WO2020037640A1

WO2020037640A1 - Gimbal, hand-held gimbal and hand-held photographing device

Info

Publication number: WO2020037640A1
Application number: PCT/CN2018/102167
Authority: WO
Inventors: 李玉; 刘国尧
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-08-24
Filing date: 2018-08-24
Publication date: 2020-02-27
Also published as: CN110770496A; CN110770496B

Abstract

A gimbal (10), comprising a first shaft assembly (12) and a second shaft assembly (14), the first shaft assembly (12) being used for connecting a load (40) and driving the load (40) to rotate about a first shaft (R); the second shaft assembly (14) is used for driving the first shaft assembly (12) to swing about a second shaft (P); the second shaft (P) is a drive shaft by which the second shaft assembly (14) drives the first shaft assembly (12) to swing; the gimbal (10) is configured to enable the center of gravity (41) of the load (40) to be closer to the second shaft (P) relative to the center of gravity (121) of the first shaft assembly (12); and the center of gravity (121) of the first shaft assembly (12) and the center of gravity (41) of the load (40) are respectively located at two opposite sides of a vertical plane (S) where the second shaft (P) is located. Further disclosed are a hand-held gimbal (100) and a hand-held photographing device (1000).

Description

PTZ, handheld PTZ and handheld camera

Technical field

The present application relates to the technical field of gimbals, and in particular, to a gimbal, a handheld gimbal, and a handheld shooting device.

Background technique

In related technologies, when a handheld shooting device performs shooting, the captured image is usually shaken or blurred due to the shaking of the user ’s body and arm. Therefore, a handheld gimbal is required to stabilize the shooting device. However, handheld PTZ stabilization devices are usually too large to carry, which affects the user experience. Therefore, how to design a portable and small-sized handheld gimbal has become a technical problem to be solved.

Summary of the Invention

In view of this, the present application provides a gimbal, a handheld gimbal, and a handheld shooting device, which can reduce the excess weight, reduce the volume of the gimbal and facilitate portability, and improve the user experience.

The present application provides a gimbal, which includes a first shaft assembly and a second shaft assembly, the first shaft assembly is used to connect a load and drive the load to rotate about a first shaft; and the second shaft assembly is used to drive The first shaft component swings around a second axis; the second shaft is a drive shaft driven by the second shaft component to drive the first shaft component to swing; the head is configured to make the load The center of gravity is closer to the second axis than the center of gravity of the first shaft assembly; opposite sides of a vertical plane in which the second axis is located are used to separate the center of gravity of the first shaft assembly and the center of gravity of the load.

The present application provides a hand-held head, comprising a hand-held part and the above-mentioned head, and the second shaft assembly is mounted on the hand-held part.

The present application provides a handheld shooting device, which includes an imaging device and the above-mentioned handheld pan / tilt head. The handheld pan / tilt head is used to stabilize or control the posture of the imaging device for the imaging device.

In the gimbal, handheld gimbal, and handheld camera of the present application, since the second shaft component drives the first shaft component to swing, the second shaft is set as close to the load as possible, so that more weight of the first shaft component participates in the second Balance the center of gravity on the shaft. Therefore, this can reduce the excess weight, make the PTZ smaller in size and more convenient to carry, which is beneficial to improving the user experience.

Additional aspects and advantages of the embodiments of the present application will be partially given in the following description, and part of them will become apparent from the following description, or be learned through the practice of the embodiments of the present application.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

FIG. 1 is a schematic partial perspective view of a handheld shooting device according to an embodiment of the present application; FIG.

2 is a schematic perspective view of a pan / tilt head according to an embodiment of the present application;

FIG. 3 is another perspective schematic view of a gimbal according to an embodiment of the present application; FIG.

FIG. 4 is an exploded schematic diagram of a gimbal according to an embodiment of the present application; FIG.

5 is a schematic plan view of a pan / tilt according to an embodiment of the present application;

6 is a schematic cross-sectional view of the gimbal of FIG. 5 along the A-A direction;

7 is another schematic plan view of a pan / tilt according to an embodiment of the present application;

FIG. 8 is another schematic cross-sectional view of a gimbal according to an embodiment of the present application.

Description of main drawing elements:

Handheld camera 1000, handheld head 100, head 10, first shaft assembly 12, center of gravity 121 of the first shaft assembly, first motor 122, second stator 1222, second rotor 1224, rotation shaft 1226 of the second rotor, End housing 124, receiving cavity 1242, load connection member 126, second shaft assembly 14, voice coil motor 142, first stator 1422, first rotor 1424, swing arm 144, third receiving groove 1442, protruding portion 1444, second shaft assembly rotating shaft 1446, third shaft assembly 16, shaft arm 162, second motor 164, base 18, inner side surface 182, first receiving groove 1822, second receiving groove 1824, fourth container Placement groove 184, shaft groove 186, second interface portion 19, hand-held portion 20, first interface portion 21, housing 22, operation portion 23, mounting interface 28, load 40, center of gravity 41 of load, imaging device 200, first Axis R, second axis P, third axis Y, and vertical plane S.

detailed description

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application, and should not be construed as limiting the present application.

In the description of the application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "backward" "," Left "," Right "," Vertical "," Horizontal "," Top "," Bottom "," Inner "," Outside "," Clockwise "," Counter-clockwise ", etc. The relationship is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore It cannot be understood as a restriction on the application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "plurality" is two or more, unless specifically defined otherwise.

In the description of this application, it should be noted that the terms "installation", "connected", and "connected" should be understood in a broad sense unless explicitly stated and limited otherwise. For example, they may be fixed connections or removable Connected, or integrated. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

The following disclosure provides many different implementations or examples for implementing different structures of the present application. To simplify the disclosure of this application, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the application. In addition, the present application may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, examples of various specific processes and materials are provided in this application, but those of ordinary skill in the art may be aware of the application of other processes and / or the use of other materials.

Please refer to FIG. 1, FIG. 2 and FIG. 3 together. The handheld photographing device 1000 according to the embodiment of the present application includes an imaging device 200 and a handheld gimbal 100 according to the embodiment of the present application. The handheld gimbal 100 is used to stabilize or control the posture of the imaging device 200.

The handheld PTZ 100 according to the embodiment of the present application includes a handheld portion 20 and the PTZ 10 according to the embodiment of the present application. The PTZ 10 can be mounted on the handheld portion 20.

The gimbal 10 according to the embodiment of the present application includes a first shaft assembly 12 and a second shaft assembly 14. The first shaft assembly 12 is used to connect a load 40 (such as the imaging device 200) and drive the load 40 to rotate about the first axis R. The second The shaft assembly 14 is used to drive the first shaft assembly 12 to swing about the second axis P; the second shaft P is a driving shaft for the second shaft assembly 14 to drive the first shaft assembly 12 to swing; the gimbal 10 is configured to make the load 40 The center of gravity 41 is closer to the second axis P than the center of gravity 121 of the first shaft assembly 12; the opposite sides of the vertical plane S where the second axis P is located are used to separate the center of gravity 121 of the first shaft assembly 12 and the center of gravity 41 of the load 40 .

In the gimbal 10, the handheld gimbal 100, and the handheld photographing device 1000 according to the embodiment of the present application, since the second shaft assembly 14 drives the first shaft assembly 12 to swing, the second shaft P is set as close to the load 40 as possible, so that more The weight of the one-axis assembly 12 participates in the balance of the center of gravity on the second axis P. Therefore, this can reduce excess weight, reduce the volume of the gimbal 10 and facilitate portability, which is beneficial to improving the user experience.

It can be understood that, generally, the weight of the load 40 is greater than the weight of the shaft assembly in the gimbal 10. In order to increase the stability performance, to prevent the corresponding structure in the gimbal 10 from rotating to any angle, no turning torque will be generated, and to reduce the output torque generated by the driving device in the gimbal 10 to counteract the uneven center of gravity. The handheld camera 1000 can be considered The counterweight of the gimbal 10. Among them, the weight of the load 40 can be balanced by adding a weight to the shaft assembly, so that the handheld photographing device 1000 is more stable. However, based on portability considerations, the weight block is not conducive to miniaturization of the gimbal structure, and the smaller the weight block is, the better it is for the improvement of user experience. In the embodiment of the present application, since the second axis P is closer to the center of gravity 41 of the load 40 and farther away from the center of gravity 121 of the first shaft assembly 12, the self-weight of the first shaft assembly 12 can be used more for the load 40. It is possible to balance the center of gravity of the corresponding structure on the second axis P of the corresponding structure in the gimbal 10 without adding weights. In addition, since the total weight required for trimming is constant when the structure of the gimbal 10 is constant, when the proportion of the self-weight of the first shaft assembly 12 used for trimming is more, even if additional weights are required, The additional configuration of weight blocks can also be greatly reduced. Therefore, this can reduce the overall volume and weight of the gimbal 10, which is convenient for users to use and carry.

Please note that the first axis R and the second axis P are the actual rotation axes of the gimbal. The dotted lines shown in the figure are the axes of the first axis R and the second axis P.

The first shaft assembly 12 is configured such that the axis of the first shaft R passes through the load 40. Specifically, the axis of the first axis R may pass through the load 40 vertically, or may pass through the load 40 obliquely; the axis of the first axis R may pass through the center of gravity 41 of the load 40, or may not pass through the center of gravity of the load 40. 41. The specific form in which the axis of the first shaft R passes through the load 40 is not limited herein.

It can be understood that the first shaft assembly 12 may also be configured such that the axis of the first shaft R does not pass through the load 40, and it is not limited here whether the axis of the first shaft R passes through the load 40.

In some embodiments, the head 10 includes a shaft arm 162, and the shaft arm 162 is connected to the second shaft assembly 14. In this way, the shaft arm 162 can provide support for the second shaft assembly 14, and the second shaft assembly 14 can drive the first shaft assembly 12 and the load 40 to swing relative to the shaft arm 162 about the second axis P.

Please refer to FIG. 4, FIG. 5, and FIG. 6. In some embodiments, the second shaft assembly 14 includes a voice coil motor 142, and the voice coil motor 142 includes a first stator 1422 and a first rotor 1424; A rotor 1424 is rotationally connected, and the shaft arm 162 is fixedly connected to the first stator 1422; the first rotor 1424 is connected to the first shaft assembly 12.

In this way, the first rotor 1424 can swing relative to the first stator 1422 about the second axis P, so that the first rotor 1424 can swing relative to the second axis P of the shaft arm 162 fixedly connected to the first stator 1422. Among them, the voice coil motor 142 is a direct drive motor and has a small volume, which is not only sensitive in response, but also conducive to reducing the volume of the head 10.

Specifically, in FIG. 4, in the orthographic projection along the P-axis direction, the planar shape of the first rotor 1424 may be substantially rectangular, and the planar shape of the first stator 1422 may be substantially arc-shaped. Of course, the first stator 1422 and the first rotor 1424 may also have other shapes, which are not limited herein.

In some embodiments, the gimbal 10 includes a base 18, which is disposed at one end of the shaft arm 162; the second shaft assembly 14 further includes a swing arm 144, which is rotatably connected to the base 18 and A shaft assembly 12 is connected; the first stator 1422 may be at least partially accommodated in the base 18, and the first rotor 1424 may be at least partially accommodated in the swing arm 144.

In this way, the volume of space occupied by the voice coil motor 142 can be reduced, so that the structure of the head 10 is compact.

In some embodiments, both the swing arm 144 and the first rotor 1424 are received at least partially within the base 18. In this way, the structure of the pan / tilt head 10 can be made more compact, which is beneficial to reducing the volume of the pan / tilt head 10.

Please refer to FIGS. 4, 5 and 6 together. In some embodiments, the inner side surface 182 of the base 18 is provided with a first receiving groove 1822 and a second receiving groove 1824. The second receiving groove 1824 and The first accommodating slot 1822 is adjacent, and the second accommodating slot 1824 is disposed outside the first accommodating slot 1822; the first stator 1422 is at least partially accommodated in the first accommodating slot 1822, and the swing arm 144 and The first rotor 1424 is at least partially accommodated in the second accommodation groove 1824; a side of the swing arm 144 facing the inner side surface 182 is provided with a third accommodation groove 1442, and the first rotor 1424 is at least partially accommodated in the third accommodation groove 1824 Receiving slot 1442.

In this way, the structure of the second shaft assembly 14 and the base 18 is more compact and the cooperation is closer, which is beneficial to the reduction of the volume and the beautification of the appearance. In addition, the first accommodating slot 1822 can not only accommodate the first stator 1422, but also limit the position of the first stator 1422 during the production process, which is conducive to improving assembly efficiency and thus production efficiency. Similarly, the second accommodating slot 1824 and the third accommodating slot 1442 also play a role of limiting positions, which are not described herein again.

Preferably, the first stator 1422 is entirely received in the first accommodation slot 1822, and the first rotor 1424 is entirely received in the third accommodation slot 1442. In this way, the first stator 1422 does not protrude from the first accommodation groove 1822, and the first rotor 1424 does not protrude from the third accommodation groove 1442, so that the cooperation between the swing arm 144 and the base is closer.

1 and FIG. 4, in some embodiments, the first stator 1422 and the first rotor 1424 are disposed on a side of the center of gravity 121 of the first shaft assembly 12 on opposite sides of the vertical plane S.

In this way, most of the volume of the base 18 can be prevented from being located on the side of the center of gravity 41 of the load 40 in the opposite sides of the vertical plane S, thereby preventing the connection of the base 18 from changing the load 40 and the influence of rotation. For example, if the load 40 is a mobile phone, for example, when the first stator 1422 and the first rotor 1424 are disposed on the opposite sides of the vertical plane S on the side where the center of gravity 121 of the first shaft assembly 12 is located, the mobile phone may be horizontal or vertical. It is carried on the gimbal 10, but if the first stator 1422 and the first rotor 1424 are disposed on the side of the center of gravity 41 of the load 40 on the opposite sides of the vertical plane S, the mobile phone is affected by the base 18 It may not be able to be carried horizontally on the gimbal 10, and in this case, if the mobile phone needs to be carried horizontally on the gimbal 10, the length of the swing arm 144 may need to be extended, which is not conducive to the miniaturization of the gimbal, or it may be The mobile phone is installed away from the base 18, but the center of gravity of the gimbal 10 cannot be balanced, such as the center of gravity of the corresponding structure on the second axis P in the gimbal 10 is balanced. Therefore, by setting the positions of the first stator 1422 and the first rotor 1424 described above, the weight and volume of the gimbal 10 can be reduced, which is convenient for users to carry and use.

Of course, in a possible design situation, the first stator 1422 and the first rotor 1424 may also be disposed on a side where the center of gravity 41 of the load 40 is located on opposite sides of the vertical plane S. The specific positions of the first stator 1422 and the first rotor 1424 are not limited herein.

In some embodiments, the first stator 1422 is a motor coil, and the first rotor 1424 is a motor magnet.

In this way, a specific configuration of the first stator 1422 and the first rotor 1424 is achieved. Among them, relative to the base 18, the motor magnet is closer to the outer side of the base 18, and the motor coil is farther away from the outer side of the base 18 than the motor magnet. Damage caused by the motor.

It can be understood that the voice coil motor is a direct drive motor, which can directly convert electrical energy into mechanical energy without the need for any intermediate conversion transmission device, and the structure is simple. In addition, the voice coil motor can be made small and flat, which is beneficial to the compactness and miniaturization of the head 10. In addition, when the motor coil is energized, it can generate a magnetic field to exert a force on the motor magnet. Based on this, the first rotor 1424 can generate relative movement with the first stator 1422, that is, the first rotor 1424 relative to the first stator 1422. Rotate around the second axis P, thereby driving the first shaft assembly and the load to swing around the second axis P.

Of course, in some embodiments, the first stator 1422 may be a motor magnet, and the first rotor 1424 may be a motor coil.

In some embodiments, the shaft arm 162 cooperates with the base 18 to form a fourth receiving slot 184, the swing arm 144 is at least partially received in the fourth receiving slot 184, and the swing arm 144 and the fourth receiving portion Both sides of the groove 184 are rotatably connected; the base 18 is disposed on one of the two sides of the fourth receiving groove 184.

In this way, the position of the swing arm 144 can be limited, so that the swing of the swing arm 144 is more stable. In addition, the structure of the shaft arm 162 can also be used to make the structure of the pan / tilt head 10 more compact.

Specifically, the swing arm 144 is formed with a rotation shaft 1446 of the second shaft assembly 14, that is, the second shaft P. The rotating shaft 1446 of the second shaft assembly 14 protrudes to both sides from the swing arm 144. Both the base 18 and the shaft arm 162 are formed with a shaft groove 186 adapted to the rotation shaft 1446 of the second shaft assembly 14, and the rotation shaft 1446 of the second shaft assembly 14 is rotatably disposed in the shaft groove 186.

In some embodiments, the fourth receiving groove 184 is substantially U-shaped. In this way, the second shaft assembly 14 is sandwiched by the base 18 and the shaft arm 162, which limits the movement of the second shaft assembly 14 in the direction of the second shaft P, and is beneficial to the swing stability of the second shaft assembly 14. Of course, the fourth accommodating groove 184 may also have other shapes. The specific shape of the fourth receiving groove 184 is not limited herein.

In some embodiments, the base 18 is integrated with the shaft arm 162. In this way, the number of parts can be reduced, assembling is convenient, and it is beneficial to improving production efficiency. Specifically, the base 18 and the shaft arm 162 may be integrally manufactured by using an injection molding process. Of course, the base 18 and the shaft arm 162 may also be formed separately, which is not limited herein.

In some embodiments, one end of the swing arm 144 may be connected to the load 40 along the vertical direction of the second axis P, and the other end of the swing arm 144 may be connected to the first shaft assembly 12.

In this way, the swing arm 144 can drive the load 40 and the first shaft assembly 12 to swing around the second axis P. Please note that "connected" here can mean direct connection or indirect connection. Specifically, one end of the swing arm 144 may be directly connected to the load 40 or may be indirectly connected to the load 40 through the load connection member 126. Of course, the swing arm 144 may also be indirectly connected to the load 40 through other structures.

It can be understood that the load connecting member 126 may be used as an element part of the first shaft assembly 12, or may be independent of the first shaft assembly 12.

Please refer to FIG. 7 and FIG. 8 together. In some embodiments, the first shaft assembly 12 includes a first motor 122, and the first motor 122 includes a second stator 1222 and a second rotor 1224. The second stator 1222 and the swing arm 144 is fixedly connected, the second rotor 1224 is rotatably connected to the swing arm 144, and the second rotor 1224 is used to be fixedly connected to the load 40.

In this way, the swing arm 144 can drive the first shaft assembly 12 to swing about the second axis P through the second stator 1222, and the first shaft assembly 12 can drive the load 40 to rotate about the first axis R through the second rotor 1224.

In some embodiments, along the direction of the first axis R toward the load 40, the rotating shaft 1226 of the second rotor 1224 is rotatably passed through the swing arm 144 and is fixedly connected to the load 40.

In this way, the second rotor 1224 is connected to the load 40. Specifically, the rotating shaft 1226 of the second rotor 1224 may be directly connected to the load 40, may be indirectly connected to the load 40 through the load connection member 126, and may be indirectly connected to the load 40 through other structures.

In some embodiments, a protruding portion 1444 is provided at one end of the swing arm 144 connected to the second stator 1222, the second stator 1222 is provided around the protruding portion 1444, and the rotating shaft 1226 of the second rotor 1224 is protruding from the protruding portion 1444 Pass through the swing arm 144; the first shaft assembly 12 further includes an end housing 124, an end of the end housing 124 connected to the rotating shaft 1226 is provided with an accommodation cavity 1242, and the second stator 1222 and the protruding portion 1444 are at least partially accommodated in the accommodation Cavity 1242.

In this way, the second stator 1222 and the protruding portion 1444 can be accommodated without being exposed, which is beneficial to the appearance of the gimbal 10, and can also prevent dust from entering the first motor 122 and affecting the normal operation of the first motor 122.

Specifically, the end case 124 may be a part of the second rotor 1224. In addition, the weight of the gimbal 10 on the second axis P may be integrated in the second rotor 1224. This can reduce the number of parts, such as weight blocks, which is conducive to improving production efficiency and assembly efficiency.

In some embodiments, the first shaft assembly 12 further includes a load connection 126. The load connection 126 is fixedly connected to the second rotor 1224. The load connection 126 is used to connect the load 40.

In this way, the load connection member 126 realizes the connection of the load 40 with the first shaft assembly 12. The load 40 may be detachably mounted on the load connection 126.

It can be understood that the load connection member 126 can also be used as a part of the first motor 122, such as a shaft protection shell of the second rotor 1224 of the first motor 122.

In some embodiments, the load connection 126 includes, but is not limited to, a clip connection or a magnetic connection. The installation and removal of the load 40 is simple, which is convenient for the user and improves the user experience.

It can be understood that when the gimbal 10 adopts a clamping connector, the clamping connector can clamp and fix the load 40 on the first shaft assembly 12, so that the first shaft assembly 12 provides an additional load for the load 40 on the first shaft R. Stable function. When the gimbal 10 uses a magnetic connector, the magnetic connector may be provided with a magnet. A ferromagnetic material is provided on the load 40 or the housing of the load 40 is a ferromagnetic material, so that the load 40 is magnetically adsorbed on the magnetic connector. In this way, the load 40 is easy to install and remove, which can be convenient for users. In the illustrated example, the load connector 126 is a magnetic connector.

In some embodiments, the head 10 further includes a third shaft assembly 16. The third shaft assembly 16 is used to support the first shaft assembly 12 and the second shaft assembly 14, and is used to allow the load 40 to rotate about the third axis Y. .

It can be understood that in such an embodiment, the head 10 is a three-axis head, and the load 40 can rotate around the first axis R and the third axis Y and swing around the second axis P. Thus, the head 10 can The different axial directions stabilize the load 40 or control the attitude of the load 40 so that the load 40 can be maintained in a better and more working state.

In some embodiments, the third shaft assembly 16 may include a shaft arm 162 and a second motor 164. The second motor 164 is used to drive the shaft arm 162 to rotate to drive the first shaft assembly 12 and the second shaft assembly 14 around the third shaft. Axis Y rotates. In this way, the first shaft assembly 12 and the second shaft assembly 14 of the gimbal 10 are rotated about the third axis Y.

In some embodiments, the shaft arm 162 is fixedly connected to the rotor 1642 of the second motor 164. In this way, the rotor 1642 of the second motor 164 can be rotated about the third axis Y relative to the stator 1644 of the second motor 164, so that the first shaft assembly 12 and the second shaft assembly 14 of the gimbal 10 are rotated about the third axis Y.

In some embodiments, the first axis assembly 12 may be a roll axis assembly, the second axis assembly 14 may be a pitch axis assembly, and the third axis assembly 16 may be a yaw axis assembly The motor of the yaw axis assembly (ie, the second motor 164) is located below the motor of the roll axis assembly (ie, the first motor 122) and the motor of the pitch axis assembly (ie, the voice coil motor 142).

In this way, the first axis assembly 12 can control the attitude of the load 40 in the roll direction, the second axis assembly 14 can control the attitude of the load 40 in the pitch direction, and the third axis assembly 16 can control the attitude of the load 40 in the yaw direction. The platform 10 can achieve three-axis stabilization and attitude control for the load 40, and the load 40 can be maintained in a better attitude. In this way, the three-axis head has only one shaft arm 162, which reduces the space increased due to the use of multiple shaft arms, and the vertical size of the shaft arm 162 can be reduced as much as possible, so that the head 10 has a smaller size. The volume is convenient for users to carry.

It can be understood that the first motor 122 of the first shaft assembly 12, the voice coil motor 142 of the second shaft assembly 14, and the second motor 164 of the third shaft assembly 16 can be arranged in the above order from top to bottom. Other arrangements are used, such as from the outside to the inside when the device is installed horizontally. At this time, the first axis assembly 12, the second axis assembly 14, the third axis assembly 16 and the roll axis assembly, the pitch axis assembly, and the yaw axis assembly The relationship will change accordingly, that is, the first axis assembly 12 is not limited to a roll axis assembly, the second axis assembly 14 is not limited to a pitch axis assembly, and the third axis assembly 16 is not limited to a yaw axis assembly.

In some embodiments, the center of gravity of the load 40 may fall on the first axis R, the center of gravity of the load 40 and the roll axis assembly may fall on the second axis P, the load 40, the roll axis assembly, the pitch axis assembly, The center of gravity of the yaw axis assembly may fall on the third axis Y.

In this way, the gimbal 10 can maintain the center of gravity balance, and the entire assembly rotating around each axis will not generate rotational torque, which is conducive to increasing the structural stability of the gimbal 10, the reliability of the gimbal 10 is better, and the corresponding motor can be reduced to counteract Torque output with uneven center of gravity of the corresponding structure. It can be understood that in order to achieve the structural stability of the above-mentioned head 10, the structural design of the head 10 can be adjusted according to needs.

In some embodiments, the second axis P and the first axis R are perpendicular to each other, and the second axis P and the third axis Y are perpendicular to each other.

In this way, the gimbal 10 is an orthogonal gimbal, which can provide stability and attitude control for the load 40 in three mutually perpendicular directions, thereby improving the flexibility of the gimbal 10.

In some embodiments, the angle formed between the third axis Y and the second axis P is a non-right angle.

In this way, a non-orthogonal gimbal can also be realized.

In some embodiments, the load 40 may be one of a sensor, an imaging device, and a mobile terminal.

It can be understood that when collecting environmental information, such as sensors, imaging devices, and mobile terminals, it is generally necessary to maintain a certain attitude to obtain more accurate information. In this way, the gimbal 10 can provide stabilization and attitude control for sensors, imaging devices, and mobile terminals, etc., so that it can work in a better attitude, thereby obtaining more accurate information.

The sensor may be an attitude sensor (such as an acceleration sensor, an angle sensor, an inertial measurement unit, etc. The imaging device may be an imaging device such as a camera, a video camera, etc., and the mobile terminal may be a mobile phone, a tablet computer, a smart wearable device, etc. It can be understood that the imaging device also However, some mobile terminals, for example, the imaging device is a mobile phone, a tablet computer, a smart wearable device, and the like with photographing and video functions, or the mobile terminal may also be some imaging device. In the PTZ 10 in the embodiment of the present application, The load 40 is taken as an example for description.

Specifically, in the handheld shooting device 1000, the load 40 of the handheld PTZ 100 is the imaging device 200, and the handheld PTZ 100 is the imaging device 200. The stabilization and attitude control of the imaging device 200 in the corresponding direction keep the imaging device 200 in a better working posture. In order to achieve a better shooting effect, the quality of the images collected by the imaging device 200 is improved.

In some embodiments, the head 10 is a two-axis head. In this way, the volume can be kept small, which is convenient for users to carry.

In some embodiments, the second shaft assembly 14 is mounted on the handheld portion 20.

In this embodiment, the handheld gimbal 100 may be a two-axis handheld gimbal, that is, the handheld gimbal 100 includes two axis components, a first axis component 12 and a second axis component 14. At this time, the second shaft assembly 14 can be mounted on the hand-held portion 20, and the gimbal 10 can provide stability and attitude control for the load 40 in two different directions.

In some embodiments, when the gimbal 10 includes a third shaft assembly 16, the third shaft assembly 16 is mounted on the hand-held portion 20, and the second shaft assembly 14 is supported by the third shaft assembly 16.

In this way, the user holds the gimbal 100 in hand, and the gimbal 10 can provide stability and attitude control for the load 40 in three different directions. Specifically, in some embodiments, the handheld portion 20 is provided with a first interface portion 21 connected to the PTZ 10, and the PTZ 10 includes a second interface portion 19 for cooperating with the first interface portion 21; When the stage 10 is supported on the handheld portion 20, the first interface portion 21 and the second interface portion 19 cooperate to form a mechanical connection and an electrical connection between the gimbal 10 and the handheld portion 20.

In some embodiments, when the handheld portion 20 is separated from the pan / tilt head 10, the pan / tilt head 10 and the handheld portion 20 are connected by wired or wireless communication.

In this way, the user operating the handheld unit 20 can control the work of the PTZ 10 through wired or wireless communication, which improves the convenience of operation of the PTZ 10.

Specifically, the handheld portion 20 includes a housing 22, an operating portion 23, and a controller. The operating portion 23 is provided on the housing 22, and a controller is provided in the housing 22. The operating portion 23 is used to receive input information, and the controller is used to Enter the information to perform the corresponding operation.

In this way, the user can input information through the operation unit 23 to control the PTZ 10 to change the attitude of the load 40. For example, when using the handheld PTZ 100, the user can input information through the operation unit 23 to determine the preset attitude of the load 40 to work, such that The load 40 can obtain a preset desired effect.

The operation part 23 may include a joystick and a button, and the user may shake the joystick to control the first axis assembly 12, the first axis assembly 14, and the third axis assembly 16 of the gimbal 10 to work, and then adjust the load 40 in a preset posture. The user can control the work of the load 40 through keys, such as taking pictures, recording videos, and the like.

A battery is provided in the case 22. In this way, the battery can power the gimbal 10 and / or the load 40. Specifically, the handheld portion 20 may be provided with a charging interface and a power supply interface. In one example, the battery may be a rechargeable lithium battery.

In some embodiments, the handheld gimbal 100 further includes an attitude sensor, the attitude sensor is used to measure the attitude of the load 40, and the controller is used to control the work of the gimbal 10 according to the attitude of the load 40.

The attitude sensor can be directly connected to the load 40. In this way, by determining the attitude of the load 40, the attitude of the PTZ 10 can be determined, and thus the current attitude of the PTZ 10 can be adjusted.

In this way, the handheld gimbal 100 can adjust the attitude of the load 40 through the attitude information detected by the attitude sensor, so that the load 40 keeps working in a preset attitude and obtains a desired effect.

In some embodiments, a mounting interface 26 is provided at the bottom of the housing 22. In this way, the handheld PTZ 100 can be mounted on a bracket or other fixed components through the mounting interface 26, and the handheld PTZ 100 can adapt to different working environments and achieve more functions.

In the description of this specification, reference terms "certain embodiments", "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples", or "some examples", etc. The description means that specific features, structures, materials, or characteristics described in combination with the implementation manner or example are included in at least one implementation manner or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same implementation or example. Moreover, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more implementations or examples.

Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application. Those skilled in the art may, within the scope of the present application, understand the above. Embodiments are subject to change, modification, substitution, and modification.

Claims

A gimbal includes a first shaft component and a second shaft component, which are characterized by:

The first shaft component is used for connecting a load and driving the load to rotate around the first shaft;

The second shaft component is configured to drive the first shaft component to swing around a second shaft;

The second shaft is a driving shaft driven by the second shaft component to swing the first shaft component;

The gimbal is configured to make the center of gravity of the load closer to the second axis than the center of gravity of the first shaft assembly;

The opposite sides of the vertical plane on which the second shaft is located are used to separate the center of gravity of the first shaft assembly and the center of gravity of the load.
The gimbal of claim 1, wherein the gimbal comprises a shaft arm, and the shaft arm is connected to the second shaft assembly.
The gimbal of claim 2, wherein the second shaft assembly includes a voice coil motor, and the voice coil motor includes a first stator and a first rotor;

The shaft arm is rotatably connected to the first rotor, and the shaft arm is fixedly connected to the first stator;

The first rotor is connected to the first shaft assembly.
The gimbal of claim 3, wherein the gimbal comprises a base, and the base is disposed at one end of the shaft arm;

The second shaft assembly further includes a swing arm, the swing arm is rotatably connected to the base, and is connected to the first shaft assembly;

The first stator is at least partially housed in the base, and the first rotor is at least partially housed in the swing arm.
The head of claim 4, wherein the swing arm and the first rotor are both at least partially housed in the base.
The pan / tilt head according to claim 5, wherein a first receiving groove and a second receiving groove are provided on an inner side surface of the base, and the second receiving groove and the first receiving groove Adjacent, and the second accommodating groove is disposed outside the first accommodating groove;

The first stator is at least partially accommodated in the first accommodation slot, and the swing arm and the first rotor are both at least partially accommodated in the second accommodation slot;

A third receiving groove is provided on a side of the swing arm facing the inner side, and the first rotor is at least partially received in the third receiving groove.
The gimbal according to any one of claims 3 to 6, wherein the first stator and the first rotor are provided on opposite sides of the vertical plane of the first shaft assembly. The side where the center of gravity is.
The gimbal according to any one of claims 3 to 6, wherein the first stator is a motor coil, and the first rotor is a motor magnet.
The gimbal according to any one of claims 4 to 6, wherein a fourth receiving groove is formed in cooperation between the shaft arm and the base, and the swing arm is at least partially received in the receiving arm. In the fourth receiving slot, and both sides of the swing arm and the fourth receiving slot are rotatably connected;

The base is disposed on one side of both sides of the fourth receiving groove.
The head according to claim 9, wherein the fourth receiving groove is substantially U-shaped.
The gimbal according to any one of claims 4 to 6, wherein the base and the shaft arm are an integrated structure.
The gimbal according to any one of claims 4 to 6, characterized in that, along a vertical direction of the second axis, one end of the swing arm is used to connect with the load, and the swing arm The other end is connected to the first shaft assembly.
The gimbal according to any one of claims 4 to 6, wherein the first shaft assembly includes a first motor, and the first motor includes a second stator and a second rotor;

The second stator is fixedly connected to the swing arm, the second rotor is rotatably connected to the swing arm, and the second rotor is used for fixed connection to the load.
The gimbal according to claim 13, wherein, along a direction of the first axis toward the load, a rotation shaft of the second rotor rotatably passes through the swing arm and is used for connecting with the load. Fixed connection.
The gimbal of claim 14, wherein a protruding portion is provided at an end of the swing arm connected to the second stator, and the second stator is provided at an outer periphery of the protruding portion, and A rotation shaft of the second rotor passes through the swing arm from the convex portion;

The first shaft assembly further includes an end housing. An end of the end housing connected to the rotating shaft is provided with a receiving cavity, and the second stator and the protruding portion are at least partially received in the receiving cavity. Inside.
The gimbal of claim 13, wherein the first shaft assembly further comprises a load connector, the load connector is fixedly connected to the second rotor, and the load connector is used to connect the load.
The gimbal according to claim 16, wherein the load connection member comprises a clamping connection member or a magnetic connection member.
The gimbal according to any one of claims 2 to 4, wherein the gimbal further comprises a third shaft assembly, and the third shaft assembly is configured to support the first shaft assembly and the first shaft assembly. A two-axis assembly is used to allow the load to rotate about a third axis.
The gimbal of claim 18, wherein the third shaft assembly comprises the shaft arm and a second motor, and the second motor is configured to drive the shaft arm to rotate to drive the first shaft The component and the second shaft component rotate around the third axis.
The head of claim 19, wherein the shaft arm is fixedly connected to a rotor of the second motor.
The gimbal of claim 18, wherein the first axis component is a roll axis component, the second axis component is a pitch axis component, and the third axis component is a yaw axis component, so The motor of the yaw axis assembly is located below the motor of the roll axis assembly and the motor of the pitch axis assembly.
The gimbal of claim 21, wherein the center of gravity of the load falls on the first axis, and the center of gravity of the load and the roll axis assembly falls on the second axis, so The center of gravity of the load, the roll axis assembly, the pitch axis assembly, and the yaw axis assembly fall on the third axis.
The head according to claim 18, wherein the second axis and the first axis are perpendicular to each other, and the second axis and the third axis are perpendicular to each other.
The gimbal according to any one of claims 1 to 4, wherein the load is one of a sensor, an imaging device, and a mobile terminal.
A handheld pan / tilt head, comprising a handheld portion and the pan / tilt head according to any one of claims 1 to 24, wherein the second shaft assembly is mounted on the handheld portion.
The handheld pan / tilt head according to claim 25, wherein when the pan / tilt head includes a third shaft assembly, the third shaft assembly is mounted on the hand-held portion, and the second shaft assembly is provided by the The third shaft assembly is supported.
The handheld pan / tilt head according to claim 25, wherein when the handheld portion is separated from the pan / tilt head, the pan / tilt head is connected to the handheld portion by wired or wireless communication.
A handheld photographing device, comprising an imaging device and the handheld pan / tilt head according to any one of claims 25-27, wherein the handheld pan / tilt head is used to stabilize or control the imaging device. attitude.