fifth link 324 and the sixth link 325 be provided with a space for clearance, but also the weight of the second operating member 323 can be reduced.

Referring to fig. 2 and 3, in some embodiments, the spindle mechanism 100 further includes a locking device 60. In the leveling process and the like, when the shaft arm 10 slides to a proper position relative to the fixed part 21, the locking device 60 can lock the shaft arm 10 and the motor 20, so that the problem that the shooting quality of a load is affected due to unstable connection between the shaft arm 10 and the motor 20 and easy shaking or shaking in the use process is avoided.

Illustratively, the axle arm 10 is detachably connected to the motor 20 by a locking device 60.

Illustratively, the locking device 60 includes a knob locking device or a toggle locking device, or the like.

Illustratively, when the spindle mechanism 100 is in the second operating state, the rotating portion 22 rotates to drive the spindle arm 10 to linearly move or slide relative to the fixed portion 21, thereby adjusting the center of gravity of the pan/tilt head 1001.

Illustratively, the spindle mechanism 100 is formed with a chute (not shown) that slidably mates with the spindle arm 10. When the spindle mechanism 100 is in the second operating state, the rotating portion 22 rotates, and the spindle arm 10 can slide along the slide groove, thereby adjusting the center of gravity of the pan/tilt head 1001.

Illustratively, the cover 23 cooperates with the second transmission 32 to form a chute.

Illustratively, the chute is formed on the motor 20.

In some embodiments, spindle mechanism 100 further includes a controller (not shown). The controller is used to control the operation of the motor 20. The controller may be a remote controller, for example. The controller may also be a circuit structure, such as a circuit board, disposed on the parent device, for example.

The controller is in signal communication with the motor 20, either by wire or wirelessly, to control operation of the motor 20, for example.

The working principle of the spindle mechanism 100 is described in detail by way of example.

When the motor 20 is in the power-on standby state, the rotating shaft mechanism 100 is in the first working state, and the first coupling member 321 and the second coupling member 322 are engaged with the rotating portion 22 of the motor 20. The first transmission member 311 is disengaged from the second transmission member 312 as shown in fig. 4 and 5. The fastener 232 secures the axle arm 10. The locking device 60 locks the shaft arm 10 with the motor 20. The restoring member 3132 is elastically deformed.

At this time, if the attitude angle of the load needs to be adjusted, the rotating portion 22 of the motor 20 may be controlled to rotate to drive the first coupling member 321 and the second coupling member 322 coupled to the rotating portion 22 to rotate, thereby driving the cover member 23 connected to the first coupling member 321 and the second connecting member 42 connected to the second coupling member 322 to rotate, and the first connecting member 41, the first operating member 3133, the third connecting member 43, the fourth connecting member 44 and the fastening member 232 also follow to rotate, thereby driving the shaft arm 10 to rotate following the rotating portion 22 to rotate, so as to realize the adjustment of the attitude angle of the load.

When the spindle mechanism 100 needs to be switched from the first working state to the second working state, the locking device 60 is operated such that the locking device 60 unlocks the spindle arm 10 and the cover 23. The second operating member 323 is manually moved such that the first coupling member 321 and the second coupling member 322 release the rotating portion 22, and at this time the first coupling member 321 and the second coupling member 322 do not rotate following the rotation of the rotating portion 22, nor does the axle arm 10 rotate following the rotation of the rotating portion 22.

The first operating member 3133 is manually rotated in the third rotational direction such that the first operating member 3133 rotates the third connecting member 43 and the first connecting member 41. The third connecting member 43 rotates the fastening member 232 in the second rotational direction about the rotation shaft 233 via the fourth connecting member 44, so that the fastening member 232 releases the arm 10. The rotation of the first connecting member 41 can drive the first connecting sub-member 422 to move in a direction away from the rotating portion 22 along the radial direction of the rotating portion 22, and further drive the second connecting sub-member 423 to move in a direction away from the rotating portion 22 along the radial direction of the rotating portion 22. During the movement of the second link member 423 in the radial direction of the rotating portion 22 in a direction away from the rotating portion 22, the second inclined surface 421 of the first link member 422 no longer applies a force to the first inclined surface 3121 of the second transmission member 312. The second transmission member 312 is capable of being restored by upward movement by the elastic force of the restoring member 3132, so that the second transmission member 312 is engaged with the first transmission member 311. At this time, the rotating portion 22 of the control motor 20 rotates, so as to drive the second transmission member 312 to rotate, and the second transmission member 312 can drive the first transmission member 311 to move, so as to drive the shaft arm 10 connected to the first transmission member 311 to move or slide relative to the fixed portion 21, thereby adjusting the center of gravity of the pan-tilt 1001.

When the shaft arm 10 is slid to a proper position with respect to the fixed portion 21, the spindle mechanism 100 can be switched from the second operation state to the first operation state. Specifically, the first operating member 3133 is manually rotated in a fourth rotation direction opposite to the third rotation direction, so that the first operating member 3133 rotates the third connecting member 43 and the first connecting member 41. The third connecting piece 43 drives the fastening piece 232 to rotate around the rotating shaft 233 along the first rotating direction through the fourth connecting piece 44, so that the fastening piece 232 holds the shaft arm 10 tightly. The rotation of the first connecting member 41 can drive the first connecting sub-member 422 to move in a direction approaching the rotating portion 22 along the radial direction of the rotating portion 22, and further drive the second connecting sub-member 423 to move in a direction approaching the rotating portion 22 along the radial direction of the rotating portion 22. During the movement of the second link member 423 in the radial direction of the rotation portion 22 toward the rotation portion 22, the second inclined surface 421 of the second link member 423 contacts the first inclined surface 3121 of the second transmission member 312, and the second inclined surface 421 applies a force to the first inclined surface 3121, so that the second transmission member 312 moves downward, thereby disengaging the second transmission member 312 from the first transmission member 311.

The locking means 60 is operated such that the locking means 60 locks the shaft arm 10 with the cover 23.

The second operating member 323 is manually moved to enable the first coupling member 321 and the second coupling member 322 to hug the rotating portion 22, at this time, the rotating portion 22 of the motor 20 is controlled to rotate, and the first coupling member 321 and the second coupling member 322 rotate along with the rotation of the rotating portion 22, so that the shaft arm 10 is driven to rotate along with the rotation of the rotating portion 22, and the attitude angle of the load is adjusted.

It will be appreciated that the spindle mechanism 100 of the present embodiment may be configured such that a user may switch the spindle mechanism 100 between the first operating state and the second operating state by operating the first operating member 3133 and/or the second operating member 323. When the rotating shaft mechanism 100 is switched to the first working state, the controller can control the rotating part 22 of the motor 20 to rotate, and the transmission structure 30 can drive the shaft arm 10 to rotate under the action of the rotating part 22, so that the attitude angle of the load is adjusted. When the rotation shaft mechanism 100 is switched to the second working state, the controller can control the rotation portion 22 of the motor 20 to rotate, and the transmission structure 30 can drive the shaft arm 10 to slide relative to the fixed portion 21 under the action of the rotation portion 22, so as to adjust the center of gravity of the pan-tilt 1001. Thus, the motor 20 of the spindle mechanism 100 can drive the spindle arm 10 to rotate to adjust the attitude angle of the load and can drive the spindle arm 10 to slide to perform leveling. Further, at the time of leveling, the user simply operates the first operating member 3133 and/or the second operating member 323, so that the spindle mechanism 100 is switched from the first operating state to the second operating state. Then, only need to drive the axle arm 10 through motor 20 and slide and can realize the leveling, need not manual removal axle arm 10, simplified the leveling operation of cloud platform 1001, improved the leveling efficiency of cloud platform 1001, reduced threshold and the degree of difficulty that the user used, promoted user's use experience greatly.

The embodiment also provides a rotating shaft mechanism 100 for parent equipment, wherein the rotating shaft mechanism 100 comprises a driven piece, a motor 20 and a transmission structure 30. The motor 20 is used to drive the driven member in motion. The motor 20 is coupled to the driven member through the transmission structure 30 so that the driven member can rotate following the rotation of the rotating portion 22 of the motor 20 in the first operating state; the driven member is capable of following the movement of the rotating part of the motor relative to the fixed part 21 of the motor 20 in the second operating state, thereby adjusting the centre of gravity of the parent device; the first operating state is different from the second operating state.

Illustratively, the parent device may be the parent device of any of the embodiments of the present application. Such as a vehicle, aircraft, robot, vessel, or cradle 1001, etc.

Illustratively, the driven member may be any component that requires driving by the motor 20, such as the axle arm 10 of any of the embodiments described above.

The spindle mechanism 100 of the above-described embodiment includes a first operating state and a second operating state different from the first operating state. Since the motor 20 is coupled to the driven member through the transmission structure 30, when the spindle mechanism 100 is in the first working state, the rotating portion 22 of the motor 20 rotates, and the rotating portion 22 of the motor 20 can drive the driven member to rotate through the transmission structure 30, so as to drive the external member coupled to the driven member to rotate, thereby adjusting the attitude angle of the external member. When the rotating shaft mechanism 100 is in the second working state, the rotating part 22 of the motor 20 rotates, and the rotating part 22 of the motor 20 can drive the driven piece to move relative to the fixed part 21 of the motor 20 through the transmission structure 30, so that the gravity center of the parent equipment is adjusted, namely, the parent equipment is subjected to leveling operation, the stability increasing capability of the parent equipment is improved, and the power consumption of the motor 20 is reduced. As can be seen from this, when the rotation axis mechanism 100 needs to adjust the attitude angle of the external component, the motor 20 can drive the driven member to rotate so as to adjust the attitude angle of the external component; when the leveling is required, the motor 20 can drive the driven piece to move so as to adjust the gravity center of the parent equipment, and the leveling mode simplifies the leveling operation of the parent equipment, improves the leveling efficiency of the parent equipment, reduces the threshold and difficulty used by a user, and greatly improves the use experience of the user.

Referring to fig. 1, an embodiment of the present application further provides a pan/tilt head 1001, including one or more of the spindle mechanisms 100 of any of the above embodiments; and a mounting unit 200. The mounting portion 200 is connected to the spindle mechanism 100 and is used for mounting a load.

Illustratively, the mount 200 may be a clamping structure or the like.

Referring to fig. 1, the embodiment of the present application further provides a pan-tilt system 1000, including the rotating shaft mechanism 100 or the pan-tilt 1001 of any one of the above embodiments; and an imaging device 1002. The imaging device 1002 is mounted on the spindle mechanism 100 or the mounting unit 200.

In the description of the present application, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "mechanically coupled," "coupled," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The mechanical coupling, coupling or coupling of two components includes both direct coupling as well as indirect coupling, e.g., direct fixed connection, connection through a transmission, etc. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The above disclosure provides many different embodiments or examples for implementing different structures of the present application. The components and arrangements of specific examples are described above in order to simplify the disclosure of this application. Of course, they are merely examples and are not intended to limit the present application. Furthermore, the present application may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not in themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular method step, feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular method steps, features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A rotary shaft mechanism of a pan-tilt, comprising:

The shaft arm is used for driving a load carried on the cradle head to rotate;

the motor comprises a fixed part and a rotating part capable of rotating relative to the fixed part and is used for driving the shaft arm to move;

the transmission structure is coupled with the shaft arm through the transmission structure, so that the shaft arm can rotate along with the rotation of the rotation part in a first working state, and the attitude angle of the load is adjusted; the shaft arm can rotate along with the rotating part and slide relative to the fixed part in a second working state, so that the gravity center of the cradle head is adjusted; the first operating state is different from the second operating state.
The spindle mechanism of claim 1, wherein the rotating portion comprises a rotating shaft.
The spindle mechanism of claim 1, wherein the motor further comprises:

the cover piece is mechanically coupled with the transmission structure, and when the rotating shaft mechanism is in the first working state, the cover piece and the shaft arm can rotate along with the rotation of the rotating part; when the rotating shaft mechanism is in the second working state, the shaft arm can rotate along with the rotating part to slide relative to the cover piece and the fixed part.
A spindle mechanism according to claim 3, wherein the cover comprises:

a protective cover mechanically coupled to a portion of the transmission structure;

the fastener is movably connected with the protective cover, the transmission structure can drive the fastener to move relative to the protective cover, so that the fastener locks the shaft arm when the rotating shaft mechanism is in the first working state, and loosens the shaft arm when the rotating shaft mechanism is in the second working state.
The spindle mechanism of claim 4, wherein the fastener is capable of engaging or disengaging from the spindle arm to lock or unlock the spindle arm.
The spindle mechanism of claim 1, wherein the transmission structure comprises:

the first transmission device and the second transmission device are in a first non-transmission state and the second transmission device is in a first transmission state when the rotating shaft mechanism is in the first working state;

when the rotating shaft mechanism is in the second working state, the first transmission device is in a second transmission state and the second transmission device is in a second non-transmission state.
The spindle mechanism of claim 6 wherein the motor further comprises a cover; when the first transmission device is in a first non-transmission state and the second transmission device is in a first transmission state, the first transmission device is disconnected from transmission connection with the shaft arm; the cover member is mechanically coupled to the axle arm, and the rotating portion is in driving connection with the second transmission device, so that the axle arm rotates following the rotation of the rotating portion.
The spindle mechanism of claim 6 wherein the motor further comprises a cover; when the first transmission device is in a second transmission state and the second transmission device is in a second non-transmission state, the rotating part can be in transmission connection with the shaft arm through the first transmission device so that the shaft arm slides relative to the fixed part of the motor when the rotating part rotates, and the second transmission device is out of transmission connection with the rotating part.
The spindle mechanism of claim 7 wherein the first transmission is disposed between the cover and a stationary portion of the motor; and/or the number of the groups of groups,

The second transmission device is arranged between the shaft arm and the fixed part of the motor; and/or the number of the groups of groups,

the second transmission device is arranged between the cover piece and the fixed part of the motor.
The spindle mechanism of claim 6 wherein the first transmission comprises:

a first transmission member mechanically coupled to the shaft arm;

the second transmission piece can be in transmission fit with the first transmission piece and is coupled with the rotating part;

the driving mechanism can drive the second transmission piece to move so that the first transmission piece is in transmission fit with the second transmission piece or out of transmission fit with the second transmission piece.
The spindle mechanism of claim 10, wherein the first and second drive members are driven by at least one of: gear rack drive, worm gear drive, screw drive, gear drive, belt drive, and chain drive.
The spindle mechanism of claim 10 wherein one of the first and second drive members includes a rack and the other includes a gear in meshing engagement with the rack.
The spindle mechanism of claim 10 wherein the first transmission member includes a rack and the second transmission member includes a gear in meshing engagement with the rack; and/or the number of the groups of groups,

the first transmission piece is at least partially embedded in the shaft arm.
The spindle apparatus of claim 10 wherein the first drive has a mating slot therein, and the drive mechanism is capable of driving at least a portion of the second drive into and out of driving engagement with the first drive or out of driving engagement with the first drive.
The spindle mechanism of claim 10, wherein the second transmission member is sleeved on the rotating portion.
The spindle mechanism of claim 10, wherein the drive mechanism comprises:

the first connecting component can be in transmission connection with the second transmission piece;

and the resetting piece is arranged between the second transmission piece and the rotating part and is used for resetting the second transmission piece.
The spindle apparatus of claim 16, wherein the first connection assembly is capable of moving the second transmission member from a first position to a second position along an axial direction of the rotating portion, thereby disengaging the second transmission member from the first transmission member and causing the reset member to be compressed or elongated; the second transmission piece can move from the second position to the first position under the elastic acting force of the reset piece, so that the second transmission piece is in transmission fit with the first transmission piece.
The spindle mechanism of claim 16, wherein the drive mechanism further comprises:

the first operating piece can be in transmission connection with the first connecting component.
The spindle mechanism of claim 18, wherein the first operating member comprises a knob, a rotary trigger, or a push.
The spindle mechanism of claim 18 wherein the first connection assembly comprises:

a first connector mechanically coupled to the first operator;

the second connecting piece is coupled with the first connecting piece and can be in transmission connection with the second transmission piece;

the first operating piece can drive the first connecting piece to move, so that the second connecting piece is driven to move close to the rotating part, and the second driving piece is driven to move from the position corresponding to the second working state to the position corresponding to the first working state.
The spindle apparatus of claim 20, wherein the first operating member is capable of rotating the first connecting member to thereby move the second connecting member radially adjacent the rotating portion.
The spindle mechanism of claim 20 wherein the first connector comprises a cam member.
The spindle mechanism of claim 20 wherein the second drive has a first bevel and the second connector has a second bevel, the first bevel mating with the second bevel.
The spindle mechanism of claim 20 wherein the second connector comprises:

a first connector sub-member coupled with the first connector member;

the second connecting sub-piece is mechanically coupled with the first connecting sub-piece and can be in transmission connection with the second transmission piece;

the first connecting sub-piece can move close to the rotating part under the action of the first connecting piece, and then the second connecting sub-piece is driven to move close to the rotating part.
The spindle mechanism of claim 24 wherein the first connector sub is at least partially protruding from the second connector sub.
The spindle mechanism of claim 24 wherein the first connector sub comprises a pin and the second connector sub comprises a pin.
The spindle mechanism of claim 24 wherein the first connector sub is provided separately from the second connector sub.
The spindle mechanism of claim 16 wherein the motor includes a protective cover mechanically coupled to at least a portion of the second transmission and a fastener rotatably coupled to the protective cover; the driving mechanism can drive the fastener to rotate relative to the protective cover so as to lock or unlock the shaft arm.
The spindle mechanism of claim 28, wherein the drive mechanism further comprises:

the first operating piece is in transmission connection with the first connecting component;

a second connection assembly mechanically coupled to the first operation member and mechanically coupled to the fastener;

the first operating piece can drive the second connecting assembly to move under the action of external force so as to drive the fastening piece to rotate relative to the protective cover.
The spindle mechanism of claim 29 wherein the first connection assembly and the second connection assembly are disposed opposite one another.
The spindle mechanism of claim 29, wherein the second connection assembly comprises:

a third link mechanically coupled to the first operating member; the first operating piece can drive the third connecting piece to move, so that the fastening piece is driven to lock or unlock the shaft arm.
The spindle mechanism of claim 31 wherein the third connector comprises a hugging screw.
A spindle mechanism according to any one of claims 6-32, wherein the second transmission means comprises:

a first coupling;

a second coupling, one of the first coupling and the second coupling mechanically coupled with a cover of the motor; the first coupling member is capable of engaging with the second coupling member to hold the rotating portion or disengaging to release the rotating portion.
The spindle mechanism of claim 33 wherein the first coupling member is disposed opposite the second coupling member.
The spindle apparatus of claim 33, wherein the first coupling member, the second coupling member, and the rotating portion cooperate to form a receiving space for at least partially receiving a second drive of the first drive.
The spindle mechanism of claim 33 wherein the first coupling member and the second coupling member are capable of cooperating to hug the rotating portion in a radial direction of the rotating portion.
The spindle mechanism of claim 33 wherein the second transmission further comprises:

A second operating member, one of the first and second coupling members being mechanically coupled to the second operating member; the second operating piece can drive the coupling piece coupled with the second operating piece to move under the action of external force, so that the first coupling piece and the second coupling piece are matched to hold the rotating part tightly or are separated from the rotating part to release the rotating part.
The spindle apparatus of claim 37 wherein the second coupling member is mechanically coupled to the second operating member, the second connecting member of the first transmission being threaded through the second coupling member.
The spindle mechanism of claim 37 wherein the second operating member comprises at least one of a cinching cam, a toggle, a knob, a push button.
A spindle mechanism for a parent device, the spindle mechanism comprising:

a driven member;

the motor is used for driving the driven piece to move;

the motor is coupled with the driven piece through the transmission structure, so that the driven piece can rotate along with the rotation of the rotating part of the motor in a first working state; the driven piece can rotate along with the rotating part of the motor and move relative to the fixed part of the motor in a second working state, so that the gravity center of the parent equipment is adjusted; the first operating state is different from the second operating state.
A cradle head, comprising:

one or more spindle mechanisms as claimed in any one of claims 1 to 40; and

and a loading part connected with the rotating shaft mechanism and used for loading a load.
A pan-tilt system, comprising:

the spindle mechanism of any one of claims 1 to 40 or the pan/tilt head of claim 41; and

and an imaging device mounted on the rotating shaft mechanism or the mounting portion.