Holder

Abstract

The invention discloses a cradle head. The cradle head comprises a base; the multi-stage linkage rotating mechanism is arranged on the base and composed of a plurality of rotating units which can be in transmission with one another, and rotation of any rotating unit can drive other rotating units to rotate so that the multi-stage linkage rotating mechanism can rotate; the mounting table is arranged at the top end of the multi-stage linkage rotating mechanism and used for mounting photographic equipment, and the mounting table can rotate along with the multi-stage linkage rotating mechanism so as to adjust the pitching angle; and the driving assembly is arranged on the base and connected with the multi-stage linkage rotating mechanism, and the driving assembly is used for driving the rotating unit to rotate. According to the cradle head, large-range pitching angle adjustment can be achieved, and the requirement for large-angle adjustment in the pitching direction in a complex shooting scene is effectively met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photographic equipment, in particular to a gimbal. BACKGROUND

[0002] As a supporting device for installing and fixing devices such as cameras, the core function of the gimbal is to provide stable support for the mounted device and realize angle adjustment to meet the shooting needs in different scenes.

[0003] In the related art, the gimbal has a pitch angle adjustment function, which adjusts the pitch angle by rotating the pitch rotation shaft, and is provided with a limiting structure to limit the pitch angle. The pitch angle adjustment range is limited, and it is difficult to meet the large-angle adjustment requirement of the pitch direction in complex shooting scenes. SUMMARY

[0004] The main purpose of the present application is to provide a gimbal, which aims to solve the technical problem that the pitch angle adjustment range of the current gimbal is limited and it is difficult to meet the large-angle adjustment requirement of the pitch direction in complex shooting scenes.

[0005] To achieve the above purpose, the present application provides a gimbal, which comprises:

[0006] a base;

[0007] a multi-stage linkage rotating mechanism arranged on the base and composed of a plurality of rotating units that can drive each other, the rotation of any rotating unit can drive other rotating units to rotate, so that the multi-stage linkage rotating mechanism rotates;

[0008] a mounting table arranged at the top end of the multi-stage linkage rotating mechanism and used for mounting a photographic device, the mounting table can rotate with the multi-stage linkage rotating mechanism to adjust the pitch angle;

[0009] a driving assembly arranged on the base and connected with the multi-stage linkage rotating mechanism, the driving assembly is used for driving the rotating units to rotate.

[0010] Optionally, the plurality of rotating units comprises a first rotating unit and a second rotating unit arranged adjacent to each other, the first rotating unit is provided with a first face gear at one end thereof facing the second rotating unit, the second rotating unit is provided with a second face gear at one end thereof facing the first rotating unit, and the second face gear is engaged with the first face gear.

[0011] Optionally, the plurality of rotating units further comprises a third rotating unit, the third rotating unit is located between the first rotating unit and the second rotating unit and is rotatably connected with the first rotating unit and the second rotating unit respectively.

[0012] Optionally, the first face gear is arranged on a bevel surface, and the second face gear is arranged on a bevel surface.

[0013] Optionally, the first rotating unit is rotatably arranged on the base, and the mounting table is rotatably connected with the second rotating unit.

[0014] Optionally, the driving assembly is connected with the first rotating unit.

[0015] Optionally, the driving assembly comprises:

[0016] a rotating shaft rotatably arranged on the base;

[0017] a transmission assembly arranged between and connected with the rotating shaft and the first rotating unit;

[0018] a driver connected with the rotating shaft, the driver being used to drive the rotating shaft to rotate.

[0019] Optionally, the transmission assembly comprises a first bevel gear and a second bevel gear engaged with the first bevel gear, the first bevel gear is sleeved and connected with the rotating shaft, and the second bevel gear is arranged on the first rotating unit; and / or,

[0020] the driver comprises a rocker connected with one end of the rotating shaft.

[0021] Optionally, the holder further comprises:

[0022] a connecting structure connected with the base and the mounting table respectively, the connecting structure being used to constrain the rotating path of the mounting table.

[0023] Optionally, the plurality of rotating units are hollow, and the connecting structure is arranged in the plurality of rotating units.

[0024] Optionally, the connecting structure comprises a connecting rod group, and the connecting rod group comprises a plurality of connecting rods which are hingedly connected one by one.

[0025] One end of the connecting rod group is connected with the base, and the other end of the connecting rod group is connected with the mounting table.

[0026] The gimbal adopts a multi-stage linkage rotating mechanism composed of multiple rotating units that can drive each other, and any rotating unit can drive other rotating units to rotate, and the multi-stage linkage rotating mechanism rotates; wherein, the mounting table is arranged at the top end of the multi-stage linkage rotating mechanism, and the driving assembly is connected with the multi-stage linkage rotating mechanism for driving the rotating unit to rotate; therefore, when adjusting the pitch angle, the rotating unit is driven to rotate by the driving assembly, so that the multi-stage linkage rotating mechanism rotates, and the mounting table rotates with the multi-stage linkage rotating mechanism, which can realize wide-range pitch angle adjustment, thereby effectively meeting the large-angle adjustment requirement of the pitch direction under complex shooting scenes. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the gimbal in an embodiment of the present application;

[0028] Figure 2 It is Figure 1 It is a structural change diagram of the gimbal in an embodiment of the present application;

[0029] Figure 3 It is Figure 1 It is a structural schematic diagram of a part of the gimbal in an embodiment of the present application;

[0030] Figure 4 It is Figure 1 It is a structural schematic diagram of another part of the gimbal in an embodiment of the present application;

[0031] Figure 5 It is Figure 1 It is a structural schematic diagram of another part of the gimbal in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0033] It should be noted that all directionality indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, motion condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directionality indications also change accordingly.

[0034] It is also needed to state that when an element is referred to as "fixed to" or "set on" another element, it can be directly on the other element or a middle element can exist simultaneously. When an element is referred to as "connected to" another element, it can be directly connected to the other element or a middle element can exist simultaneously.

[0035] In addition, the description involving "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0036] The embodiment of the present application provides a holder, referring to Figure 1 and Figure 2 The holder comprises:

[0037] a base 110;

[0038] a multi-stage linkage rotating mechanism 120 arranged on the base 110, composed of a plurality of rotatable units 121 which can be driven by each other, and the rotation of any rotatable unit 121 can drive other rotatable units 121 to rotate, so as to rotate the multi-stage linkage rotating mechanism 120;

[0039] a mounting table 130 arranged at the top end of the multi-stage linkage rotating mechanism 120, used for mounting a photographic device, and the mounting table 130 can rotate with the multi-stage linkage rotating mechanism 120 to adjust the pitch angle;

[0040] a driving assembly 140 arranged on the base 110 and connected with the multi-stage linkage rotating mechanism 120, and the driving assembly 140 is used to drive the rotatable units 121 to rotate.

[0041] The holder involved in the embodiment is used for mounting and fixing devices such as video cameras, and the core function is to provide stable support for the devices carried, and to assist the devices to realize the adjustment of the shooting angle, so as to meet the shooting requirements in different scenes.

[0042] The holder mainly comprises the structure of the base 110, the multi-stage linkage rotating mechanism 120, the mounting table 130 and the driving assembly 140, wherein the base 110 is used as the basic supporting component of the holder, and is used to stably mount the entire holder on other supporting devices, such as tripods, shooting vehicles, etc., to provide a stable mounting basis for other components of the holder.

[0043] A multi-stage linkage rotation mechanism 120 is mounted on the base 110. As the core component for achieving a wide range of pitch angle adjustment of the gimbal, it consists of multiple mutually transmitting rotating units 121. These units are connected by a specific transmission structure, ensuring that the rotation of any one unit drives the other units to rotate synchronously, thus achieving the rotation of the entire multi-stage linkage rotation mechanism 120. Each rotating unit 121 can be cylindrical, and its rotation is around its own axis. The resulting multi-stage linkage rotation mechanism 120 rotates by flipping. Figure 2 As shown, taking the top end of the multi-stage linkage rotary mechanism 120 as a reference, when the multi-stage linkage rotary mechanism 120 rotates, the orientation of its top end can switch between forward and backward (or left and right), with an angle adjustment range between -90° and +90°. More specifically, when the top end of the multi-stage linkage rotary mechanism 120 is facing forward (or left), it can be at a downward viewing angle, with an angle between -90° and 0°; when the top end of the multi-stage linkage rotary mechanism 120 is facing backward (or right), its angle can be at a downward viewing angle, with an angle between 0° and 90°; and when the top end of the multi-stage linkage rotary mechanism 120 is facing upward, its angle can be at eye level, with an angle of 0°.

[0044] The mounting platform 130 is positioned at the top of the multi-stage linkage rotation mechanism 120. Specifically, it can be rotatably connected to the top rotating unit 121 within the multi-stage linkage rotation mechanism 120. It is primarily used for mounting photographic equipment, such as camcorders and cameras. Since the mounting platform 130 is connected to the multi-stage linkage rotation mechanism 120, it can rotate synchronously with the mechanism when the mechanism rotates, thereby allowing for adjustment of the tilt angle of the mounted photographic equipment to meet the angle requirements of different shooting scenarios.

[0045] The drive assembly 140 is mounted on the base 110 and connected to the multi-stage linkage rotation mechanism 120. Its function is to provide power for the rotation of the rotation unit 121. The drive assembly 140 can be a motor or other suitable power drive. By precisely controlling the operation of the drive assembly 140, the rotation angle and speed of the rotation unit 121 can be precisely adjusted, thereby achieving precise control of the gimbal's pitch angle. Alternatively, the drive assembly 140 can also be a manually operated assembly; this embodiment does not impose any limitations on this.

[0046] As an example, the base 110 is made of high-strength aluminum alloy and has a rectangular plate structure. Mounting holes are provided at its four corners for fixing it to support equipment such as tripods and filming vehicles using bolts. The upper surface of the base 110 has mounting grooves for mounting the multi-stage linkage rotation mechanism 120.

[0047] The multi-stage linkage rotary mechanism 120 consists of three rotary units 121: a primary rotary unit, a secondary rotary unit, and a tertiary rotary unit. Each rotary unit 121 includes a rotary shaft and a rotary disk. The rotary shaft of the primary rotary unit is vertically fixedly installed in the mounting groove of the base 110, with its lower end connected to the base 110 via a bearing to ensure smooth rotation, and its upper end fixedly connected to the first rotary disk. A gear ring is provided on the edge of the first rotary disk for transmission connection with other rotary units.

[0048] The rotating shaft of the secondary rotating unit is installed at the center of the upper surface of the first rotating disk and is also supported by bearings. Its lower end is rotatably connected to the first rotating disk, and its upper end is fixedly connected to the second rotating disk. The edge of the second rotating disk is also provided with a gear ring, which meshes with the gear ring of the first rotating disk, so that the rotation of the first rotating disk can drive the rotation of the second rotating disk.

[0049] The rotating shaft of the three-stage rotating unit is installed at the center of the upper surface of the second rotating disk, in the same manner as the first two rotating units. Its lower end is rotatably connected to the second rotating disk, and its upper end is fixedly connected to the third rotating disk. The edge of the third rotating disk is also equipped with a gear ring, which meshes with the gear ring of the second rotating disk. This gear transmission method enables mutual transmission between the three rotating units; the rotation of any one rotating unit can drive the other two rotating units to rotate synchronously, thus achieving multi-stage linkage.

[0050] Mounting platform 130 has a rectangular flat plate structure and can be made of lightweight but high-strength carbon fiber material to reduce the overall weight of the gimbal while ensuring sufficient load-bearing capacity. The center of the lower surface of mounting platform 130 is fixedly connected to the upper surface of the third rotating disk of the three-stage rotating unit. The upper surface of mounting platform 130 is provided with standard camera mounting screw holes and quick-release plate interfaces for easy and quick installation and removal of photographic equipment.

[0051] The drive assembly 140 uses a servo motor as its power source, which is fixedly mounted on one side of the base 110. The output shaft of the servo motor is connected to the rotation shaft of the primary rotating unit via a transmission belt. By controlling the speed and direction of the servo motor, the rotation of the primary rotating unit can be precisely controlled, thereby driving the entire multi-stage linkage rotating mechanism 120 to rotate, realizing the tilt angle adjustment of the mounting platform 130 and the photographic equipment. Simultaneously, the drive assembly 140 also includes corresponding control circuits and sensors for real-time monitoring and feedback of the gimbal's angle information, achieving closed-loop control of the gimbal's tilt angle and improving the accuracy and stability of angle adjustment.

[0052] When the tilt angle of the gimbal needs to be adjusted, the servo motor in the drive assembly 140 starts working under the command of the control circuit. The output shaft of the servo motor rotates and transmits power to the rotation shaft of the first rotating unit 1211 through the transmission belt, so that the first rotating disk starts to rotate.

[0053] Because the first and second rotating disks are meshed with each other via gear rings, the rotation of the first rotating disk will drive the second rotating disk to rotate synchronously. Similarly, the rotation of the second rotating disk will drive the third rotating disk to rotate through the gear transmission between the second and third rotating disks. In this way, the three rotating units 121 achieve linkage rotation under the drive assembly 140, which in turn causes the mounting platform 130 mounted on the third rotating disk to rotate as well, realizing the pitch angle adjustment of the photographic equipment.

[0054] During rotation, sensors installed in the drive assembly 140 monitor the rotation angle and speed of the rotating unit in real time and feed this information back to the control circuit. Based on preset angle parameters and the feedback information, the control circuit adjusts the operating status of the servo motor in real time to ensure that the gimbal can be precisely adjusted to the required pitch angle, achieving accurate shooting angle control.

[0055] This embodiment employs a multi-stage linkage rotation mechanism 120 composed of multiple mutually driveable rotating units 121. Rotation of any one rotating unit 121 can drive the other rotating units 121 to rotate, thus causing the multi-stage linkage rotation mechanism 120 to rotate. A mounting platform 130 is located at the top of the multi-stage linkage rotation mechanism 120, and a drive assembly 140 is connected to the multi-stage linkage rotation mechanism 120 to drive the rotating units 121 to rotate. Therefore, when adjusting the pitch angle, the drive assembly 140 drives the rotating units 121 to rotate, causing the multi-stage linkage rotation mechanism 120 to rotate. The mounting platform 130 rotates along with the multi-stage linkage rotation mechanism 120, enabling a wide range of pitch angle adjustments and effectively meeting the demand for large-angle pitch adjustment in complex shooting scenarios.

[0056] In some embodiments, refer to Figure 3 The plurality of rotating units 121 include a first rotating unit 1211 and a second rotating unit arranged adjacent to each other. The first rotating unit 1211 is provided with a first end face gear 10 at one end facing the second rotating unit 1212, and the second rotating unit 1212 is provided with a second end face gear 20 at one end facing the first rotating unit 1211. The second end face gear 20 meshes with the first end face gear 10.

[0057] In a plurality of rotating units, the first rotating unit 1211 and the second rotating unit 1212, which are arranged adjacently, achieve power transmission and linkage through end-face gear meshing. Specifically, the first rotating unit 1211 has a first end-face gear 10 at the end facing the second rotating unit 1212. The first end-face gear 10 rotates synchronously with the first rotating unit 1211, outputting the rotational power of the first rotating unit 1211. The second rotating unit 1212 has a second end-face gear 20 at the end facing the first rotating unit 1211. The second end-face gear 20 also rotates synchronously with the second rotating unit 1212, and is used to receive the power transmitted by the first rotating unit 1211. The second end-face gear 20 meshes with the first end-face gear 10, and the two form an included angle, which can be set according to actual needs. When the first rotating unit 1211 rotates under the action of the drive assembly 140, the first end face gear 10 rotates accordingly. Through gear meshing, it drives the second end face gear 20, which meshes with it, to rotate, thereby causing the second rotating unit 1212 to rotate synchronously. The second rotating unit 1212 rotates in the same direction as the first rotating unit 1211, realizing power transmission and linkage between the two adjacent rotating units 121. The end face gear configuration allows the rotating unit 121 to transmit power in the axial direction, eliminating the need to reserve a large space on the side of the rotating unit 121 for the arrangement of transmission components. This allows for a compact layout of multiple rotating units 121 within a limited space, making the structure of the multi-stage linkage rotating mechanism 120 more compact. At the same time, the end face gear meshing transmission has high transmission accuracy and stability, ensuring the rotational synchronization between the first rotating unit 1211 and the second rotating unit 1212, avoiding transmission gaps or slippage, and ensuring that each rotating unit 121 can work accurately and stably in coordination when the gimbal is adjusting the pitch angle.

[0058] In some embodiments, the plurality of rotating units 121 further includes a third rotating unit 1213, which is located between the first rotating unit 1211 and the second rotating unit 1212 and is rotatably connected to both of them.

[0059] In this embodiment, in addition to the adjacent first rotating unit 1211 and second rotating unit 1212, a third rotating unit 1213 is also provided. The third rotating unit 1213 is disposed between the first rotating unit 1211 and the second rotating unit 1212, and establishes a rotational connection relationship with the first rotating unit 1211 and the second rotating unit 1212 respectively, thereby supporting the transmission connection between the first rotating unit 1211 and the second rotating unit 1212, thus constructing a more complex and efficient multi-stage transmission system.

[0060] Specifically, the end of the first rotating unit 1211 facing the third rotating unit 1213 is provided with a first connecting structure. This connecting structure can be a connecting ring or bushing with a specific tooth profile, used to transmit power with the third rotating unit 1213. The end of the third rotating unit 1213 facing the first rotating unit 1211 is provided with a first mating structure adapted to it, such as a gear or shaft hole with corresponding tooth grooves. Through the mutual cooperation of the first connecting structure and the first mating structure, the rotational connection between the first rotating unit 1211 and the third rotating unit 1213 is realized, so that the rotation of the first rotating unit 1211 can be transmitted to the third rotating unit 1213. Similarly, the end of the third rotating unit 1213 facing the second rotating unit 1212 is provided with a second connecting structure, and the end of the second rotating unit 1212 facing the third rotating unit 1213 is provided with a second mating structure. The two cooperate with each other to realize the rotational connection between the third rotating unit 1213 and the second rotating unit 1212.

[0061] In actual operation, for example, when the drive assembly 140 drives the first rotating unit 1211 to rotate in the first direction (such as clockwise), the first rotating unit 1211 drives the second rotating unit 1212 to rotate synchronously in the first direction through the end face gear set; at the same time, the spatial configuration between the first rotating unit 1211 and the second rotating unit changes, so as to drive the third rotating unit 1213 located between the first rotating unit 1211 and the second rotating unit to rotate in the second direction opposite to the first direction (such as counterclockwise).

[0062] Conversely, when the third rotating unit 1213 rotates along the second direction, it forces the spatial configuration between the first rotating unit 1211 and the second rotating unit to change, thereby causing the first rotating unit 1211 and the second rotating unit 1212 to rotate along the first direction respectively, and while rotating, they are closely linked by the end face gear.

[0063] In this way, the three rotating units 121 form a closely linked transmission chain. The rotation of any rotating unit 121 can drive the other two rotating units 121 to rotate in coordination through the transmission of the connecting structure and the cooperating structure. This enables the multi-level linkage rotating mechanism 120 to rotate more flexibly and over a wider range, providing the mounting platform 130 and the photography equipment with more diverse pitch angle adjustment possibilities.

[0064] In some embodiments, refer to Figure 3 The surface where the first end face gear 10 is located is an inclined plane, and the surface where the second end face gear 20 is located is also an inclined plane. In this embodiment, the surface where the first end face gear 10 is located is set as an inclined plane, and the surface where the second end face gear 20 is located is also set as an inclined plane, and the two inclined planes are at a certain angle to each other, so that power transmission and angle adjustment are realized by the inclined plane meshing method.

[0065] Specifically, the inclined surface design of the first rotating unit 1211 has a specific tilt angle, which is precisely calculated and determined according to the overall design requirements of the gimbal and the transmission ratio requirements. The first end-face gear 10 is fixedly installed on the inclined surface of the first rotating unit 1211 facing the second rotating unit 1212, and rotates synchronously with the first rotating unit 1211. The inclined surface design of the second rotating unit 1212 also has a specific tilt angle, which is precisely calculated and determined according to the overall design requirements of the gimbal and the transmission ratio requirements. The second end-face gear 20 is fixedly installed on the inclined surface of the second rotating unit 1212 facing the first rotating unit 1211, and rotates synchronously with the second rotating unit 1212.

[0066] When the first rotating unit 1211 rotates under the action of the drive assembly 140, the inclined surface of the first end face gear 10 will generate relative motion with the inclined surface of the second end face gear 20. Through the meshing and rotation of the end face gears between the inclined surfaces, the rotational power of the first rotating unit 1211 is transmitted to the second rotating unit 1212, thereby realizing the linkage of the two rotating units.

[0067] Optionally, a first included angle is formed between the inclined surface of the end of the first rotating unit 1211 facing the second rotating unit 1212 and the end face of the end of the first rotating unit 1211 facing the second rotating unit 1212; a second included angle is formed between the inclined surface of the end of the second rotating unit 1212 facing the first rotating unit 1211 and the end face of the second rotating unit 1212 facing the first rotating unit 1211; and a third included angle is formed between the inclined surface of the end of the first rotating unit 1211 facing the second rotating unit 1212 (i.e., the surface where the first end face gear 10 is located) and the inclined surface of the end of the second rotating unit 1212 facing the first rotating unit 1211 (i.e., the surface where the second end face gear 20 is located). The sum of the first included angle and the third included angle is equal to the second included angle, and / or the sum of the angles of the first included angle, the second included angle, and the third included angle is equal to 90°.

[0068] In some embodiments, the first rotating unit 1211 is rotatably disposed on the base 110, and the mounting platform 130 is rotatably connected to the second rotating unit 1212.

[0069] In this embodiment, the first rotating unit 1211 is rotatably mounted on the base 110. This connection can be achieved by providing a dedicated rotating support structure on the base 110. For example, the rotating support structure includes a high-precision bearing assembly, which is installed in a pre-set mounting hole inside the base 110. The mounting platform 130 and the second rotating unit 1212 are rotatably connected. A corresponding rotating support structure, such as a rotating bearing, can also be provided at the top of the second rotating unit 1212, connecting to the bottom of the mounting platform 130.

[0070] During the entire operation of the gimbal, when the first rotating unit 1211 rotates on the base 110, the first rotating unit 1211 drives the second rotating unit 1212 to rotate through the meshing transmission of the end face gear, which in turn causes the multi-stage linkage rotating mechanism 120 to rotate and drive the mounting platform 130 to rotate for pitch angle adjustment. Since the mounting platform 130 is rotatably connected to the second rotating unit 1212, it is not affected by the rotation of the second rotating unit 1212 and rotates around the axis of the second rotating unit 1212.

[0071] In some embodiments, refer to Figure 3 and Figure 4 The drive assembly 140 is connected to the first rotating unit 1211. Since the drive assembly 140 is directly connected to the first rotating unit 1211, it controls the rotation of the first rotating unit 1211 on the base 110. The first rotating unit 1211 drives the second rotating unit 1212 to rotate via the meshing of end-face gears, which in turn causes the multi-stage linkage rotating mechanism 120 to rotate, thereby rotating the mounting platform 130 for pitch angle adjustment.

[0072] In some embodiments, refer to Figure 3 and Figure 4 The driver component 140 includes:

[0073] The pivot 141 is rotatably mounted on the base 110;

[0074] The transmission assembly 142 is disposed between the rotating shaft 141 and the first rotating unit 1211 and is connected to both of them respectively;

[0075] Actuator 143 is connected to rotating shaft 141 and is used to drive rotating shaft 141 to rotate.

[0076] In this embodiment, the drive assembly 140 mainly consists of three parts: a rotating shaft 141, a transmission assembly 142, and an actuating element 143. The rotating shaft 141 is rotatably mounted on the base 110, which has a dedicated bearing mounting groove. A high-precision deep groove ball bearing is installed in the groove, and the rotating shaft 141 passes through the inner ring of the bearing, enabling the rotating shaft 141 to rotate flexibly and stably on the base 110, effectively reducing friction and wobbling during rotation.

[0077] The transmission assembly 142 is positioned between the rotating shaft 141 and the first rotating unit 1211, playing a crucial role in power transmission. The transmission assembly 142 can take various forms, such as a belt drive assembly 142, a gear drive assembly 142, or a chain drive assembly 142. Taking the gear drive assembly 142 as an example, a driving gear is fixedly mounted on the rotating shaft 141, and a driven gear is fitted onto the rotating shaft 141 of the first rotating unit 1211. The driving gear and the driven gear mesh with each other, and through the gear meshing transmission, the rotational power of the rotating shaft 141 is transmitted to the first rotating unit 1211. This transmission method ensures the accuracy and stability of power transmission, achieving reliable power transmission.

[0078] The actuator 143 is connected to the rotating shaft 141, and its function is to drive the rotating shaft 141 to rotate, providing a power source for the entire drive assembly 140. The actuator 143 can be a manually operated component, such as an operating handle, or an electrically driven component, such as a servo motor. When the actuator 143 is an operating handle, the photographer manually rotates the operating handle to drive the rotating shaft 141 to rotate; when the actuator 143 is a servo motor, after receiving a control signal, the output shaft of the servo motor drives the rotating shaft 141 to rotate. In actual operation, the actuator 143 drives the rotating shaft 141 to rotate, and the rotating shaft 141 transmits power to the first rotating unit 1211 through the transmission assembly 142. Since the first rotating unit 1211 and the second rotating unit 1212 are linked through end face gear meshing, the first rotating unit 1211 is driven to rotate in sequence, ultimately realizing the pitch angle adjustment of the mounting platform 130.

[0079] In some embodiments, refer to Figure 4 The transmission assembly 142 includes a first bevel gear 1421 and a second bevel gear 1422 meshing with the first bevel gear 1421. The first bevel gear 1421 is sleeved and connected to the rotating shaft 141, and the second bevel gear 1422 is disposed on the first rotating unit 1211; and / or,

[0080] The actuator 143 includes a rocker arm connected to one end of the rotating shaft 141.

[0081] In this embodiment, the transmission component 142 can adopt a bevel gear transmission structure, specifically composed of a first bevel gear 1421 and a second bevel gear 1422. The first bevel gear 1421 is tightly fitted onto the rotating shaft 141 via a key connection, ensuring that the first bevel gear 1421 and the rotating shaft 141 can rotate synchronously, transmitting the rotational power of the rotating shaft 141 without loss. The second bevel gear 1422 is fixedly mounted on the first rotating unit 1211, forming a stable connection with the first rotating unit 1211, and can transmit the received power to the first rotating unit 1211, driving it to rotate. The first bevel gear 1421 and the second bevel gear 1422 mesh with each other, and their conical tooth profiles are precisely designed and machined to ensure tight meshing during transmission, achieving stable and efficient power transmission. When the rotating shaft 141 rotates under the drive of the actuator 143, the first bevel gear 1421 rotates accordingly. Through meshing with the second bevel gear 1422, it transmits power to the first rotating unit 1211, thereby driving the multi-stage linkage rotating mechanism 120 to achieve pitch angle adjustment.

[0082] The actuator 143 can be a rocker arm structure, with one end of the rocker arm securely connected to the end of the rotating shaft 141 via a threaded connection or a pin connection. In actual operation, the photographer can manually hold the rocker arm and apply rotational force to rotate the rocker arm around the axis of the rotating shaft 141, thereby driving the rotating shaft 141 to rotate. To improve the comfort and convenience of operation, the grip area of ​​the rocker arm is covered with non-slip rubber material and designed with an ergonomic grip curvature.

[0083] Optionally, a positioning structure can be added between the base 110 and the joystick for precise positioning of the joystick, thereby accurately locking the adjusted pitch angle. This positioning structure can consist of a positioning groove group, a positioning pin, and a resilient reset component. The positioning groove group is located on the surface of the base 110 near the joystick, and includes multiple positioning grooves evenly distributed along the circumference. Each positioning groove corresponds to a different pitch angle, and its position and angle parameters are precisely set according to the gimbal's design adjustment range and accuracy requirements. The positioning pin is installed at the end of the joystick near the base 110 and can extend and retract radially. The resilient reset component is located inside the joystick and connected to the positioning pin, providing an elastic thrust towards the positioning groove to ensure that the positioning pin automatically engages in the positioning groove when no external force is applied.

[0084] When the photographer adjusts the gimbal's tilt angle using the joystick, they must first pull the positioning pin outwards to disengage it from the current positioning slot, overcoming the elastic force of the spring-loaded reset component. At this point, the joystick can be freely rotated, driving the rotating shaft 141, transmission component 142, and multi-stage linkage rotation mechanism 120 to adjust the tilt angle of the mounting platform 130. After adjusting to the desired angle, the positioning pin is released. Under the action of the spring-loaded reset component, the positioning pin automatically springs into the corresponding positioning slot, thus fixing the joystick in that position and locking the gimbal's current tilt angle. This positioning method ensures that even with slight impacts or vibrations during shooting, the gimbal's tilt angle will not shift, maintaining the stability of the shooting angle.

[0085] In some embodiments, refer to Figure 3 and Figure 5 The gimbal also includes:

[0086] The connecting structure 150 is connected to the base 110 and the mounting platform 130 respectively, and the connecting structure 150 is used to limit the rotation path of the mounting platform 130.

[0087] In this embodiment, when the drive assembly 140 drives the rotating unit to rotate, thereby causing the multi-stage linkage rotating mechanism 120 to rotate and drive the mounting platform 130 to rotate, under the constraint of the provided connection structure 150, the mounting platform 130 rotates along the rotation path and will not rotate around the rotation axis of the connected rotating unit. The connection structure 150 provides stable guidance and support for the rotation of the mounting platform 130.

[0088] In some embodiments, multiple rotating units 121 are hollow, and a connecting structure 150 passes through them. In this embodiment, the multiple rotating units 121 are hollow, forming a through-hole hollow channel. The connecting structure 150 passes through the multiple rotating units 121, achieving deep structural integration and functional synergy. The hollow design of the rotating units 121 and the through-hole layout of the connecting structure 150 fully utilize the internal space resources of the gimbal, effectively reducing the space occupied by each component in the radial direction, making the overall structure of the gimbal more compact. This compact structure not only reduces the overall size and weight of the gimbal, facilitating carrying and installation, but also provides more space for the layout and installation of other components inside the gimbal. For example, wiring, sensors, and other equipment can be arranged within the hollow channel, improving the integration and functionality of the gimbal and meeting the diverse needs of modern photographic equipment.

[0089] In some embodiments, refer to Figure 3 and Figure 5 The connection structure 150 includes a connecting rod group 151, which includes a plurality of connecting rods 1511 that are hinged one by one.

[0090] One end of the connecting rod assembly 151 is connected to the base 110, and the other end of the connecting rod assembly 151 is connected to the mounting platform 130.

[0091] In this embodiment, the connecting structure 150 employs a connecting rod assembly 151, which consists of multiple sequentially hinged connecting rods 151. Each connecting rod 1511 is made of a high-strength, lightweight alloy material, ensuring sufficient structural strength while reducing overall weight. The number of connecting rods 1511 can be set according to actual needs; for example, three connecting rods 1511 can be used, with each rod hinged sequentially. At the hinge points of multiple connecting rods 1511, a precision hinge shaft and spherical bearing structure can be used. The hinge shaft passes through the hinge portion of two adjacent connecting rods 1511, and the spherical bearing is sleeved on the hinge shaft and tightly engages with the adjacent connecting rods 1511. This design allows for flexible rotation at multiple angles between adjacent connecting rods 1511, while the spherical bearing effectively reduces friction at the hinge points, ensuring smooth and stable rotation.

[0092] When the multi-stage linkage rotation mechanism 120 drives the mounting platform 130 to adjust the pitch angle, the movement of the mounting platform 130 will be transmitted to the entire connecting rod assembly 151 through the top connecting rod 1511. Due to the hinge relationship between each connecting rod 1511, the connecting rod assembly 151 will deform and rotate accordingly to adapt to the angle change of the mounting platform 130, while always maintaining the function of limiting the rotation path of the mounting platform 130.

[0093] In addition, the connection structure 150 may also be other types, for example, the connection structure 150 may consist of a guide rail assembly, a limit stop and a flexible connector.

[0094] The guide rail assembly includes a fixed rail and a movable slider. The fixed rail is made of high-strength aluminum alloy and is bolted to the upper surface of the base 110. Its length and shape are customized according to the overall design of the gimbal and the rotation range of the mounting platform 130. The surface of the rail is precision-machined to ensure extremely high flatness and smoothness. The movable slider slides in conjunction with the fixed rail and can slide freely along the rail in a specific direction. The movable slider is fixedly connected to the side of the mounting platform 130 through a high-strength connector, thus creating a linkage between the mounting platform 130 and the guide rail assembly.

[0095] Limit blocks are installed at both ends of the fixed slide rail and at key angle positions. These limit blocks are made of high-hardness engineering plastic or metal materials and are fixed to the slide rail by welding or bolting. The position and height of the limit blocks are precisely calculated and designed. When the mounting platform 130 rotates under the drive of the multi-stage linkage rotation mechanism 120, the moving slider slides along the fixed slide rail. When the moving slider touches the limit block, it will be blocked, thereby limiting the mounting platform 130 from continuing to rotate in that direction, thus achieving precise limitation of the rotation angle range of the mounting platform 130.

[0096] The flexible connector is made of high-strength fiber material with a certain degree of elasticity and flexibility. One end of it is connected to the base 110, and the other end is connected to the mounting platform 130. The flexible connector is always in a taut state during the rotation of the mounting platform 130. On the one hand, it plays an auxiliary guiding role to ensure that the mounting platform 130 does not deviate or shake during rotation; on the other hand, when the mounting platform 130 is subjected to an unexpected external impact, the elasticity of the flexible connector can absorb part of the impact force, preventing the mounting platform 130 from being damaged due to excessive force, and preventing the mounting platform 130 from deviating from the predetermined rotation path.

[0097] During the operation of the gimbal, when the multi-stage linkage rotation mechanism 120 drives the mounting platform 130 to rotate, the movable slider on the side of the mounting platform 130 slides along the fixed slide rail. Under the combined action of the limit block and the flexible connector, the mounting platform 130 always rotates along the predetermined path, thereby effectively limiting the rotation path of the mounting platform 130.

[0098] The above description is only a part or preferred embodiment of the present invention. Neither the text nor the drawings should limit the scope of protection of the present invention. All equivalent structural transformations made using the content of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A gimbal, characterized in that, include: Base; A multi-stage linkage rotation mechanism is provided on the base and consists of multiple rotating units that can drive each other. The rotation of any one of the rotating units can drive the other rotating units to rotate, so that the multi-stage linkage rotation mechanism can rotate. The mounting platform, located at the top of the multi-stage linkage rotation mechanism, is used to mount photographic equipment. The mounting platform can rotate with the multi-stage linkage rotation mechanism to adjust the pitch angle. A drive assembly is disposed on the base and connected to the multi-stage linkage rotation mechanism. The drive assembly is used to drive the rotation unit to rotate.

2. The gimbal according to claim 1, characterized in that, The plurality of rotating units include a first rotating unit and a second rotating unit arranged adjacent to each other. The first rotating unit has a first end face gear at one end facing the second rotating unit, and the second rotating unit has a second end face gear at one end facing the first rotating unit. The second end face gear meshes with the first end face gear.

3. The gimbal according to claim 2, characterized in that, The plurality of rotating units further includes a third rotating unit, which is located between the first rotating unit and the second rotating unit and is rotatably connected to both of them.

4. The gimbal according to claim 2, characterized in that, The surface where the first end face gear is located is an inclined plane, and the surface where the second end face gear is located is also an inclined plane.

5. The gimbal according to claim 2, characterized in that, The first rotating unit is rotatably mounted on the base, and the mounting platform is rotatably connected to the second rotating unit.

6. The gimbal according to claim 5, characterized in that, The drive component is connected to the first rotating unit.

7. The gimbal according to claim 6, characterized in that, The driving component includes: A pivot is rotatably mounted on the base; A transmission assembly is disposed between the rotating shaft and the first rotating unit and is connected to both of them respectively; An actuator is connected to the rotating shaft, and the actuator is used to drive the rotating shaft to rotate.

8. The gimbal according to claim 7, characterized in that, The transmission assembly includes a first bevel gear and a second bevel gear meshing with the first bevel gear. The first bevel gear is sleeved and connected to the rotating shaft, and the second bevel gear is disposed on the first rotating unit; and / or The actuating element includes a rocker arm connected to one end of the rotating shaft.

9. The gimbal according to any one of claims 1 to 8, characterized in that, Also includes: A connecting structure is connected to the base and the mounting platform respectively, and the connecting structure is used to constrain the rotation path of the mounting platform.

10. The gimbal according to claim 9, characterized in that, The plurality of rotating units are all hollow, and the connecting structure passes through the plurality of rotating units.

11. The gimbal according to claim 9, characterized in that, The connection structure includes a connecting rod group, which includes a plurality of connecting rods that are hinged one by one. One end of the connecting rod assembly is connected to the base, and the other end of the connecting rod assembly is connected to the mounting platform.

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