Anti-shake gimbal

Abstract

The present invention discloses an anti-shake gimbal, comprising a shell, a carrier, a magnet group, a circuit board, a support body, a lower spring sheet and a base, wherein the carrier is provided with a lens module installation chamber for installing a lens module, the magnet group is fixedly installed on the base, the circuit board is installed at the bottom of the carrier and cooperates with the magnet group, the lower spring sheet movably connects the carrier and the base, and the support body is installed between the base and the carrier to rotatably support the carrier on the base. The present invention can drive the entire lens module including the lens and the image sensor to make a movement opposite to the vibration direction but close to the amplitude, thereby offsetting the shaking caused by the vibration.

Description

Technical Field

[0001] The present invention relates to the field of pan / tilt platforms, and in particular to an anti-shake pan / tilt platform. Background Art

[0002] In recent years, mobile devices with fixed-focus wide-angle (viewing angle over 80 degrees) shooting functions have become very popular, and their application scope has been continuously expanded, including aerial photography, sports cameras, and dashcams. When taking photos and videos, it is very likely that they will be blurred or shaken due to external vibrations, affecting the quality of photos and videos. This problem will be more serious when the vibration is more intense or in low light conditions.

[0003] In order to solve the above problems, many existing anti-shake technologies have appeared in the market. The mainstream existing technologies read vibration sensors (such as gyroscopes and acceleration sensors), calculate the vibration waveform and the required compensation angle, and compensate for the image blur and shaking caused by vibration through electronic, optical, or mechanical methods to achieve the effect of improving image quality.

[0004] The existing technology mainly includes an electronic image stabilizer (EIS) and an optical image stabilizer (OIS) according to the vibration compensation method.

[0005] EIS is an electronic method to achieve the anti-shake effect. When shooting, EIS will adjust the position of each frame of the image according to the calculated vibration waveform to offset the image shake caused by vibration. Since EIS does not require additional actuators, the main advantages of EIS are low cost and no additional weight and volume. The main disadvantage of EIS is that it cannot compensate for the image shake in each frame. This is because EIS offsets the image shake caused by vibration by adjusting the position of each image. Therefore, the image taken after EIS is turned on will be more likely to be blurred due to image shake. Another disadvantage of EIS is that the resolution of the image sensor is sacrificed. When EIS is turned on, the image sensor or image processor needs to cut the appropriate image according to the calculated vibration waveform as the final image. During the cutting process, the resolution will decrease, and the final image will be lower than the maximum resolution of the image and sensor. Therefore, EIS will sacrifice the maximum resolution of the image sensor and reduce the image quality. Compared with EIS, the main disadvantage of OIS is that it requires additional actuators, so it requires higher additional costs, larger additional space, and higher additional weight.

[0006] OIS uses an actuator to move an optical component (which can be a lens, a group of lenses, or all lenses in a camera) through optical and mechanical methods to achieve relative movement between the optical component and the image sensor, change the optical path and the position of the image circle, and offset the image shake caused by vibration. Since OIS continuously makes optical compensation in each frame of the image, it can offset the shake when each frame is exposed, and can achieve better image quality than EIS. The main disadvantage of OIS is that it sacrifices part of the optical resolution of the lens. During the OIS process, the position of the image circle on the image sensor will continue to change. In order to prevent the image circle from exceeding the image sensor during the OIS process, the image circle must be expanded due to OIS, but this will waste the resolution that the lens should have. On the other hand, during the OIS process, when the position of the image circle is more biased, the edge of the image circle will be closer to the image sensor. Since the blur and distortion at the edge of most lenses are more serious than the center, the image resolution and anti-shake effect of OIS are generally not as good as GS. This problem is more obvious in wide-angle camera modules. Summary of the invention

[0007] The purpose of the present invention is to provide an anti-shake pan / tilt platform to solve the above problems in the prior art.

[0008] In order to solve the above-mentioned problem, according to one aspect of the present invention, an anti-shake gimbal is provided, which includes a shell, a carrier, a magnet group, a circuit board, a support body, a lower spring leaf and a base, the carrier is provided with a lens module mounting chamber for mounting the lens module, the magnet group is fixedly mounted on the base, the circuit board is mounted on the bottom of the carrier and cooperates with the magnet group, the lower spring leaf movably connects the carrier and the base, and the support body is mounted between the base and the carrier to rotatably support the carrier on the base.

[0009] In one embodiment, the circuit board includes a first part and a second part, the first part is mounted on the base and folded into multiple layers, and the second part is mounted on the bottom of the carrier and is provided with a coil.

[0010] In one embodiment, the coils include a first group of coils and a second group of coils that are arranged opposite to each other to cooperate with corresponding magnets of the magnet group, respectively, so as to drive the carrier to rotate along two mutually perpendicular axes.

[0011] In one embodiment, sensors are respectively disposed in the first group of coils and the second group of coils to cooperate with corresponding magnets of the magnet group to detect the displacement of the carrier.

[0012] In one embodiment, the bottom of the carrier is provided with a carrier embedded metal sheet, the base is provided with a base embedded metal sheet, and the support body includes a first surface facing the carrier and a second surface facing the base, the first surface is rotatably matched with the carrier embedded metal sheet, and the second surface is rotatably matched with the base embedded metal sheet.

[0013] In one embodiment, the metal sheet embedded in the base can be rotatably matched with the second surface of the support body by means of grooves and protrusions, and the metal sheet embedded in the carrier can be rotatably matched with the first surface of the support body by means of grooves and protrusions.

[0014] In one embodiment, the base embedded metal sheet and the carrier embedded metal sheet are arranged perpendicular to each other.

[0015] In one embodiment, the first surface of the support body is provided with at least two first protrusions to cooperate with the carrier embedded metal sheet, and the second surface of the support body is provided with at least two second protrusions to cooperate with the base embedded metal sheet.

[0016] In one embodiment, the support body has a disc-shaped body and a notch is provided on the disc-shaped body, and a connecting line of the at least two first protrusions and a connecting line of the at least two second protrusions pass through the center of the disc-shaped body and are perpendicular to each other.

[0017] In one embodiment, a side of the carrier facing the base forms a closed bottom, and the bottom is provided with a reed fixing portion protruding toward the base, and the reed fixing portion is fixedly connected to the inner circle of the reed.

[0018] In one embodiment, the bottom of the carrier is further provided with a support body matching portion, the carrier embedded metal sheet is installed on the support body matching portion, and the spring fixing portion includes an annular body, and the support body matching portion is arranged in the annular body.

[0019] In one embodiment, the support body matching portion has a long strip shape and passes through the center of the annular body of the spring fixing portion, and the surface of the carrier embedded metal sheet facing the support body is provided with a carrier embedded metal sheet groove to match with the first protrusion of the support body.

[0020] In one embodiment, the base includes a rectangular plate body having an upper surface facing the carrier and a lower surface away from the carrier, the upper surface is provided with a first area and a second area, the carrier is arranged in the first area, and the second area is used to install the second part of the circuit board.

[0021] In one embodiment, a base embedded metal sheet installation portion is provided in the middle of the first area to set the base embedded metal sheet.

[0022] In one embodiment, the base embedded metal sheet mounting portion is arranged perpendicular to the length direction of the base and protrudes from the bottom of the first area toward the carrier as a whole.

[0023] In one embodiment, the base embedded metal sheet is arranged on the base embedded metal sheet mounting portion and is provided with at least two base embedded metal sheet grooves on the surface facing the support body so as to rotatably cooperate with the second protrusion of the support body.

[0024] The present invention uses a mechanical method to drive the entire lens module including the lens and the image sensor to make a movement in the opposite direction to the vibration but with a similar amplitude to offset the shaking caused by the vibration. During the anti-shake process, since there is no relative movement between the optical components and the image sensor, the image quality and anti-shake effect will not be reduced at the edge of the image, and there is no need to sacrifice part of the optical resolution of the lens and part of the resolution of the image sensor due to anti-shake. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional exploded view of an anti-shake gimbal used in combination with a lens module according to an embodiment of the present invention;

[0026] Figure 2 yes Figure 1 A three-dimensional diagram of a housing of an anti-shake gimbal;

[0027] Figure 3A-3B yes Figure 1 Stereoscopic images of different viewing angles of the anti-shake gimbal carrier;

[0028] Figure 4 yes Figure 1 Stereoscopic images of the circuit board of the anti-shake gimbal from different perspectives;

[0029] Figure 5A is a three-dimensional diagram of a support body according to an embodiment of the present invention;

[0030] Figures 5B-5D They are respectively a bottom view, a top view and a side view of the support body, which illustrate the cooperation between the support body and the metal sheet embedded in the base and the metal sheet embedded in the carrier;

[0031] Figure 6 yes Figure 1 A three-dimensional image of the reed of the anti-shake gimbal;

[0032] Figure 7 yes Figure 1 A stereoscopic image of an anti-shake gimbal without a housing installed; and

[0033] Figure 8-Figure 9 They are Figure 1 Different cross-sectional views of the anti-shake gimbal. DETAILED DESCRIPTION

[0034] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings so that the purpose, features and advantages of the present invention can be more clearly understood. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0035] In the following description, certain specific details are set forth for the purpose of illustrating the various disclosed embodiments to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments may be practiced without one or more of these specific details. In other cases, well-known devices, structures, and techniques associated with the present application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0036] References throughout the specification to "one embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0037] In the following description, in order to clearly show the structure and working mode of the present invention, many directional words will be used for description, but the words "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", "down", etc. should be understood as convenient terms and should not be understood as restrictive terms.

[0038] The present invention generally relates to an anti-shake gimbal for use in conjunction with a lens module, and the anti-shake gimbal is used in conjunction with the lens module to achieve a better anti-shake effect. Specifically, the lens module itself can have an OIS anti-shake function, and the gimbal of the present invention mechanically drives the entire lens module including the lens and the image sensor to make a movement in the opposite direction to the vibration but with a similar amplitude, thereby offsetting the shaking caused by the vibration. During the anti-shake process, since there is no relative movement between the optical components and the image sensor, the image quality and anti-shake effect will not decrease at the edge of the image, and there is no need to sacrifice part of the optical resolution of the lens and part of the resolution of the image sensor due to anti-shake. Refer to the following Figure 1-9 An embodiment of the anti-shake gimbal of the present invention is described.

[0039] Figure 1 FIG. 1 is a perspective exploded view of an anti-shake platform 100 for combining with a lens module according to the present invention. Figure 1 As shown, the anti-shake gimbal 100 generally includes a housing 10, a carrier 20, a magnet group 30, a circuit board 40, a support body 51, a lower spring 60 and a base 70. The housing 10 and the base 70 cooperate and define an internal space to accommodate the carrier 20, the magnet group 30, the circuit board 40, the support body 51 and the lower spring 60 in the internal space. The magnet group 30 is mounted on the base 70, the circuit board 40 is fixedly mounted on the bottom of the carrier 20, the coil of the circuit board 40 corresponds to the magnet group 30, the support body 51 is mounted between the base 70 and the bottom of the carrier 20 and rotatably supports the carrier 20, the lower spring 60 is arranged between the base 70 and the carrier 20 and movably connects the base 70 and the carrier 20, and the lens module (not shown) is mounted in the carrier 20. The housing 10, the magnet group 30 and the base 70 form a fixed part, and the circuit board 40 and the carrier 20 form a movable part. When the circuit board 40 is powered on, the interaction between its coil and the magnet group drives the movable part to move, and further drives the lens module installed in the carrier 20 to move, thereby achieving the purpose of anti-shake. Figure 2-9 The various components of the present invention are further described.

[0040] Figure 2 yes Figure 1 A perspective view of the housing 10. Figure 2 As shown, the housing 10 is formed in a rectangular parallelepiped shape as a whole, and an open space 11 is formed on the side facing the base 70 to accommodate various components such as the carrier 20, and an opening 13 is formed on the side away from the base 70 to cooperate with the lens module, and the lens module can be installed in the carrier 20 through the opening 13. A notch 14 is provided at one end of the housing 10, and the notch 14 is provided on the side of the housing 10 close to the base 70 and is recessed upward.

[0041] Figure 3A is a three-dimensional diagram of the carrier 20, Figure 3B 2 is a bottom view of the carrier 20. Figure 3A-3B As shown, the carrier 20 is integrally installed in the open space 11 of the housing 10. Specifically, a lens module installation chamber 21 is formed on the side of the carrier 20 facing the housing 10. The lens module installation chamber 21 cooperates with the opening 13 of the housing 10 to accommodate the lens module. A closed bottom 22 is formed on the side of the carrier 20 facing the base 70. The bottom 22 is provided with an annular spring fixing portion 221. The spring fixing portion 221 is connected to the inner ring 63 of the spring 60 (see Figure 6) is fixedly connected. The reed fixing portion 221 is preferably in a continuous annular shape, and is preferably formed by protruding a certain height toward the base 70. The inner circumference of the reed fixing portion 221 is provided with a plurality of protrusions 2211 protruding inwardly, and each protrusion 2211 is provided with a reed mounting protrusion 2212, and the reed mounting protrusion 2212 cooperates with the mounting hole on the inner ring 63 of the reed 60, thereby fixing the inner ring 63 of the reed 60 on the carrier 20.

[0042] The bottom 22 of the carrier 20 is also provided with a support body matching portion 222. Specifically, the support body matching portion 222 is arranged inside the annular main body of the spring fixing portion 221, and is preferably a long strip of fixing strip. The long strip of fixing strip preferably passes through the center of the annular spring fixing portion 221, that is, the support body matching portion 222 can pass through a diameter of the annular spring fixing portion 221, and both ends of the support body matching portion 222 are connected to the spring fixing portion 221. The support body matching portion 222 is formed by protruding a certain distance from the bottom 22 of the carrier toward the base 70, and is provided with mounting holes 223 near the two ends. In one embodiment, a carrier embedded metal sheet 53 can be provided on the support body matching portion 222, and the carrier embedded metal sheet 53 is provided with a carrier embedded metal sheet protrusion 534 (refer to Figure 5D ), the carrier embedded metal sheet 53 is fixed to the support body matching portion 222 through the cooperation of the carrier embedded metal sheet protrusion 534 and the installation hole 223. Preferably, the two installation holes 223 are respectively arranged at the two ends of the support body matching portion 222 and are located inside the annular body of the spring fixing portion 221. It can be understood by those skilled in the art that a plurality of installation holes can also be arranged on the support body matching portion 222, for example, three or four installation holes are arranged.

[0043] Figure 4 40 is a three-dimensional diagram of the circuit board. Figure 4 As shown, the circuit board 40 includes a first portion 411 and a second portion 412. The first portion 411 is a flexible circuit board and is folded into multiple layers, which forms an extended flexible portion of the circuit board. The second portion 412 is mounted on the carrier 20 and is provided with a plurality of built-in coils 42. In one embodiment, a first group of coils 421 (see FIG. 4 ) is provided in the second portion 412 of the circuit board 40. Figure 8 ) and a second set of coils 422 (see Fig. 9 ), the first group of coils 421 cooperates with the corresponding magnet group 30 to realize the rotation of the carrier 20 along one of the two axes perpendicular to each other (for example, the X-axis), and the second group of coils 422 cooperates with the corresponding magnet group 30 on the base 70 to realize the rotation of the carrier 20 along one of the two axes perpendicular to each other (for example, the Y-axis).

[0044] The first part 411 as a whole includes an interface part 4111 and a folding part 4112, the interface part 4111 and the folding part 4112 are formed integrally and preferably have the same width, and the folding part 4112 is preferably folded into more than three layers. The interface part 4111 is provided with an interface 4113. The second part 412 as a whole includes an integrally formed annular part 4121 and a coil mounting part 4122, the inner diameter of the annular part 4121 is larger than the outer diameter of the leaf spring mounting part 221 at the bottom of the carrier 20, that is, the annular part 4121 of the circuit board 40 is nested outside the leaf spring mounting part 221 of the carrier 20. The coil mounting part 4122 is integrally extended outward on the outer periphery of the annular part 4121. In this embodiment, four coil mounting parts 4122 are integrally extended from the outer periphery of the annular part 4121, and the four coil mounting parts 4122 are evenly arranged around the annular part 4121 and are correspondingly matched with the magnet group 30 installed on the base 70. A sensor 4123 (e.g., a Hall sensor) is also provided on each side of two adjacent coil mounting portions 4122 facing the base 70 to cooperate with the magnet group 30 on the base 70 to detect the displacement of the magnet group 30. The second portion 412 of the circuit board 40 is parallel to the folding portion 411 and can be fixed to the bottom of the carrier 20, for example, through the annular portion 4121, so that the magnet group 30 cooperates with the coil 42 to drive the carrier 20 and further drive the lens module to move.

[0045] Figure 5A is a three-dimensional diagram of a support body 51 according to an embodiment of the present invention, Figures 5B-5D 1 and 2 are respectively a bottom view, a top view and a side view of the support body 51, which show the cooperation between the support body 51 and the base embedded metal sheet 52 and the carrier embedded metal sheet 53. Figures 5A-5D As shown, the support body 51 has a shape matching the spring installation portion 221 at the bottom of the carrier 20. Specifically, the support body 51 has a disc-shaped body and is provided with a notch 510. The disc-shaped body has a first surface 51A and a second surface 51B opposite to each other. The base embedded metal sheet 52 is installed in the base 70 and matches the first surface 51A of the support body 51. The carrier embedded metal sheet 53 is installed at the bottom of the carrier 20 and matches the second surface 51B of the support body 51. The base embedded metal sheet 52 and the carrier embedded metal sheet 53 are arranged crosswise and preferably perpendicular to each other.

[0046] Specifically, the first surface 51A is provided with a first support protrusion 512, and the second surface 51B is provided with a second support protrusion 513. Optionally, the position where the second surface 51B of the support body 51 is opposite to the first support protrusion 512 can form a first support groove 515, and the position where the first surface 51A of the support body 51 is opposite to the second support protrusion 513 can form a second support groove 514.

[0047] The base embedded metal sheet 52 has a first inner surface facing the support body 51 and a first outer surface 521 opposite to the first inner surface. Both ends of the first inner surface are provided with base embedded metal sheet grooves 523 that cooperate with the first support body protrusions 512 on the support body 51 (see Figure 8 ), a base embedded metal sheet protrusion 522 that cooperates with the base groove 732 on the base 70 is formed on the first outer surface 521 at a position opposite to the base embedded metal sheet groove, and the base embedded metal sheet 52 can be rotatably matched with the support body 51 through the base embedded metal sheet groove 523 cooperating with the first inner support body protrusion 512 on the support body 51.

[0048] Similarly, the carrier embedded metal sheet 53 has a second inner surface 531 facing the support body 51 and a second outer surface 532 opposite to the second inner surface 531. The two ends of the second inner surface 531 are provided with carrier embedded metal sheet grooves 533. The second outer surface 532 is provided with a carrier embedded metal sheet protrusion 534 that matches with the mounting hole 223 at the bottom of the carrier 20 at a position opposite to the carrier embedded metal sheet groove 533. The carrier embedded metal sheet 53 is rotatably matched with the support body 51 by matching the carrier embedded metal sheet groove 533 with the second support body protrusion 513 on the support body 51.

[0049] Figure 6 FIG. 6 is a perspective view of a reed 60 according to an embodiment of the present invention. Figure 7 As shown, the reed 60 as a whole includes a base fixing portion 61, an inner ring 62 and an elastic strip 63. The base fixing portion 61 and the inner ring 62 are movably connected through the elastic strip 63. The base fixing portion 61 is fixed to the base 70, and the inner ring 62 is fixed to the carrier 20. Specifically, the inner ring 62 is provided with a carrier fixing portion 621, which is formed by protruding inward from the inner circumference of the inner ring 62. The carrier fixing portion 621 is provided with a carrier fixing hole 622 to cooperate with the reed installation protrusion 2212 at the bottom of the carrier 20, so as to fix the inner ring 62 to the reed fixing portion 221 of the carrier 20.

[0050] Figure 7 7 is a three-dimensional diagram of the base 70, the spring 60, the circuit board 40, the carrier 51, the base embedded metal sheet 52 and the carrier embedded metal sheet 53 assembled together. Figure 7 As shown, the base 70 as a whole comprises a rectangular plate body, and the rectangular plate body has an upper surface 71 ( Figure 6The upper surface 71 is generally divided into a first area 711 and a second area 712. The first area 711 corresponds to the bottom of the carrier 20, and the carrier 20 is arranged in the first area 711. The second area 74 is used to install the second part 412 of the circuit board 40. The middle part of the first area 711 is provided with a base embedded metal sheet installation part 713 (see Fig. 9 ), the base embedded metal sheet installation portion 713 is arranged perpendicular to the length direction of the base 70, and is integrally protruded from the first area 711 toward the carrier and is provided with base grooves (not shown) at both ends, and the base grooves cooperate with the base embedded metal sheet protrusions 522 on the base embedded metal sheet 52, so as to fix the base embedded metal sheet 52 on the base 70. The four magnets of the magnet group 30 are arranged around the base embedded metal sheet installation portion.

[0051] Figure 8-Figure 9 1 is a cross-sectional view of an anti-shake platform 100 for combining with a lens module according to an embodiment of the present invention. Figure 8-9 Shown and combined Figure 1-7 The carrier embedded metal sheet 53 is mounted on the support body matching part 222 at the bottom of the carrier 20, and the two second circular protrusions 534 of the carrier embedded metal sheet 53 are matched with the two mounting holes 223 of the support body matching part 222. The base embedded metal sheet 52 is mounted on the embedded metal sheet mounting part 731 of the base 70, and the first circular protrusion 522 of the base embedded metal sheet 52 is matched with the groove of the embedded metal sheet mounting part 713 of the base 70. The base fixing part 61 of the spring 60 is fixed on the base 70, and the inner ring 62 is fixed on the spring fixing part 221 of the carrier 20. In this way, the carrier 20 and the base 70 are movably connected through the spring 60, and the support body 51 is rotatably supported between the bottom of the carrier 20 and the base 70. The first part 411 of the circuit board 40 is fixedly mounted on the bottom of the carrier 20, and the second part 412 of the circuit board 40 is mounted on the second area 712 of the base 70. The built-in coils 42 of the second part 412 of the circuit board respectively cooperate with the magnet groups arranged on the base 70, so that when the built-in coils 42 are energized, the carrier 20 and the lens module installed in the carrier 20 are driven to move, thereby achieving an anti-shake effect.

[0052] Reference Figure 8-9 When the first coil 421 is energized, the magnet group 30 interacts with the first coil 421 to drive the carrier 20 to rotate perpendicular to Figure 7 The axis of the paper shown in FIG. 1 (denoted as the X axis) rotates, and when the second set of coils 422 is energized, the interaction between the magnet set 30 and the second set of coils 422 drives the carrier to rotate perpendicular to the axis of the paper shown in FIG. Fig. 9Since the first coil group 421 and the second coil group 422 may be provided with a sensor 4123, when a shake such as hand shaking occurs during the photographing process, the sensor 4123 can detect the displacement of the carrier 40 by detecting the displacement of the corresponding magnet group 30, and transmit the displacement to the controller (not shown), and the controller controls the current size and direction in the first coil group 421 or the second coil group 422, forcing the carrier 20 to drive the lens module to move in the opposite direction, thereby achieving the purpose of anti-hand shaking.

[0053] The preferred embodiments of the present invention have been described in detail above, but it should be understood that after reading the above teachings of the present invention, those skilled in the art may make various changes or modifications to the present invention. These equivalent forms also fall within the scope defined by the appended claims of this application.

Claims

1. An anti-shake gimbal, characterized in that: The anti-shake gimbal comprises a shell, a carrier, a magnet group, a circuit board, a support body, a lower spring sheet and a base, wherein the carrier is provided with a lens module installation chamber for installing a lens module, the magnet group is fixedly installed on the base, the circuit board is installed on the bottom of the carrier and cooperates with the magnet group, the lower spring sheet movably connects the carrier and the base, and the support body is installed between the base and the carrier to rotatably support the carrier on the base; The bottom of the carrier is provided with a carrier embedded metal sheet, the base is provided with a base embedded metal sheet, the support body includes a first surface facing the carrier and a second surface facing the base, the first surface is rotatably matched with the carrier embedded metal sheet, and the second surface is rotatably matched with the base embedded metal sheet; The circuit board includes a first part and a second part, wherein the first part is mounted on the base and folded into multiple layers, and the second part is mounted on the bottom of the carrier and is provided with a coil.

2. The anti-shake gimbal according to claim 1, characterized in that: The coils include a first group of coils and a second group of coils that are arranged opposite to each other to respectively cooperate with corresponding magnets of the magnet group, thereby driving the carrier to rotate along two mutually perpendicular axes.

3. The anti-shake gimbal according to claim 2, characterized in that: Sensors are respectively arranged in the first group of coils and the second group of coils to cooperate with corresponding magnets in the magnet group to detect the displacement of the carrier.

4. The anti-shake gimbal according to claim 1, characterized in that: The metal sheet embedded in the base can be rotatably matched with the second surface of the support body by means of groove and protrusion matching, and the metal sheet embedded in the carrier can be rotatably matched with the first surface of the support body by means of groove and protrusion matching.

5. The anti-shake gimbal according to claim 1, characterized in that: The base embedded metal sheet and the carrier embedded metal sheet are arranged perpendicular to each other.

6. The anti-shake gimbal according to claim 5, characterized in that: The first surface of the support body is provided with at least two first protrusions to cooperate with the carrier embedded metal sheet, and the second surface of the support body is provided with at least two second protrusions to cooperate with the base embedded metal sheet.

7. The anti-shake gimbal according to claim 6, characterized in that: The support body has a disc-shaped body and a notch is arranged on the disc-shaped body. The connecting line of the at least two first protrusions and the connecting line of the at least two second protrusions pass through the center of the disc-shaped body and are perpendicular to each other.

8. The anti-shake gimbal according to claim 6, characterized in that: A closed bottom is formed on one side of the carrier facing the base. A spring fixing portion protruding toward the base is provided on the bottom. The spring fixing portion is fixedly connected to the inner circle of the spring.

9. The anti-shake gimbal according to claim 8, characterized in that: The bottom of the carrier is also provided with a support body matching part, the carrier embedded metal sheet is installed on the support body matching part, and the spring fixing part includes an annular body, and the support body matching part is arranged in the annular body.

10. The anti-shake gimbal according to claim 9, characterized in that: The supporting body matching portion has a long strip shape and passes through the center of the annular main body of the spring fixing portion. The surface of the carrier embedded metal sheet facing the supporting body is provided with a carrier embedded metal sheet groove to match with the first protrusion of the supporting body.

11. The anti-shake gimbal according to claim 1, characterized in that: The base includes a rectangular plate body having an upper surface facing the carrier and a lower surface away from the carrier, the upper surface is provided with a first area and a second area, the carrier is arranged in the first area, and the second area is used to install the second part of the circuit board.

12. The anti-shake gimbal according to claim 11, characterized in that: A base embedded metal sheet installation portion is provided in the middle of the first area to install the base embedded metal sheet.

13. The anti-shake gimbal according to claim 11, characterized in that: The base embedded metal sheet installation portion is arranged perpendicular to the length direction of the base and protrudes from the bottom of the first area toward the carrier in one piece.

14. The anti-shake gimbal according to claim 11, characterized in that: The base embedded metal sheet is arranged on the base embedded metal sheet installation portion and is provided with at least two base embedded metal sheet grooves on the surface facing the support body so as to rotatably cooperate with the second protrusion of the support body.

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