A two-axis gimbal

Abstract

The application discloses a two-axis holder, the connecting arm can rotate relative to the rotor end of the first motor to switch the holder between the storage state and the use state; the clamping part comprises a first clamping jaw and a second clamping jaw, when the holder is in the storage state, the clamping part faces the handheld part; when the holder is in the use state, the clamping part is located above the first motor, the connecting arm is inclined to the axis extension line of the first motor, so that the clamping part is located on the axis extension line of the first motor, the outer ring of the rotor end of the first motor and the connecting arm are provided with matched limiting structures to limit the relative rotation of the rotor end of the first motor and the connecting arm. The two-axis holder disclosed by the application can always balance the gravity center of the two-axis holder, a rotating mechanism is additionally arranged between the first motor and the connecting arm to meet the storage of the two-axis holder, the length after storage is only the length of the handheld part of the holder, and the problem of the motor blocking the wide-angle lens during shooting of the two-axis holder can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to a handheld gimbal, in particular to a two-axis gimbal. BACKGROUND

[0002] At present, two-axis handheld gimbals are favored by users, and the main reasons include that the two-axis handheld gimbals are relatively small in size and are convenient for users to carry. The common means for reducing the storage volume of the existing three-axis gimbal includes thinning the motor to reduce the size of the gimbal, or installing the rotor end of the pitch shaft motor inside the clamping part to reduce the thickness of the motor, thereby reducing the size of the gimbal after storage. However, the above-mentioned light and thin motor structure and the structure of the motor installed inside the clamping part cannot be directly used in the two-axis gimbal. The existing two-axis gimbal has only one vertical connecting arm. If the above-mentioned structure is used, the overall center of gravity of the gimbal will tilt towards the direction of the connecting arm, resulting in excessive load of the gimbal motor, which will cause the gimbal motor to overheat after long-term use, causing irreversible damage to the motor. In addition, the existing two-axis gimbal also has some disadvantages in use. First, in terms of storage of the gimbal, there is no product or technology that meets the storage needs of users. Second, in terms of the application of wide-angle shooting devices, the existing gimbal motor will enter the shooting range, affecting the shooting effect. Third, in terms of the center of gravity of the two-axis gimbal, the existing gimbal needs to thicken the roll motor or the clamping part to meet the balance of the gimbal, which will increase the storage volume of the gimbal, which is contrary to the original intention of the user to use the two-axis gimbal. Fourth, in terms of the pitch direction adjustment of the two-axis gimbal, the two-axis gimbal mostly uses heading shaft motor and roll shaft motor, so the pitch direction cannot be adjusted. Fifth, in terms of the clamping part of the gimbal, the existing clamp is relatively wide, which occupies a large space during storage. SUMMARY

[0003] In view of the above problems, the present application provides a two-axis gimbal, which aims to solve the problems of the existing two-axis gimbal that cannot meet the storage needs of users, affect the shooting of wide-angle devices, increase the volume of the gimbal to meet the center of gravity position, cannot adjust the pitch direction, and the clamp is relatively wide.

[0004] The present application achieves the above-mentioned purposes by adopting the following technical solutions:

[0005] A two-axis holder, the holder comprising a handheld part, a first motor, a connecting arm, a second motor, a clamping part; the motor axis of the first motor and the second motor is orthogonal, the stator end of the handheld part is connected with the first motor, the outer ring of the rotor end of the first motor is connected with one end of the connecting arm, the other end of the connecting arm is connected with the stator end of the second motor, and the rotor end of the second motor is connected with the clamping part; the connecting arm and the rotor end of the first motor can rotate relative to each other, driving the holder to switch between the storage state and the use state; when the holder is in the storage state, the clamping part faces the handheld part; when the holder is in the use state, the clamping part is above the first motor, and the connecting arm is inclined to the axis extension line of the first motor, so that the clamping part is on the axis extension line of the first motor.

[0006] In the technical solution, a rotating mechanism is added between the first motor and the connecting arm to meet the storage of the two-axis holder, so that the length of the holder after storage is only the length of the handheld part + the length of the first motor; the use state of the holder is known, and the holder can be powered on to meet the shooting requirements, that is, the rotating connecting arm drives the clamping part to rotate to a preset position, and the clamping part is usually rotated above the first motor for shooting. In some other embodiments, the clamping part can also be located on the side of the first motor, for example, the connecting arm and the motor shaft of the first motor form a certain preset angle, and the common preset angle is 90°, to meet the shooting requirements of the user. At the same time, in the two-axis holder using a light and thin second motor or installing part of the second motor inside the clamping part, the inclined connecting arm structure is adopted, that is, the connecting arm and the motor shafts of the two motors form an included angle, so that the overall center of gravity of the holder is approximately on the axis extension line of the first motor, meeting the axial center of gravity balance of the first motor of the holder. In addition, during storage, due to the included angle between the connecting arm and the motor shaft, there is no excessive obstruction between the clamping jaws of the clamping part and the handheld part, facilitating the user to store.

[0007] A further technical solution is that the clamping part comprises first and second clamping jaws, and when the holder is in the storage state, the handheld part is located between the first and second clamping jaws.

[0008] In the technical solution, the handheld part in the storage state is placed between the first and second clamping jaws of the clamping part, the thickness of the clamping jaws overlaps in space with the handheld part, reducing the space after storage of the holder, that is, the thickness of the clamping jaws at both ends of the clamping part; in addition, the first and second clamping jaws are used to fix the stored handheld part, and the clamping part always faces the handheld part under the action of no external force.

[0009] Further, the outer ring of the first motor rotor end and the connecting arm are provided with matched limiting structures for limiting the relative rotation of the first motor rotor end and the connecting arm, so that the holder is in the storage state or the use state. The limiting mechanism is a threaded locking, an eccentric wheel locking, an inclined surface locking, a four-bar mechanism locking, a buckle locking, etc.

[0010] Further, the limiting structure includes matched limiting protrusions and limiting grooves, a spring and a compression screw. The spring is sleeved on the screw rod of the compression screw, one end of the spring abuts against the nut of the compression screw, and the other end of the spring abuts against the connecting arm. The screw rod end of the compression screw penetrates through the connecting arm and is connected with the rotor end of the first motor. One of the outer ring of the first motor rotor end and the connecting arm is provided with a limiting protrusion. In the holder storage state and the use state, the limiting protrusion is matched with the limiting groove on the other of the outer ring of the first motor rotor end and the connecting arm.

[0011] Further, the number of the limiting protrusions and the limiting grooves is four, which are uniformly distributed at the positions of 0°, 90°, 180° and 270° in the circumferential direction of the connecting arm.

[0012] Further, the matching mode of the limiting protrusions and the limiting grooves is that the limiting protrusions are in contact with the limiting grooves on both sides in the rotation direction of the connecting arm, and at least one side surface of the contact part is a wedge surface.

[0013] Further, the second motor rotor end shell is part of the clamping part. The parts of the motor rotor end are installed in the space inside the clamping part. Part of the clamping part is used as the shell of the rotor end, specifically the back plate of the clamping part, so that the thickness of the motor exposed outside the clamping part is smaller. Compared with the existing connecting structure, the thickness of the second motor rotor end shell is reduced, so that the wide-angle shooting of the shooting device is not blocked.

[0014] Further, the handheld part further includes a telescopic extension rod. One end of the extension rod is connected with the inside of the handheld part, and the other end of the extension rod is connected with the stator end of the first motor. More shooting scenes can be met.

[0015] Further, the handheld part and the stator end of the first motor are rotationally connected, so as to realize the overturning of the clamping part in the pitch axis direction. Since the two-axis holder does not have a pitch motor, more pitch angle shooting can be met.

[0016] Further, the handheld part and the stator end of the first motor are respectively provided with matched pin seats and bosses. The boss is installed in the pin seat and is fixed by penetrating through the rotating shaft. The pin seat is provided with a positioning rib made of wear-resistant material. The boss is provided with a matched positioning groove made of wear-resistant material. The positioning groove is located on the track of the positioning rib rotating around the rotating shaft.

[0017] Further technical solutions are that the clamping part comprises a back plate, a clamping jaw, and a telescopic part; the clamping jaw is connected to the back plate through the telescopic part; the telescopic part comprises a sleeve, a telescopic rod, and an elastic part; the sleeve is slidably penetrated through the side wall of the back plate, and one end of the sleeve inside the back plate is provided with a limiting structure matched with the back plate; the telescopic rod is slidably penetrated through one end of the sleeve outside the back plate, and one end of the telescopic rod outside the sleeve is connected to the clamping jaw, and the other end of the telescopic rod inside the sleeve is connected to the elastic part matched with the sleeve; and the elastic part is used to apply elastic force to the telescopic rod to retract the telescopic rod into the sleeve. The clamping part can realize two-stage telescoping, and the width of the back plate is reduced relative to the prior art, so that the width of the holder after being accommodated is reduced.

[0018] Further technical solutions are that the elastic part is a spring; the outer ring of one end of the telescopic rod inside the sleeve is provided with a first annular protrusion, and the inner ring of one end of the sleeve outside the back plate is provided with a second annular protrusion, which respectively abut against two ends of the spring.

[0019] The beneficial effects of the present application are:

[0020] The two-axis holder provided by the present application can satisfy the balance of the gravity center of the two-axis holder by adopting the inclined connecting arm in the two-axis holder adopting the light and thin second motor or mounting part components of the second motor inside the clamping part; the length of the holder after being accommodated is only the length of the handheld part + the first motor and the width of the clamping part by adopting the structure; the adjustment of the two-axis holder in the pitch direction is realized by adopting the simple rotating structure; the size of the clamping part is further reduced, and the width of the holder after being accommodated is reduced by adopting the two-stage telescoping clamping part; and the connection structure of the second motor and the clamping part can solve the problem of the motor blocking the wide-angle lens when the two-axis holder is used to shoot. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 Fig. 1 is a structure schematic diagram of the two-axis holder in a use state according to the present application.

[0022] Figure 2 Fig. 2 is a structure schematic diagram of the two-axis holder in an accommodation state according to the present application.

[0023] Figure 3 Fig. 3 is a perspective view of the second motor and the clamping part structure of the two-axis holder according to the present application.

[0024] Figure 4 Fig. 4 is a side view of the second motor and the clamping part structure of the two-axis holder according to the present application.

[0025] Figure 5As: the shell of the second motor rotor end of the application is the schematic diagram of the use state of the two-axis holder.

[0026] Figure 6 As: the structure diagram of the two-axis holder limiting structure of the application.

[0027] Figure 7 As: the schematic diagram of the limiting protrusion and the limiting groove matched with each other of the two-axis holder of the application.

[0028] Figure 8 As: the structure diagram of the extension rod of the two-axis holder of the application.

[0029] Figure 9 As: the schematic diagram of the two-axis holder rotating in the pitch direction.

[0030] Figure 10 As: the schematic diagram of the two-axis holder rotating structure in the pitch direction.

[0031] Figure 11 As: the schematic diagram of the two-axis holder clamping part exploded view.

[0032] Figure 12 As: the schematic diagram of the two-axis holder clamping part expanded.

[0033] Figure 13 As: the schematic diagram of the two-axis holder clamping part contracted.

[0034] In the figure:

[0035] 100, hand holding part; 1001, extension rod; 101, first motor; 1010, first motor axis; 102, second motor; 1020, second motor shaft; 1021, circuit board; 1022, locking screw; 1023, bearing; 1024, iron core; 1025, iron core carrier; 103, connecting arm; 1030, connecting arm axis; 104, clamping part; 1040, back plate; 1041, first clamping jaw; 1042, second clamping jaw; 1043, sleeve; 1044, telescopic rod; 10440, telescopic rod outer ring protrusion; 1045, spring; 10401, back plate internal limiting; 10430, sleeve inner ring protrusion; 10431, sleeve outer ring protrusion; 105, limiting structure; 1051, limiting groove; 1052, limiting protrusion; 1053, spring; 1054, compression screw; 106, pitch rotating structure; 1061, pin seat; 1062, boss; 1063, rotating shaft; 1064, positioning rib; 1065, positioning groove. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings Figures 1 to 13The embodiments and features described below can be combined with each other on the proviso that they do not conflict with each other.

[0037] As shown in Figures 1 to 2 The embodiment provides a two-axis holder, which comprises a handheld part 100, a first motor 101, a connecting arm 103, a second motor 102 and a clamping part 104. The first motor 101 is a yaw-axis motor of the holder, the second motor 102 is a roll-axis motor of the holder, the motor axes of the first motor 101 and the second motor 102 are orthogonal, the clamping part 104 of the holder comprises a first clamping jaw 1041, a second clamping jaw 1042 and a back plate 1040. The handheld part 100 is connected with a stator end of the first motor 101, an outer ring of a rotor end of the first motor 101 is connected with one end of the connecting arm 103, the other end of the connecting arm 103 is connected with a stator end of the second motor 102, and a rotor end of the second motor 102 is connected with the clamping part 104. The connecting arm 103 and the rotor end of the first motor 101 can relatively rotate, so as to drive the holder to switch between a storage state and a use state. When the holder is in the storage state, the handheld part 100 of the holder is located between the two clamping jaws (the first clamping jaw 1041 and the second clamping jaw 1042) of the clamping part 104. It is worth noting that, in other embodiments, for example, the two clamping jaws of the clamping part 104 can be folded or the clamping part 104 can be rotated to the first clamping jaw 1041 and the second clamping jaw 1042 are distributed along the axial direction of the handheld part 100, and the holder is in the storage state, that is, the clamping part 104 faces the handheld part 100, and the handheld part 100 can not be located between the two clamping jaws of the clamping part 104. Figure 1As shown, when the gimbal is in use, its clamping part 104 is located above the first motor 101, and its connecting arm 103 is inclined towards the extension line 1010 of the first motor axis, so that the clamping part 104 is located on the extension line 1010 of the first motor axis. That is, the connecting arm 103 forms an angle with the motor axes of the first motor 101 and the second motor 102, so that the overall center of gravity of the gimbal is approximately on the extension line of the first motor axis (due to the different weights of the shooting devices mounted on the clamping part 104, the overall center of gravity of the gimbal will shift slightly, a small amount). The impact on the motor is minimal, meaning that prolonged use has a negligible effect on the motor. Therefore, the tilt angle of the extended line 1010 of the first motor axis within the thickness range of the clamping part 104 can meet the gimbal's requirements for the center of gravity, ensuring the axial balance of the first motor of the gimbal. The angle between the extended line 1030 of the connecting arm axis and the extended line 1010 of the first motor axis is A. The specific angle A can be determined based on parameters such as the thickness of the connecting arm 103, the second motor 102, and the limiting structure 105 in the actual product, and is not limited here. In this embodiment, the structure ensures the axial balance of the first motor 101 of the gimbal during use, and also avoids prolonged use that deviates from the center of gravity, resulting in a large load on the first motor and causing problems such as motor overheating. Furthermore, during storage, because there is an angle between the extended line 1030 of the connecting arm axis and the extended line 1010 of the first motor axis, the handheld part 100 can more easily enter between the two grippers of the clamping part 104 after rotation.

[0038] Among them, such as Figure 6 As shown, in this embodiment, the connecting arm 103 and the first motor 101 are connected by a limiting structure 105, which ensures that the rotor end of the connecting arm 103 and the first motor 101 remains relatively stable when the gimbal is in the storage state and the use state. The limiting structure 105 includes a limiting protrusion 1051 located on the outer ring of the rotor end housing of the first motor 101, a limiting groove 1052 located at the connection end of the connecting arm 103 and the first motor 101, a spring 1053, and a clamping screw 1054. Spring 1053 is sleeved on the screw of clamping screw 1054, with one end abutting against the nut of clamping screw 1054 and the other end abutting against the inner wall of connecting arm 103; the screw end of clamping screw 1054 passes through connecting arm 103 and is threadedly connected to the rotor end housing of first motor 101, wherein the spatial position of limiting groove 1052 is such that when limiting protrusion 1051 rotates around clamping screw 1054 to storage state and use state, the position of limiting protrusion 1051 corresponds to the position of connecting arm 103;

[0039] The rotation process of the embodiment is as follows: at the initial moment, the limiting protrusion 1051 cooperates with the limiting groove 1052 corresponding to the use state; when it is necessary to store the holder, an external force is applied to make the connecting arm 103 rotate around the compression screw 1054, the limiting protrusion 1051 is separated from the limiting groove 1052 corresponding to the use state, the distance between the inner wall of the connecting arm 103 and the compression screw 1054 is reduced, and the spring 1053 is further compressed; when rotated to the storage state, the connecting arm 103 drives the limiting groove 1052 corresponding to the storage state to cooperate with the limiting protrusion 1051 under the elastic force of the spring 1053, that is, the connecting arm 103 and the rotor end of the first motor 101 remain relatively static (always in the storage state) without external force; it is worth noting that the distance between the compression screw 1054 and the connecting arm 103 can be adjusted according to the actual application, for example, the thickness of the clamping part 104 or the thickness of the limiting protrusion 1051 can be set according to the parameters, which are not limited here; reverse rotation of the connecting arm 103, the limiting protrusion 1051 is separated from the limiting groove 1052 corresponding to the storage state, the distance between the inner wall of the connecting arm 103 and the compression screw 1054 is reduced, and the spring 1053 is further compressed; when rotated to the use state, the connecting arm 103 drives the limiting groove 1052 corresponding to the use state to cooperate with the limiting protrusion 1051 under the elastic force of the spring 1053, that is, the connecting arm 103 and the rotor end of the first motor 101 remain relatively static (always in the use state) without external force.

[0040] The position of the limiting protrusion 1051 in the embodiment can be set on any part of the connecting arm 103 connected to the outer ring of the rotor end of the first motor 101; when the storage state and the use state are determined, the limiting protrusion 1051 is set at the corresponding position on the connecting arm 103 to cooperate with the limiting groove 1052; in addition, the shape of the limiting protrusion 1051 and the limiting groove 1052 can be determined according to actual needs, which are not limited here; the number of limiting protrusions 1051 and limiting grooves 1052 can be the same or different, for example Figure 6As shown, the number of the limiting protrusions 1051 and the limiting grooves 1052 is the same, which is 4, and they are evenly distributed at the positions of 0°, 90°, 180° and 270° in the circumferential direction of the connecting arm (0° is the position where the handheld part 100 and the connecting arm 103 are folded in space), in this embodiment, the two-axis gimbal can realize the use state of the connecting arm 103 and the handheld part 100 forming different angles such as 90°, 180° and 270° according to the different positions of the limiting protrusions 1051 and the limiting grooves 1052. The number of the limiting protrusions 1051 and the limiting grooves 1052 can also be different, for example, the number of the limiting protrusions 1051 is 1, and the number of the limiting grooves 1052 is 2 (corresponding to the storage and use states of the gimbal), and the number of the limiting grooves 1052 can even be more, corresponding to multiple use states, and the number of the limiting protrusions 1051 can also be more, and the number and position of the limiting grooves 1052 are determined according to the corresponding positions of each limiting protrusion 1051 in different states.

[0041] The above embodiment exemplarily shows that the limiting protrusions 1051 and the limiting grooves 1052 are respectively located on the rotor end of the first motor 101 and the connecting arm 103, according to other embodiments and actual applications, the limiting protrusions 1051 and the limiting grooves 1052 can also be respectively located on the connecting arm 103 and the rotor end of the first motor 101.

[0042] Still another embodiment, as shown in Figure 7 On the basis of the above embodiment, the matching mode of the limiting protrusions 1051 and the limiting grooves 1052 is that the two sides of the limiting protrusions 1051 along the rotating direction of the connecting arm 103 are in contact with the limiting grooves 1052, and the side surfaces of the contact parts are wedge surfaces, and the wedge surfaces in contact with each other are parallel; through the matching mode of this embodiment, on the one hand, since there is contact on both sides in the rotating direction, the rotation in both directions of the connecting arm 103 is limited, and the reliability of the gimbal in the storage state and the use state is improved; on the other hand, due to the existence of the wedge surface, it is convenient for the limiting protrusions 1051 to enter the limiting grooves 1052 under the action of the spring 1053, in addition, compared with the strip-shaped limiting protrusion and groove structure in the prior art, if two-sided contact is needed, high machining precision is needed, but the two-sided contact of this embodiment does not need high machining precision.

[0043] The above embodiment exemplarily shows that the side surfaces of the contact parts of the limiting protrusions 1051 and the limiting grooves 1052 are wedge surfaces, and the wedge surfaces in contact with each other are parallel, according to other embodiments and actual applications, the following structures can also achieve the effect of improving stability of the above embodiment structure:

[0044] 1. The limiting protrusion 1051 has a wedge-shaped surface, while the limiting groove 1052 does not: one side of the limiting protrusion 1051 is a wedge-shaped surface and the other side is a vertical surface, and both sides of the limiting groove 1052 are vertical surfaces. The matching method between the limiting protrusion 1051 and the limiting groove 1052 is that the wedge-shaped surface side is a line or point contact, and the vertical surface side is a surface contact; both sides of the limiting protrusion 1051 are wedge-shaped surfaces, and both sides of the limiting groove 1052 are vertical surfaces. The matching method between the limiting protrusion 1051 and the limiting groove 1052 is that both sides are line or point contact.

[0045] 2. The limiting protrusion 1051 does not have a wedge-shaped surface, while the limiting groove 1052 does: one side of the limiting groove 1052 is a wedge-shaped surface, and both sides of the limiting protrusion 1051 are vertical surfaces. The matching method between the limiting protrusion 1051 and the limiting groove 1052 is that the wedge-shaped surface side is a line or point contact, and the vertical surface side is a surface contact; both sides of the limiting groove 1052 are wedge-shaped surfaces, and both sides of the limiting protrusion 1051 are vertical surfaces. The matching method between the limiting protrusion 1051 and the limiting groove 1052 is that both sides are line or point contact.

[0046] 3. Both the limiting protrusion 1051 and the limiting groove 1052 are provided with wedge-shaped surfaces: Each limiting protrusion 1051 and the limiting groove 1052 has one side that is a wedge-shaped surface and the other side that is a vertical surface. This includes situations where the wedge-shaped surfaces are on the same side or on different sides. When the wedge-shaped surfaces are on the same side, if the two wedge-shaped surfaces are parallel, the engagement method between the limiting protrusion 1051 and the limiting groove 1052 is surface contact on one side of the wedge-shaped surface and line or point contact on the vertical surface side. If the two wedge-shaped surfaces are not parallel, the engagement method between the limiting protrusion 1051 and the limiting groove 1052 is line or point contact on both sides. When the wedge-shaped surfaces are not on the same side, the engagement method between the limiting protrusion 1051 and the limiting groove 1052 is line or point contact on both sides. The limiting protrusion 1051 has two sides that are wedge-shaped surfaces and the limiting groove 1052 has one side that is a wedge-shaped surface and the other side that is a vertical surface. The groove 1052 has a wedge-shaped surface on one side. If the two contacting wedge-shaped surfaces are parallel, the limiting protrusion 1051 and the limiting groove 1052 will have surface contact on one side of the wedge-shaped surface and line or point contact on the vertical side. If the two contacting wedge-shaped surfaces are not parallel, the limiting protrusion 1051 and the limiting groove 1052 will have line or point contact on both sides. The limiting groove 1052 has two wedge-shaped surfaces, and the limiting protrusion 1051 has one wedge-shaped surface on one side. If the two contacting wedge-shaped surfaces are parallel, the limiting protrusion 1051 and the limiting groove 1052 will have surface contact on one side of the wedge-shaped surface and line or point contact on the vertical side. If the two contacting wedge-shaped surfaces are not parallel, the limiting protrusion 1051 and the limiting groove 1052 will have line or point contact on both sides.

[0047] The above embodiments exemplify specific limiting structures. Depending on other embodiments and practical applications, the limiting structure can be replaced by other structures, such as threaded locking, eccentric wheel locking, inclined plane locking, four-bar linkage locking, snap-locking, etc.

[0048] Another implementation, such as Figures 3 to 5 As shown, based on the above embodiment, some components of the rotor end of the second motor 102 are located inside the clamping part 104. Specifically, the first gripper 1041 and the second gripper 1042 are connected to both sides of the back plate 1040 through a telescopic mechanism. Therefore, the back plate 1040 has a space for accommodating the telescopic mechanism. In this embodiment, the housing of the rotor end of the second motor 102 of the gimbal is the back plate 1040 of the clamping part 104. The encoder circuit board 1021 and the locking screw 1022 with a ring magnet at the rotor end of the second motor 102 are both located inside the back plate 1040 of the clamping part 104 (the ring magnet is used to connect with the encoder circuit board 1021). The circuit board 1021 is used to detect the rotation angle of the motor. The end of the iron core carrier 1025, which is fixedly connected to the iron core 1024 of the second motor 102, is fixedly connected to the back plate 1040. The iron core carrier 1025 is connected to the second motor shaft 1020 at the stator end through the bearing 1023 and rotates relative to the stator end of the second motor 102, thereby driving the clamping part 104 to rotate. The components at the rotor end of the second motor 102 are installed using the space already provided by the back plate 1040 for storing the telescopic mechanism, which reduces the thickness of the motor in the direction of the shooting device lens. In wide-angle lens shooting scenarios, the second motor 102 of the gimbal can be prevented from entering the shooting frame.

[0049] In this embodiment, the specific installation structure of the second motor 102 and the clamping part 104 is as follows: the back plate 1040 includes a front plate near the shooting device and a rear plate near the connecting arm 103. The encoder circuit board 1021 is mounted on the front plate. The iron core carrier 1025 is integrally formed with the rear plate. The locking screw 1022 with a ring magnet passes through the rear plate and is connected to the second motor shaft 1020 at the stator end of the second motor 102. When the second motor 102 rotates, the encoder circuit board 1021 rotates relative to the locking screw 1022 with a ring magnet. In this embodiment, the distance between the front plate and the rear plate of the back plate 1040 is used as the space for mounting the rotor end component of the second motor 102, and the back plate 1040 is used as the rotor end housing of the second motor 102.

[0050] Another implementation, such as Figure 8As shown in the above embodiment, on the basis of the above embodiment, the handheld part 100 of the holder further comprises a telescopic extension rod 1001, one end of which is connected to the inside of the handheld part 100, and the other end is connected to the stator end of the first motor 101, so that the two-axis holder can meet more shooting scenes. In this embodiment, the telescopic extension rod 1001 adopts a 5-section sleeve rod mode for telescopic extension, the upper end sleeve rod can be accommodated in the adjacent lower end sleeve rod, the lowermost end sleeve rod is accommodated in the handheld part 100, and the adjacent sleeve rods are provided with matched limiting structures to prevent the upper end sleeve rod from being separated from the adjacent lower end sleeve rod. The specific limiting structure can be a buckle, a tight fitting structure, etc.

[0051] Another embodiment, as shown in Figure 9 、 Figure 10 As shown in the above embodiment, on the basis of the above embodiment, the handheld part 100 is rotatably connected to the stator end of the first motor 101 to realize the overturning of the clamping part 104 in the pitch axis direction; in this embodiment, a pitch rotation structure 106 is added between the extension rod 1001 of the handheld part 100 and the first motor 101, which comprises a pin seat 1061 and a boss 1062 located in the handheld part 100 and the extension rod 1001 respectively, the boss 1062 is installed in the pin seat 1061 and is penetrated by a rotating shaft 1063; the two sides of the pin seat 1061 and the boss 1062 are respectively provided with a pin seat through hole and a boss through hole for the rotating shaft 1063 to penetrate, the two sides of the pin seat 1061 are provided with a positioning rib 1064 made of wear-resistant material, the positioning rib 1064 is located on the inside of the pin seat 1061, and the specific shape is a linear structure along the diameter direction of the pin seat through hole, the outside of the boss 1062 is provided with a positioning groove 1065 made of wear-resistant material matched with the positioning rib 1064, the positioning groove 1065 is located on the track of the positioning rib rotating around the rotating shaft 1063, and can be accommodated in the inside of the handheld part 100 when the pitch rotation structure 106 is not used. Since the two-axis holder has no pitch axis motor, the pitch rotation structure of this embodiment can meet the user's manual control of the pitch angle for shooting, and does not increase the volume of the holder. The positioning rib 1064 and the positioning groove 1065 in this embodiment can also be realized by being respectively arranged on the boss 1062 and the pin seat 1061.

[0052] The above embodiment exemplarily shows the specific shape and position of the positioning rib 1064 and the positioning groove 1065, which can also be realized by other shapes and positions according to other embodiments and actual applications, for example, the positioning rib 1064 is a point-shaped protrusion, and the positioning groove 1065 is a matching pit; or the positioning rib 1064 is a columnar shape, a polyhedral shape, etc., and the positioning groove 1065 is a columnar shape, a polyhedral shape, etc. matched therewith.

[0053] The above embodiments exemplarily illustrate the specific shape of the pitch rotation structure. According to other embodiments and practical applications, it can also be achieved by other rotation structures, such as connecting the pin seat and the boss with a damping shaft; or achieving pitch rotation by adding a motor between the handheld part 100 and the stator end of the first motor 101.

[0054] Another implementation, such as Figures 11 to 13 As shown, based on the above embodiment, the clamping part 104 of the gimbal includes a back plate 1040, a gripper, and a telescopic member; the gripper is connected to the back plate 1040 through the telescopic member; the telescopic member includes a sleeve 1043, a telescopic rod 1044, and an elastic member 1045. The sleeve 1043 slides through the side wall of the back plate 1040, and one end of the sleeve 1043 located inside the back plate 1040 is provided with a limiting structure that cooperates with the back plate 1040. In this embodiment, the limiting structure is a sleeve outer ring protrusion 10431 located on the outer ring of one end of the sleeve 1043 and a back plate inner limiting 10401 located on the inner ring of one end of the back plate 1040; the telescopic rod 1044 slides through the end of the sleeve 1043 located outside the back plate 1040, and the telescopic rod 1044... One end of the sleeve 1043 is connected to the gripper, and the other end of the sleeve 1043 is provided with a matching elastic element connection part. Specifically, the elastic element connection part is a telescopic rod outer ring protrusion 10440 located on the outer ring of one end of the telescopic rod 1043, and a sleeve inner ring protrusion 10430 located on the inner ring of one end of the sleeve. The elastic element 1045 is specifically a spring, with its two ends abutting against the telescopic rod outer ring protrusion 10440 and the sleeve inner ring protrusion 10430, respectively, to apply the elastic force of the telescopic rod 1044 retracting into the sleeve 1043. In this embodiment, there are four sets of telescopic elements. Two sets are stretched to the left side of the back plate 1040 and connected to the first gripper 1041, and the other two sets are stretched to the right side of the back plate 1040 and connected to the second gripper 1042. In other embodiments, the telescopic component can be a set, connected only to one of the first gripper 1041 or the second gripper 1042; or the telescopic component can be two sets, each connected only to one of the first gripper 1041 or the second gripper 1042, or each connected to either the first gripper 1041 or the second gripper 1042, etc. Furthermore, the telescopic component can include multiple sets, which are not listed here. The clamping part 104 of this embodiment can achieve two-stage telescopic movement. Without affecting normal use, it reduces the width of the back plate 1040 compared to the existing clamping part 104, thereby reducing the width of the gimbal after storage.

[0055] The above embodiment exemplarily shows the specific position and shape of the spring mounting portion, according to other embodiments or actual applications, the spring mounting portion can be arranged at any position of the outer ring of the telescopic rod 1044 and any position of the inner ring of the sleeve 1043 according to the length and elastic coefficient of the spring, and the specific spatial position after installation is that the spring mounting portion of the sleeve 1043 is located between the spring mounting portion of the telescopic rod 1044 and the clamping jaw; and the specific shape can adopt symmetrical protrusions, or the spring is fixedly connected by means of screws, welding, adhesion and the like.

[0056] The above embodiment exemplarily shows the technical solution that the elastic member 1045 is a spring, according to other embodiments or actual applications, the elastic member 1045 can also be rubber, hydraulic pressure, gas pressure, a tension spring and the like. When the elastic member 1045 is a tension spring, two ends of the tension spring are connected to one end of the telescopic rod 1044 connected with the clamping jaw and any position of the inner ring of the sleeve 1043, and the other end of the sleeve 1043 away from the clamping jaw and any position of the outer ring of the telescopic rod 1044, and the specific spatial position after installation is that the tension spring mounting portion of the telescopic rod 1044 is located between the tension spring mounting portion of the sleeve 1043 and the clamping jaw.

[0057] The two-axis holder provided by the application adopts the inclined connecting arm 103, can satisfy that the gravity center of the two-axis holder is always balanced, adopts the structure, the length of the holder after storage is only the length of the handheld portion 100+the first motor 101 and the width of the clamping portion 104, adopts the simple rotating structure, realizes the adjustment of the two-axis holder in the pitch direction, adopts the two-section telescopic clamping portion 104, further reduces the size of the clamping portion, reduces the width of the holder after storage, and adopts the connecting structure of the second motor 102 and the clamping portion 104, can solve the shielding problem of the second motor 102 when the two-axis holder is used to shoot by a wide-angle lens.

Claims

1. A two-axis holder, comprising a handheld part, a first motor, a connecting arm, a second motor, a clamping part, the motor axes of the first motor and the second motor being orthogonal, the stator end of the first motor being connected with the handheld part, the outer ring of the rotor end of the first motor being connected with one end of the connecting arm, the other end of the connecting arm being connected with the stator end of the second motor, the rotor end of the second motor being connected with the clamping part, characterized in that the connecting arm and the rotor end of the first motor can rotate relative to each other to switch the holder between a storage state and a use state; when the holder is in the storage state, the clamping part faces the handheld part; when the holder is in the use state, the clamping part is above the first motor, the connecting arm is inclined to the axis extension line of the first motor, so that the clamping part is on the axis extension line of the first motor; the outer ring of the rotor end of the first motor and the connecting arm are provided with limiting structures matched with each other for limiting the relative rotation of the rotor end of the first motor and the connecting arm, so that the holder is in the storage state or the use state; the limiting structures comprise limiting protrusions and limiting grooves matched with each other, springs and compression screws, wherein the springs are sleeved on the screw rods of the compression screws, one end of each spring abuts against the nut of the compression screw, and the other end of each spring abuts against the connecting arm; the screw rod end of each compression screw penetrates through the connecting arm and is connected with the rotor end of the first motor; one of the outer ring of the rotor end of the first motor and the connecting arm is provided with a limiting protrusion, and the limiting protrusion is matched with the limiting groove on the other one of the outer ring of the rotor end of the first motor and the connecting arm in the storage state and the use state of the holder; the clamping part comprises first and second clamping jaws, and when the holder is in the storage state, the handheld part is between the first and second clamping jaws; the number of the limiting protrusions and the limiting grooves is 4 respectively, and they are evenly distributed at positions of 0°, 90°, 180° and 270° in the circumferential direction of the connecting arm; the limiting protrusions and the limiting grooves are matched in such a way that the two sides of the limiting protrusions along the rotating direction of the connecting arm are in contact with the limiting grooves, and at least one side surface of the contact part is a wedge surface; the rotor end housing of the second motor is part of the clamping part; the handheld part further comprises an extendable extension rod, one end of the extension rod being connected with the inside of the handheld part, and the other end of the extension rod being connected with the stator end of the first motor; the handheld part and the stator end of the first motor are rotationally connected to realize the overturning of the clamping part in the pitch axis direction; the handheld part and the stator end of the first motor are respectively provided with a pin seat and a boss matched with each other, the boss is installed in the pin seat and is fixed by penetrating through a rotating shaft, the pin seat is provided with a positioning rib made of wear-resistant material, the boss is provided with a positioning groove made of wear-resistant material matched with the positioning rib, and the positioning groove is located on the track of the positioning rib rotating around the rotating shaft; the clamping part comprises a back plate, a clamping jaw and an extension member, the clamping jaw is connected with the back plate through the extension member, the extension member comprises a sleeve, an extension rod and an elastic member, the sleeve penetrates through the side wall of the back plate in a sliding manner, one end of the sleeve inside the back plate is provided with a limiting structure matched with the back plate. ​ ​ ​ ​ ​ ​ ​ 2. A two-axis gimbal according to claim 1, characterized in that, ​ 3. The two-axis gimbal of claim 1, wherein, ​ 4. The two-axis gimbal of claim 1, wherein, ​ 5. The two-axis gimbal of claim 1, wherein, ​ 6. A two-axis gimbal as claimed in claim 1, characterized in that, ​ 7. A two-axis gimbal according to any one of claims 2 or 5, wherein, ​ 8. A two-axis gimbal according to claim 7, wherein, ​ 9. The two-axis gimbal of claim 1, wherein, ​ The telescopic rod is slidably arranged in the sleeve and one end of the telescopic rod outside the sleeve is connected with the clamping jaw and the other end of the telescopic rod inside the sleeve is connected with the elastic member provided in the sleeve. The elastic member is used to apply the elastic force for recovering the telescopic rod in the sleeve.

10. A two-axis gimbal as claimed in claim 9, characterized in that, The elastic member is a spring, the outer ring of the telescopic rod at one end inside the sleeve is provided with a first annular protrusion, and the inner ring of the sleeve at one end outside the back plate is provided with a second annular protrusion, which respectively abut the two ends of the spring.

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