WO2022036948A1

WO2022036948A1 - Two-axis handheld gimbal

Info

Publication number: WO2022036948A1
Application number: PCT/CN2020/135457
Authority: WO
Inventors: 刘国尧
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-08-21
Filing date: 2020-12-10
Publication date: 2022-02-24
Also published as: CN214198107U

Abstract

A two-axis handheld gimbal (100), comprising a handle (10), a first motor (20), a connection support (30), a second motor (40), a bearing structure (50), and a connection structure (60). The first motor (20) has a top surface (21) and a bottom surface arranged opposite to each other, and a sidewall (22) located between the top surface (21) and the bottom surface. The bottom surface is connected to the handle (10). The first motor (20) is used for driving a load (200) to rotate along a first motor shaft. One end of the connection support (30) is connected to the first motor (20). The other end of the second motor (40) is connected to the other end of the connection support (30) for driving the load (200) to rotate along a second motor shaft. The bearing structure (50) is connected to the second motor (40) for bearing the load (200). The connection structure (60) is provided on the top surface (21) of the first motor (20). The connection support (30) can be rotatably connected to the first motor (20) by means of the connection structure (60), and can be turned over in a direction perpendicular to the first motor shaft, such that the two-axis handheld gimbal (100) is switched between a usage state and a folding state. The two-axis handheld gimbal (100) occupies a small space after being folded, and is convenient to carry and store.

Description

Two-axis handheld gimbal

technical field

The present application relates to the technical field of gimbal, and in particular, to a two-axis handheld gimbal.

Background technique

When a user uses a handheld camera such as a mobile phone for work shooting, in order to avoid affecting the quality of the captured image due to the user's own shaking, a handheld camera is usually used to fix the handheld camera, so as to adjust the shooting angle and Stable at a certain shooting angle. However, the current handheld gimbal is bulky when not in use, and is inconvenient to carry and store.

SUMMARY OF THE INVENTION

The present application provides a two-axis handheld gimbal, which aims to realize that when the two-axis handheld gimbal is not in use, it can be folded, thereby reducing the occupied space, and being convenient for users to carry and store.

The application provides a two-axis handheld gimbal, including:

handle;

A first motor, the first motor has a top surface and a bottom surface arranged opposite to each other, and a side wall between the top surface and the bottom surface, the bottom surface is connected to the handle, and the first motor uses for driving the load to rotate along the first motor shaft;

a connecting bracket, one end of which is connected to the first motor;

a second motor, connected to the other end of the connecting bracket, for driving the load to rotate along the second motor shaft;

a bearing structure, connected to the second motor, for bearing the load;

A connection structure, the connection structure is arranged on the top surface of the first motor, and the connection bracket can be rotatably connected to the first motor through the connection structure, and can rotate in a direction perpendicular to the axis of the first motor Flip, so that the two-axis handheld pan/tilt can be switched between the use state and the folded state.

In the two-axis handheld gimbal of the present application, when the two-axis handheld gimbal is switched to the folded state, the second motor and the bearing structure are located on the same side of the handle.

In the two-axis handheld gimbal of the present application, when the two-axis handheld gimbal is switched to the folded state, the bearing structure is located between the second motor and the handle; or, when the two-axis handheld gimbal is switched to the folded state When the handheld pan/tilt head is switched to the folded state, the second motor is located between the carrying structure and the handle.

In the two-axis handheld pan/tilt of the present application, the handle has an operating area; when the two-axis handheld pan/tilt is switched to the folded state, the bearing structure is supported against the handle including a portion of the operating area. side.

In the two-axis handheld gimbal of the present application, when the two-axis handheld gimbal is switched to the folded state, the carrying structure covers at least part of the operation area.

In the two-axis handheld pan/tilt head of the present application, the connection structure can keep the connection bracket at a position between the folded state and the use state; and/or, at least part of the connection structure is provided on the The middle of the top surface of the first motor.

In the two-axis handheld pan/tilt head of the present application, the connection bracket includes: a first connection arm, one end of which is connected to the connection structure; a second connection arm, bent and extended from the other end of the first connection arm, and connected to the connection structure. The second motor is connected.

In the two-axis handheld gimbal of the present application, when the two-axis handheld gimbal is switched to the folded state, the connecting structure and the first connecting arm are located on the top surface of the first motor, and the first The two connecting arms, the second motor and the bearing structure are located on the same side of the first motor and/or the same side of the handle; and/or, when the two-axis handheld pan/tilt is switched to the use In the state, the projections of the bearing structure and the connection structure on the top surface of the first motor at least partially overlap; and/or, when the two-axis handheld pan/tilt head is switched to the use state, the The second connecting arm surface is attached to the top surface of the first motor.

In the two-axis handheld gimbal of the present application, the included angle between the first connecting arm and the second connecting arm is less than or equal to 90 degrees.

In the two-axis handheld pan/tilt head of the present application, the connection structure includes: a first connection part, which is arranged on the top surface of the first motor; and a second connection part, which is arranged on the connection bracket close to the first motor. one end; a connecting shaft, through which the first connecting part and the second connecting part are passed, the second connecting part can rotate relative to the connecting shaft; a locking mechanism can lock the second connecting part to The second connecting portion is prevented from rotating relative to the connecting shaft.

In the two-axis handheld pan/tilt head of the present application, there are two first connecting parts, the two first connecting parts are oppositely disposed on the top surface of the first motor, and the second connecting parts are disposed on the two first connecting parts. between the first connecting parts.

In the two-axis handheld pan/tilt head of the present application, the top surface of the first motor and the two first connecting parts form accommodating grooves, and at least part of the second connecting parts are accommodated in the accommodating grooves.

In the two-axis handheld pan/tilt head of the present application, the first connecting portion extends upward from the periphery of the top surface of the first motor, and at least part of the second connecting portion is provided in the middle of the top surface of the first motor .

In the two-axis handheld pan/tilt head of the present application, the locking mechanism includes: a card slot; The locking knob is arranged on the second connecting part; the locking knob is arranged on one end of the connecting shaft; wherein, when the locking knob is loosened, the locking groove can be disengaged from the protruding part , so that the second connecting part can rotate relative to the first connecting part; when the locking knob is tightened, the slot can be engaged with the protruding part, so that the two shafts The hand-held pan/tilt head can be kept in the use state or the folded state.

In the two-axis handheld pan/tilt head of the present application, the locking mechanism includes: a cam assembly; an elastic member, one end abutting on the end of the connecting shaft, and the other end abutting on the cam assembly; the elastic member and The cam assemblies are all sleeved on the outside of the connecting shaft; the elastic member cooperates with the cam assembly, so that the two-axis handheld pan/tilt can be kept in the use state or the folded state; a preload , set at the first end of the connecting shaft, one end of the elastic member abuts the second end of the connecting shaft or the preloading member, and the other end of the elastic member abuts the cam assembly .

In the two-axis handheld pan/tilt head of the present application, the cam assembly includes: a first cam sleeved outside the connecting shaft and between the first connecting portion and the connecting shaft, the elastic member The two ends of the cam are respectively abutted on the first cam and the connecting shaft; the second cam is sleeved outside the connecting shaft and is set between the second connecting part and the connecting shaft. The first cam is in driving cooperation with the second cam.

In the two-axis handheld gimbal of the present application, the first motor axis is perpendicular to the second motor axis.

The two-axis handheld gimbal provided by the present application can relatively rotate the connection structure and the first motor when not in use, so that the two-axis handheld gimbal is switched from the use state to the folded state, thereby reducing the size of the two-axis handheld gimbal. The overall volume reduces the occupied space of the two-axis handheld gimbal, which is convenient for users to store and carry, and improves the user experience. At the same time, compared with the connection structure provided on the side wall of the first motor, the connection structure of the two-axis handheld pan/tilt head of the present application is provided on the top surface of the first motor, which can not only ensure the connection of the bracket, the second motor, the bearing structure and the load The center of gravity of the whole constituted can be kept on the first motor shaft or arranged adjacent to the first motor shaft to realize the balance of the center of gravity, and it can avoid increasing the overall volume of the two-axis handheld pan/tilt in the folded state for the balance of the center of gravity, and can also simplify the The folding and unfolding design of the two-axis handheld gimbal avoids the cumbersome operation of the user.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic structural diagram of a two-axis handheld gimbal provided by an embodiment of the present application, wherein the two-axis handheld gimbal is in use;

Fig. 2 is the structural schematic diagram of the two-axis handheld pan/tilt head in Fig. 1, wherein the connecting bracket is located between the position corresponding to the use state and the position corresponding to the folded state;

Figure 3 is a schematic structural diagram of one angle of the two-axis handheld pan-tilt in Figure 1, wherein the two-axis handheld pan-tilt is in a folded state;

FIG. 4 is a schematic structural diagram of another angle of the two-axis handheld pan/tilt in FIG. 1, wherein the two-axis handheld pan/tilt is in use;

Fig. 5 is a schematic structural diagram of another angle of the two-axis handheld pan/tilt in Fig. 1, wherein the two-axis handheld pan/tilt is in use;

6 is a schematic diagram of a partial structure of a two-axis handheld gimbal provided by another embodiment of the present application, wherein the two-axis handheld gimbal is in use, and part of the connection structure is not shown;

Fig. 7 is the structural representation of the two-axis handheld pan/tilt head in Fig. 6, wherein the connecting bracket is located between the position corresponding to the use state and the position corresponding to the folded state;

FIG. 8 is a schematic structural diagram of one angle of the two-axis handheld pan/tilt in FIG. 6 , wherein the two-axis handheld pan/tilt is in a folded state;

Fig. 9 is a partial cross-sectional view of one angle of the two-axis handheld pan/tilt head in Fig. 1;

Fig. 10 is a partial exploded schematic view of one angle of the two-axis handheld pan/tilt head in Fig. 1;

Fig. 11 is a partial exploded schematic view of another angle of the two-axis handheld gimbal in Fig. 1;

Figure 12 is a partial cross-sectional view of an angle of the two-axis handheld head in Figure 6;

Fig. 13 is the partial enlarged schematic diagram of Fig. 12 at A;

Fig. 14 is a partial exploded schematic view of one angle of the two-axis handheld pan/tilt head in Fig. 6, wherein part of the connecting structure is not shown;

Fig. 15 is a partially exploded schematic view of another angle of the two-axis handheld pan/tilt head in Fig. 6, wherein part of the connecting structure is not shown.

Description of reference numbers:

100. Two-axis handheld gimbal;

10, handle; 11, operating area; 20, first motor; 21, top surface; 22, side wall; 30, connecting bracket; 31, first connecting arm; 32, second connecting arm; 40, second motor; 50. Bearing structure;

60, connecting structure; 61, first connecting part; 62, second connecting part; 63, connecting shaft; 64, locking mechanism; 641, card slot; 642, protruding part; 643, locking knob; 644, cam 6441, the first cam; 6442, the second cam; 645, the elastic piece; 646, the preloading piece; 65, the accommodating groove; 66, the gasket;

200. Load.

detailed description

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

It should also be understood that the terms used in the specification of the present application are for the purpose of describing particular embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise.

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

Referring to FIG. 1 , a two-axis handheld gimbal 100 according to an embodiment of the present application is used to carry a load 200 , so as to adjust the position and orientation of the load 200 , thereby meeting operational requirements in various scenarios. In some embodiments, the two-axis handheld pan/tilt 100 can also compensate the vibration of the load 200 through rotation, so as to stabilize the balance of the load 200, so that the load 200 can work in a better posture, thereby obtaining more precise information.

The above-mentioned load 200 may be one of an imaging device, a mobile terminal, and the like. The imaging device may be an image acquisition device such as a video camera, a camera, an ultrasonic imaging device, an infrared imaging device, and an imaging lens. The mobile terminal may be a mobile phone, a tablet computer, or the like. It can be understood that the imaging device may also be some mobile terminals, for example, the imaging device is a mobile phone, a tablet computer, etc. with video recording and photographing functions. Of course, it can also be said that the mobile terminal can also be some imaging devices.

The following description will be given by taking the example that the payload 200 is a mobile phone with video recording and photographing functions. The user can carry the mobile phone with the two-axis handheld pan/tilt 100 to perform shooting operations. The two-axis handheld gimbal 100 stabilizes the mobile phone or controls the posture of the mobile phone.

Referring to FIGS. 1 to 15 , in some embodiments, the two-axis handheld gimbal 100 includes a handle 10 , a first motor 20 , a connecting bracket 30 , a second motor 40 , a bearing structure 50 and a connecting structure 60 .

The handle 10 can be designed into any suitable shape according to actual requirements. Exemplarily, the handle 10 is generally in the shape of a vertical rod for the user to hold and manipulate the handheld pan/tilt head.

The first motor 20 has a top surface 21 , a bottom surface and a side wall 22 . The top surface 21 and the bottom surface are disposed opposite to each other, and the side wall 22 is located between the top surface 21 and the bottom surface. Illustratively, side walls 22 are connected to the top surface 21 and the bottom surface. The bottom surface of the first motor 20 is connected to the handle 10 . The first motor 20 is used to drive the load 200 to rotate along the first motor shaft. One end of the connecting bracket 30 is connected with the first motor 20 . The second motor 40 is connected to the other end of the connecting bracket 30 for driving the load 200 to rotate along the second motor shaft. The bearing structure 50 is connected to the second motor 40 for bearing the load 200 . The connection structure 60 is disposed on the top surface 21 of the first motor 20 . The connecting bracket 30 can be rotatably connected to the first motor 20 through the connecting structure 60 and can be turned around in a direction perpendicular to the axis of the first motor, so that the two-axis handheld pan/tilt 100 can be switched between the use state and the folded state.

Wherein, when the connecting bracket 30 is turned over in a direction perpendicular to the axis of the first motor, the connecting bracket 30 and/or the first motor 20 can be rotated toward the side of the connecting bearing connection 50 close to the second motor 40 .

When the two-axis handheld pan/tilt 100 of the above embodiment is not in use, the connecting structure 60 and the first motor 20 can be rotated relative to each other, so that the two-axis handheld pan/tilt 100 is switched from the use state to the folded state, thereby reducing the size of the two-axis handheld pan/tilt. The overall volume of the gimbal 100 reduces the space occupied by the two-axis handheld gimbal 100, which is convenient for the user to store and carry, and improves the user experience. When the two-axis handheld pan/tilt 100 needs to be used, the connection structure 60 and the first motor 20 may be rotated relative to each other, so that the two-axis handheld pan/tilt 100 is switched from the folded state to the use state.

It can be understood that the connecting bracket 30 , the second motor 40 , the bearing structure 50 and the load 200 may form an integral structure. When the two-axis handheld pan/tilt 100 is in use, the larger the deviation between the center of gravity of the overall structure and the first motor axis of the first motor 20 is, the greater the torque required to be output by the first motor 20 is. In order to reduce the unnecessary torque output of the first motor 20, it is usually necessary to adjust at least one of the connection bracket 30, the connection structure 60, and how the connection bracket 30 and the first motor 20 rotate relative to each other when switching between the use state and the folded state. The design is carried out so as to maintain the balance of the center of gravity of the above-mentioned overall structure.

On the basis of satisfying the balance of the center of gravity of the overall structure of the two-axis handheld pan/tilt head 100, if the connecting structure 60 is provided on the side wall 22 of the first motor 20, in order to keep the above-mentioned combined structure on the first motor shaft or set adjacent to the first motor shaft , a special structural design of the connecting bracket 30 is required. For example, the connecting bracket is designed to include a first arm connected with the connecting structure and a second arm connected with the first arm. When the two-axis handheld gimbal is in use, the second arm extends from the end of the first arm away from the connecting structure toward the first motor, and the angle between the first arm and the second arm is far less than 90 degrees. In order to ensure that the above-mentioned combined structure can maintain the balance of the center of gravity in the state of use. In this design, if the second arm, the second motor and the bearing structure are all located on the same side of the handle when the two-axis handheld gimbal is folded, the first arm will increase the size of the two-axis handheld gimbal in the radial direction of the first motor. Therefore, the storage of the two-axis handheld gimbal is not compact, and the space is occupied, which is not conducive to the storage and carrying of the user.

In the embodiment of the present application, disposing the connecting structure 60 on the top surface 21 of the first motor 20 can not only ensure that the center of gravity of the whole composed of the connecting bracket 30 , the second motor 40 , the bearing structure 50 and the load 200 can be maintained at the first The motor shaft is arranged on or adjacent to the first motor shaft to realize the balance of the center of gravity, which can avoid increasing the overall volume of the two-axis handheld pan/tilt 100 in the folded state for the sake of balance of the center of gravity, and can also simplify the folding and operation of the two-axis handheld pan/tilt 100. Expand the design to avoid tedious operations for users.

Illustratively, the two-axis handheld head 100 generally refers to a handheld head with two motors.

In some embodiments, when the two-axis handheld cloud platform 100 is switched from one of the use state and the folded state to the other, the connecting bracket 30 can be rotated relative to the first motor 20 to complete the two-axis handheld cloud platform Switching of different states of station 100 . Exemplarily, the connecting bracket 30 rotates relative to the first motor 20 in the direction of the dashed arrow in FIG. 2 , so as to complete the switching of different states of the two-axis handheld pan/tilt head 100 .

In other embodiments, when the two-axis handheld pan/tilt 100 is switched from one of the use state and the folded state to the other, the first motor 20 can be rotated relative to the connecting bracket 30 to complete the two-axis handheld Switching between different states of the PTZ 100 .

It can be understood that the two-axis handheld pan/tilt 100 has a folding function, which can be switched between the use state and the folded state. When the two-axis handheld gimbal 100 is switched from the use state to the folded state, each motor can be directly switched from the power-on mode to the power-off mode. On the contrary, when the two-axis handheld gimbal 100 is switched from the folded state to the use state, each motor can be switched from the power-down mode to the power-on mode for direct use.

For example, when the two-axis handheld gimbal 100 is switched from the use state to the folded state, the connection structure 60 and the first motor 20 rotate relative to each other, and at least one of the first motor 20 and the second motor 40 is switched from the power-on mode to the power-off mode model.

At least one of the first motor 20 and the second motor 40 is switched from the power-on mode to the power-down mode, which may be one of the first motor 20 and the second motor 40 is switched from the power-on mode to the power-down mode; or It may be that both the first motor 20 and the second motor 40 are switched from the power-on mode to the power-down mode.

When the two-axis handheld gimbal 100 is switched from the use state to the folded state, the first motor 20 and/or the second motor 40 are directly switched from the power-on mode to the power-off mode; or when the handheld gimbal is switched from the folded and stored state to the unfolded state When in use, the first motor 20 and/or the second motor 40 is directly switched from the power-down mode to the power-on mode, which not only saves the battery power of the two-axis handheld gimbal 100, but also makes it more convenient for the user to adjust the two-axis handheld gimbal. 100 to operate.

In some embodiments, the handle 10 is connected to the stator of the first motor 20 , and the connecting bracket 30 is connected to the rotor of the first motor 20 . When the rotor of the first motor 20 rotates around the first motor axis relative to the stator of the first motor 20 , the connecting bracket 30 , the second motor 40 , the bearing structure 50 and the load 200 can follow the rotor of the first motor 20 to hold the cloud around the two axes. The first motor shaft of the stage 100 rotates.

In some embodiments, the stator of the second electric machine 40 is connected with the connecting bracket 30 , and the rotor of the second electric machine 40 is connected with the bearing structure 50 . When the rotor of the second motor 40 rotates relative to the stator of the second motor 40 , the bearing structure 50 and the load 200 can rotate around the second motor axis of the two-axis handheld pan/tilt 100 .

It can be understood that the load 200 can rotate around the first motor shaft and/or the second motor shaft to adjust the spatial position of the bearing structure 50, so the hand-held gimbal can stabilize the mobile phone or control the mobile phone in two different axes. posture, so that the mobile phone can be kept in a better or more working state.

Exemplarily, both the first motor shaft and the second motor shaft are the actual rotation shafts of the two-axis handheld pan/tilt 100, and the dotted lines O1 and O2 shown in FIG. 1 are the axes of the first motor shaft and the second motor shaft, respectively. axis. Wherein, the first motor axis and the second motor axis may be a pan motor axis (YAW axis) of a pan motor, a pitch motor axis (PITCH axis) of a pitch motor, and a roll motor axis (ROLL axis) of the roll motor. any combination of the two. For example, the first motor shaft is the pan motor shaft of the pan motor, and the second motor shaft is the roll motor shaft of the roll motor.

In some embodiments, when the two-axis handheld gimbal 100 is switched to the folded state, the bearing structure 50 is located between the second motor 40 and the handle 10, so that the two-axis handheld gimbal 100 has a compact structure and small volume in the folded state , easy to pack, store or carry. In other embodiments, when the two-axis handheld pan/tilt 100 is switched to the folded state, the second motor 40 is located between the carrying structure 50 and the handle 10, so that the two-axis handheld pan/tilt 100 in the folded state has a compact structure and a small volume. Small, easy to pack, store or carry. Exemplarily, the connecting bracket 30 is provided with a hinge structure. When the two-axis handheld pan/tilt 100 needs to be switched from the use state to the folded state, the relative rotation of the connecting bracket 30 and the first motor 20 is realized through the hinge structure, so that the second motor 40 is located between the bearing structure 50 and the handle 10, so that the The two-axis handheld gimbal 100 is switched to the folded state.

In some embodiments, the handle 10 has an operating area 11 . When the two-axis handheld pan/tilt 100 is switched to the folded state, the bearing structure 50 is supported on the side of the handle 10 including the operation area 11 , so that the connection of the bracket 30 and the bearing structure 50 in the folded state can avoid false triggering of the operation area . In addition, the two-axis handheld pan/tilt 100 of the present application can further reduce the overall volume of the two-axis handheld pan/tilt 100 in the folded state, reduce the space occupied by the two-axis handheld pan/tilt 100, and facilitate the storage and carrying of the user. In other embodiments, when the two-axis handheld gimbal 100 is switched to the folded state, the bearing structure 50 may also be located on the side of the handle 10 including the operation area 11 , and the bearing structure 50 and the handle 10 are spaced apart, ie, they do not contact.

In some embodiments, when the two-axis handheld gimbal 100 is switched to the folded state, the carrying structure 50 does not cover the operating area 11 to avoid false triggering of the operating area by the carrying structure 50 . In other embodiments, the carrying structure 50 may also cover at least part of the operation area 11 , which is not limited herein.

In some embodiments, the attachment structure 60 is capable of maintaining the attachment bracket 30 in a position between the folded state and the in-use state. Exemplarily, the connecting bracket 30 has the first position when the two-axis handheld pan/tilt head 100 is in use. When the two-axis handheld platform 100 is in the folded state, the connecting bracket 30 has the second position. The connecting structure 60 can keep the connecting bracket 30 in one or more positions between the first position and the second position, so as to realize a special pan/tilt configuration, thereby realizing different shooting effects.

In some embodiments, when using the two-axis handheld pan/tilt head 100, the extension line of the second connecting arm 32 (see below) is parallel or substantially parallel to the first motor axis.

Referring to FIG. 3 , in some embodiments, in the two-axis handheld pan/tilt head 100 in the folded state, the included angle between the extension line of the second connecting arm 32 and the first motor shaft is greater than 0 degrees and less than or equal to 45 degrees, Therefore, the size of the two-axis handheld pan/tilt 100 can be reduced as much as possible in the folded state, and the occupied space can be reduced. Such as 10 degrees, 30 degrees, 45 degrees, and any other suitable angle between 0-45 degrees.

It can be understood that the rotation angle of the connecting bracket 30 around the connecting shaft 63 (see below) in the direction of the dotted arrow in FIG. 2 may be greater than or equal to 135 degrees and less than 180 degrees.

During actual use, the connecting structure 60 can keep the connecting bracket 30 in the first position, the second position, and any one of the positions during the switching between the use state and the folded state. It can be understood that, the second position may be one, two, three or more, which is not limited herein.

The connection structure 60 may be arranged at any suitable position on the top surface 21 of the first motor 20 according to actual requirements. In some embodiments, at least part of the connecting structure 60 is disposed in the middle of the top surface 21 of the first motor 20 . Exemplarily, the projection of the connection structure 60 on the top surface 21 of the first motor 20 covers the central area of the top surface 21 of the first motor 20 . The central area refers to an area spaced by a preset distance from the center of the top surface 21 of the first motor 20 . The preset distance is greater than or equal to zero, and the preset distance is smaller than the maximum outline size of the top surface 21 of the first motor 20 .

In some embodiments, the connecting bracket 30 includes a first connecting arm 31 and a second connecting arm 32 . One end of the first connecting arm 31 is connected with the connecting structure 60 . The second connecting arm 32 is bent and extended from the other end of the first connecting arm 31 , and the second connecting arm 32 is connected to the second motor 40 .

In some embodiments, when the two-axis handheld platform 100 is switched to the folded state, the connecting structure 60 and the first connecting arm 31 are located on the top surface 21 of the first motor 20 . The second connecting arm 32 , the second motor 40 and the carrying structure 50 are located on the same side of the first motor 20 and/or the same side of the handle 10 . Exemplarily, at least part of the connecting structure 60 is provided in the middle of the top surface 21 of the first motor 20, and the second connecting arm 32 is bent and extended from the other end of the first connecting arm 31. In this way, during the process of switching from the use state to the folded state Among them, the maximum rotation angle of the connecting bracket 30 can be greater than 90 degrees, so that the second connecting arm 32, the second motor 40 and the bearing structure 50 are located on the same side of the first motor 20 and/or the same side of the handle 10 in the folded state Guaranteed.

In some embodiments, when the two-axis handheld platform 100 is switched to the use state, the projections of the carrying structure 50 and the connecting structure 60 on the top surface 21 of the first motor 20 at least partially overlap. In this way, when the two-axis handheld gimbal 100 is switched to the state of stabilization of the mobile phone or the attitude of controlling the mobile phone, the projection of the load 200 and/or the bearing structure 50 on the top surface 21 of the first motor 20 at least partially overlaps the connection The projection of the structure 60 on the top surface 21 of the first motor 20, so that the center of gravity of the whole composed of the load 200, the load-bearing structure 50, the second motor 40 and the connecting bracket 30 can be located on the first motor shaft of the first motor 20 (and /or the axial direction of the handle 10) or adjacent to the first motor axis (and/or the axial direction of the handle 10), improving the user experience of holding the handle 10 and using the two-axis handheld pan/tilt 100. In addition, in the solution of the embodiment of the present application, when the two-axis handheld gimbal 100 is in the flashlight mode (that is, the two-axis handheld gimbal 100 is tilted about 90 degrees from the upright state), the first motor 20 does not need to overcome the extra output torque, reducing the Power loss of the first electric machine 20 .

In some embodiments, when the two-axis handheld gimbal 100 is switched to the use state, the second connecting arm 32 is surface-fitted to the top surface 21 of the first motor 20 , so as to increase the distance between the top surface 21 of the first motor 20 and the first motor 20 . The contact area of the two connecting arms 32, so that the relative position between the second connecting arm 32 and the first motor 20 can be reliably maintained in the use state, and the use reliability of the two-axis handheld pan-tilt 100 in the use state is improved. .

The included angle between the first connecting arm 31 and the second connecting arm 32 can be designed as any appropriate angle according to actual requirements. In some embodiments, the included angle between the first connecting arm 31 and the second connecting arm 32 is less than or equal to 90 degrees, so as to effectively reduce the overall volume and occupied space of the two-axis handheld gimbal 100 in the folded state, and The center of gravity of the combined structure formed by connecting the bracket 30 , the second motor 40 , the bearing structure 50 and the load 200 in a use state can be located on or adjacent to the first motor shaft. Exemplarily, the first connecting arm 31 cooperates with the second connecting arm 32 to form an L-shaped or substantially L-shaped structure.

In some embodiments, the connection structure 60 of the two-axis handheld pan/tilt head 100 is disposed on the top surface 21 of the first motor 20 , and the included angle between the first connection arm 31 and the second connection arm 32 is less than or equal to 90 degrees. Compared with the angle between the first connecting arm 31 and the second connecting arm 32 being greater than 90 degrees, in the two-axis handheld pan/tilt 100 in the folded state of this embodiment, the second connecting arm 32 can be closer to the handle 10 or the second connecting arm 32 . A motor 20 makes the structure of the two-axis handheld pan/tilt 100 compact in the folded state, further reduces the storage space, and facilitates storage and portability. Compared with the angle between the first connecting arm 31 and the second connecting arm 32 being greater than 90 degrees, the two-axis handheld gimbal 100 in the use state of this embodiment effectively reduces the connecting bracket 30 and the second motor 40 . , The degree of deviation between the center of gravity of the overall structure formed by the bearing structure 50 and the load 200 and the first motor shaft ensures the balance of the center of gravity of the combined structure formed by the connecting bracket 30, the second motor 40, the bearing structure 50 and the load 200 .

In some embodiments, the first connecting arm 31 and the second connecting arm 32 are integral structures. In other embodiments, the first connecting arm 31 and the second connecting arm 32 may also be connected and fixed through an adhesive structure, a snap-fit structure, a quick-release structure, and the like.

In some embodiments, the supporting structure 50 may be a clamping structure, that is, the supporting structure 50 can clamp the mobile phone, so that the mobile phone can be mounted on the supporting structure 50 . In other embodiments, the bearing structure 50 may also be a chute structure or the like, and the mobile phone may be mounted on the bearing structure 50 through the chute structure or the like.

Referring to FIGS. 9 to 15 , in some embodiments, the connecting structure 60 includes a first connecting portion 61 , a second connecting portion 62 , a connecting shaft 63 and a locking mechanism 64 . The first connecting portion 61 is disposed on the top surface 21 of the first motor 20 . The second connecting portion 62 is disposed at one end of the connecting bracket 30 close to the first motor 20 . The connecting shaft 63 passes through the first connecting portion 61 and the second connecting portion 62 , and the second connecting portion 62 can rotate relative to the connecting shaft 63 . The locking mechanism 64 can lock the second connecting portion 62 to prevent the second connecting portion 62 from rotating relative to the connecting shaft 63 .

Exemplarily, when the two-axis handheld pan/tilt 100 needs to be switched between the use state and the folded state, the second connecting portion 62 is rotated relative to the connecting shaft 63 so that the second connecting portion 62 is rotated to an appropriate position relative to the connecting shaft 63 . , the locking mechanism 64 can lock the second connecting portion 62 , so that the connecting bracket 30 can be kept in the position corresponding to the use state or the folded state.

Referring to FIGS. 3 , 5 and 8 , in some embodiments, when the two-axis handheld head 100 is in a folded state, the axis of the second motor 40 intersects with the handle 10 .

Exemplarily, when the two-axis handheld pan/tilt head 100 is switched from one of the use state and the folded state to the other, the connection bracket 30 is opposite to the first motor 20 around the connection shaft 63 in the direction of the dashed arrow in FIG. 2 . Rotate to complete the switching of different states of the two-axis handheld pan/tilt 100 . The connecting shaft 63 is located above the top surface of the first motor 20 .

It can be understood that the first connecting portion 61 may be integrally formed with at least part of the first motor 20 , or may be connected to the first motor 20 through an adhesive structure, a snap-fit structure, a quick-release structure, or the like. In some embodiments, the first connecting portion 61 is integrally formed with the rotor of the first motor 20 . Exemplarily, the first connecting portion 61 extends from the top surface 21 of the first motor 20 to a direction away from the bottom surface of the first motor 20 .

It can be understood that the second connecting portion 62 may be integrally formed with the connecting bracket 30 , or may be connected to the connecting bracket 30 through an adhesive structure, a snap-fit structure, a quick-release structure, or the like. Exemplarily, the second connecting portion 62 may be integrally formed with the first connecting arm 31 .

In some embodiments, there are two first connecting parts 61 , the two first connecting parts 61 are oppositely disposed on the top surface 21 of the first motor 20 , and the second connecting parts 62 are disposed between the two first connecting parts 61 . between. Exemplarily, the top surface 21 of the first motor 20 and the two first connecting portions 61 form accommodating grooves 65 , and at least part of the second connecting portions 62 are accommodated in the accommodating grooves 65 . The connecting shaft 63 passes through the first connecting portion 61 and the second connecting portion 62 , and the connecting shaft 63 is at least partially accommodated in the accommodating groove 65 . In other embodiments, the connection structure 60 may also be any other suitable structure, for example, the number of the first connection parts 61 is three or more.

In some embodiments, the first connecting portion 61 extends upward from the periphery of the top surface 21 of the first motor 20 , and at least part of the second connecting portion 62 is provided in the middle of the top surface 21 of the first motor 20 . Exemplarily, the projection of the second connection portion 62 on the top surface 21 of the first motor 20 covers the center of the top surface 21 of the first motor 20 .

Exemplarily, the locking mechanism 64 includes at least one of a ramp locking structure, a cam locking structure, a four-bar mechanism locking structure, and a snap locking structure.

Referring to FIGS. 9 to 11 , in some embodiments, the locking mechanism 64 includes a slot 641 , a protruding portion 642 and a locking knob 643 . One of the slot 641 and the protruding portion 642 is provided on the first connecting portion 61 , and the other one of the slot 641 and the protruding portion 642 is provided on the second connecting portion 62 . For example, the first connecting portion 61 is provided with a slot 641 , and the second connecting portion 62 is provided with a protruding portion 642 . For another example, the first connecting portion 61 is provided with a protruding portion 642 , and the second connecting portion 62 is provided with a clamping slot 641 .

The locking knob 643 is provided at one end of the connecting shaft 63 . Wherein, when the locking knob 643 is loosened, the locking groove 641 can be disengaged from the protruding portion 642 , so that the second connecting portion 62 can rotate relative to the first connecting portion 61 . When the locking knob 643 is tightened, the card slot 641 can be engaged with the protruding portion 642, so that the two-axis handheld pan/tilt head 100 can be kept in the use state or the folded state.

It can be understood that the locking knob 643 can be loosened or tightened manually, automatically or through other auxiliary equipment.

Exemplarily, when the two-axis handheld pan/tilt head 100 needs to be switched from the use state to the folded state, the locking knob 643 is loosened, so that the locking groove 641 is disengaged from the protruding portion 642 . The second connecting portion 62 is rotated relative to the first connecting portion 61 . When the second connecting portion 62 rotates relative to the first connecting portion 61 until the two-axis handheld pan/tilt head 100 is in the folded state, the locking knob 643 is tightened so that the slot 641 is engaged with the protruding portion 642 to prevent the second connecting portion 62 Rotate relative to the first connecting portion 61 so as to keep the two-axis handheld pan/tilt 100 in a folded state. When the two-axis handheld pan/tilt 100 needs to be switched from the folded state to the use state, reference may be made to the process of switching from the use state to the folded state, which will not be repeated here.

Exemplarily, the card slot 641 is provided on the side of the first connecting portion 61 facing the accommodating slot 65 . The protruding portion 642 is disposed on the outer side surface of the second connecting portion 62 .

In some embodiments, the connection shaft 63 and the first connection portion 61 are matched by a non-circular surface structure to prevent relative rotation between the connection shaft 63 and the first connection portion 61 . Exemplarily, the connecting shaft 63 is provided with a mating surface, and the first connecting portion 61 is provided with a mating hole matched with the mating surface. Specifically, the shape of the matching hole matches the shape of the matching surface, and the shape of the matching hole is a hexagonal hole, a triangular hole, a toothed hole or any other suitable non-circular hole.

Referring to FIGS. 12 to 15 , in some embodiments, the locking mechanism 64 includes a cam assembly 644 , an elastic member 645 and a preloading member 646 . One end of the elastic member 645 abuts against the end of the connecting shaft 63 , and the other end of the elastic member 645 abuts against the cam assembly 644 . Both the elastic member 645 and the cam assembly 644 are sleeved outside the connecting shaft 63 . The elastic member 645 cooperates with the cam assembly 644, so that the two-axis handheld pan/tilt head 100 can be kept in the use state or the folded state. The preload 646 is provided on the first end of the connecting shaft 63 . One end of the elastic member 645 abuts against the second end of the connecting shaft 63 or the preloading member 646 . The other end of the elastic member 645 abuts against the cam assembly 644.

In the two-axis handheld pan/tilt 100 of the above embodiment, when it is necessary to switch from one of the use state and the folded state to the other, the connecting bracket 30 is operated to rotate the connecting bracket 30 relative to the first motor 20 . When the connecting bracket 30 is rotated relative to the first motor 20 until the two-axis handheld gimbal 100 is in the use state or the folded state, the elastic member 645 and the cam assembly 644 can keep the connecting bracket 30 in the corresponding position, so that the two-axis handheld gimbal 100 is in a corresponding position. Keep in use or folded state.

Exemplarily, the connecting shaft 63 is a rotating shaft.

Referring to FIGS. 12 to 15 , in some embodiments, the cam assembly 644 includes a first cam 6441 and a second cam 6442 . The first cam 6441 is sleeved outside the connecting shaft 63 . The first cam 6441 is provided between the first connecting portion 61 and the connecting shaft 63 . Both ends of the elastic member 645 abut against the first cam 6441 and the connecting shaft 63 respectively. The second cam 6442 is sleeved outside the connecting shaft 63 , and the second cam 6442 is sleeved between the second connecting portion 62 and the connecting shaft 63 . The first cam 6441 is in driving cooperation with the second cam 6442.

Exemplarily, the numbers of the elastic members 645 and the cam assemblies 644 can be set according to actual requirements, as long as the elastic members 645 are set corresponding to the numbers of the cam assemblies 644 . For example, the number of the elastic member 645 and the cam assembly 644 is one, two, three or more.

Exemplarily, the number of both the elastic member 645 and the cam assembly 644 is two. One end of one of the elastic members 645 abuts against the first end of the connecting shaft 63 , and the other end abuts against one of the cam assemblies 644 . One end of the other elastic member 645 is abutted against the preloading member 646 , and the other end is abutted against the other cam assembly 644 .

Exemplarily, one of the elastic members 645 , one of the cam assemblies 644 , the other cam assembly 644 , the other elastic member 645 and the preloading member 646 are sequentially arranged along the axial direction of the connection shaft 63 .

Referring to FIGS. 12 to 15 , in some embodiments, the connecting structure 60 further includes a gasket 66 . The washer 66 is disposed between the elastic member 645 and the preloading member 646 , and is sleeved on the outside of the connecting shaft 63 . Exemplarily, one end of the elastic member 645 abuts against the washer 66 and the other end abuts against the cam assembly 644 . The arrangement of the spacer 66 can reduce the length of the elastic member 645 closest to the preloading member 646 .

Exemplarily, the elastic member 645 may be an elastically deformable structure such as a spring. Illustratively, the preload 646 is a preload nut.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A two-axis handheld PTZ, characterized in that it includes:

handle;

A first motor, the first motor has a top surface and a bottom surface arranged opposite to each other, and a side wall between the top surface and the bottom surface, the bottom surface is connected to the handle, and the first motor uses for driving the load to rotate along the first motor shaft;

a connecting bracket, one end of which is connected to the first motor;

a second motor, connected to the other end of the connecting bracket, for driving the load to rotate along the second motor shaft;

a bearing structure, connected to the second motor, for bearing the load;

A connection structure, the connection structure is arranged on the top surface of the first motor, and the connection bracket can be rotatably connected to the first motor through the connection structure, and can rotate in a direction perpendicular to the axis of the first motor Flip, so that the two-axis handheld pan/tilt can be switched between the use state and the folded state.
The two-axis handheld gimbal according to claim 1, wherein when the two-axis handheld gimbal is switched to the folded state, the second motor and the bearing structure are located on the same side of the handle .
The two-axis handheld gimbal according to claim 2, wherein when the two-axis handheld gimbal is switched to the folded state, the bearing structure is located between the second motor and the handle; or,

When the two-axis handheld pan/tilt head is switched to the folded state, the second motor is located between the carrying structure and the handle.
The two-axis handheld PTZ according to claim 1, wherein the handle has an operation area;

When the two-axis handheld pan/tilt head is switched to the folded state, the bearing structure bears against a side of the handle including the operation area.
The two-axis handheld gimbal according to claim 4, wherein when the two-axis handheld gimbal is switched to the folded state, the carrying structure covers at least part of the operation area.
The two-axis handheld pan/tilt head according to claim 1, wherein the connecting structure can keep the connecting bracket at a position between the folded state and the use state; and/or,

At least part of the connecting structure is arranged in the middle of the top surface of the first motor.
The two-axis handheld pan/tilt according to claim 1, wherein the connecting bracket comprises:

a first connecting arm, one end of which is connected with the connecting structure;

The second connecting arm is bent and extended from the other end of the first connecting arm, and is connected with the second motor.
The two-axis handheld gimbal according to claim 7, wherein when the two-axis handheld gimbal is switched to the folded state, the connecting structure and the first connecting arm are located on the first motor. The top surface of the second connecting arm, the second motor and the bearing structure are located on the same side of the first motor and/or the same side of the handle; and/or,

When the two-axis handheld pan/tilt head is switched to the use state, the projections of the bearing structure and the connection structure on the top surface of the first motor at least partially overlap; and/or,

When the two-axis handheld gimbal is switched to the use state, the second connecting arm surface is attached to the top surface of the first motor.
The two-axis handheld gimbal according to claim 7, wherein the included angle between the first connecting arm and the second connecting arm is less than or equal to 90 degrees.
The two-axis handheld pan/tilt according to any one of claims 1-9, wherein the connection structure comprises:

a first connection part, arranged on the top surface of the first motor;

a second connecting part, located at one end of the connecting bracket close to the first motor;

a connecting shaft, through which the first connecting part and the second connecting part are passed, and the second connecting part can rotate relative to the connecting shaft;

The locking mechanism can lock the second connecting part to prevent the second connecting part from rotating relative to the connecting shaft.
The two-axis handheld pan/tilt head according to claim 10, wherein there are two first connecting parts, and the two first connecting parts are oppositely disposed on the top surface of the first motor, and the The second connecting portion is arranged between the two first connecting portions.
The two-axis handheld gimbal according to claim 11, wherein the top surface of the first motor and the two first connecting parts form accommodating grooves, and at least part of the second connecting parts are accommodated in in the accommodating groove.
The two-axis handheld pan/tilt head according to claim 10, wherein the first connecting portion extends upward from the periphery of the top surface of the first motor, and at least part of the second connecting portion is provided on the first motor. The middle of the top surface of a motor.
The two-axis handheld pan/tilt according to claim 10, wherein the locking mechanism comprises:

card slot;

a protruding part, one of the card slot and the protruding part is set on the first connecting part, and the other is set on the second connecting part;

a locking knob, located at one end of the connecting shaft;

Wherein, when the locking knob is loosened, the card slot can be disengaged from the protruding part, so that the second connecting part can rotate relative to the first connecting part; when the locking knob is tightened When the knob is locked, the card slot can be engaged with the protruding portion, so that the two-axis handheld pan/tilt head can be kept in the use state or the folded state.
The two-axis handheld pan/tilt according to claim 10, wherein the locking mechanism comprises:

cam assembly;

an elastic piece, one end abuts against the end of the connecting shaft, and the other end abuts against the cam assembly; both the elastic piece and the cam assembly are sleeved outside the connecting shaft; the elastic piece is connected to the cam assembly The cam assembly cooperates, so that the two-axis handheld pan/tilt can be kept in the use state or the folded state;

A preloading piece is arranged at the first end of the connecting shaft, one end of the elastic piece abuts against the second end of the connecting shaft or the preloading piece, and the other end of the elastic piece abuts on the second end of the connecting shaft or the preloading piece cam assembly.
The two-axis handheld gimbal according to claim 15, wherein the cam assembly comprises:

The first cam is sleeved on the outside of the connecting shaft and between the first connecting portion and the connecting shaft, and both ends of the elastic member are respectively abutted on the first cam and the connecting shaft. axis;

The second cam is sleeved on the outside of the connecting shaft and is arranged between the second connecting portion and the connecting shaft, and the first cam and the second cam are in driving cooperation.
The two-axis handheld pan/tilt according to any one of claims 1-9, wherein the first motor axis is perpendicular to the second motor axis.