Pan-tilt, pan-tilt camera and unmanned aerial vehicle

Abstract

A pan-tilt, a pan-tilt camera (400), and an unmanned aerial vehicle. The holder specifically comprises a first driving mechanism (10) used for driving the shooting device (20) to rotate around a first rotating shaft; the base (11) is connected with the first driving mechanism (10); the second driving mechanism (13) is connected to the base (11); a first accommodating space is formed in one side, close to the axis of the arc-shaped shaft arm (12), of the arc-shaped shaft arm (12), the first accommodating space can be used for accommodating the shooting device (20), the optical axis of the shooting device (20) is not parallel to the axis of the arc-shaped shaft arm (12), the second driving mechanism (13) is connected with the arc-shaped shaft arm (12), and the second driving mechanism (13) can drive the shooting device (20) to relatively slide along the arc-shaped shaft arm (12). The rotating shaft rotates relative to the second rotating shaft.

Description

Gimbals, gimbal cameras, and unmanned aerial vehicles Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a gimbal, a gimbal camera and an unmanned aerial vehicle. Background Art

[0002] As users pursue the ultimate user experience, their requirements for the image quality and shooting experience of the shooting device are also getting higher and higher. In order to obtain better shooting effects, a gimbal is usually used to mount the shooting device. As a device for stabilizing the shooting device, the gimbal can compensate for the position / angle changes of the shooting device through one or more rotation / linear motion axes, thereby achieving the purpose of stable shooting and improving image quality. Usually, the gimbal will be equipped with at least two rotation axes, and the driving parts are used to drive the at least two rotation axes to rotate in conjunction to offset the impact of the body disturbance of the drone during flight on the camera device, and enable the camera to obtain a larger visual range.

[0003] In existing technology, a motor with at least two intersecting axes is typically used to drive the camera to rotate about at least two rotational axes. Furthermore, to achieve linkage between the rotational axes, connectors are typically required to connect the different rotational axes. Because the camera is typically located at the intersection of the various rotational axes, certain viewing angles of the camera are obscured by the motor and connectors, resulting in a smaller viewing angle and limiting the flexibility and applicability of the gimbal. Furthermore, the need to use connectors to connect the shafts of multiple motors in series results in a long cantilever and a complex structure, which reduces the overall modal frequency and static stiffness of the gimbal, hindering precise control of the gimbal and the capture of high-quality images.

[0004] Application Contents

[0005] In order to solve the problem in the prior art that the existing gimbal easily blocks the shooting device and has low flexibility, the embodiments of the present application provide a gimbal, a gimbal camera and an unmanned aerial vehicle.

[0006] In a first aspect, an embodiment of the present application provides a gimbal for connecting to a shooting device, the gimbal comprising:

[0007] A first driving mechanism, configured to drive the photographing device to rotate around a first rotation axis;

[0008] a base, the base being connected to the first driving mechanism;

[0009] a second driving mechanism connected to the base;

[0010] An arc-shaped shaft arm, wherein the arc-shaped shaft arm has a first accommodating space on one side close to its axis, and the first accommodating space can be used to accommodate a shooting device, the optical axis of the shooting device is arranged non-parallel to the axis of the arc-shaped shaft arm, and the second driving mechanism is connected to the arc-shaped shaft arm, and the second driving mechanism can drive the shooting device to slide relatively along the arc-shaped shaft arm and rotate relative to the second rotation axis.

[0011] In a second aspect, an embodiment of the present application further discloses a gimbal for connecting to a shooting device, wherein the gimbal comprises:

[0012] A first driving mechanism, configured to drive the photographing device to rotate around a first rotation axis;

[0013] a base, the base being connected to the first driving mechanism;

[0014] a second driving mechanism connected to the base;

[0015] an arc-shaped shaft arm, wherein the arc-shaped shaft arm has a first accommodation space on a side near its axis, the first accommodation space being capable of accommodating a camera device, the optical axis of the camera device being arranged non-parallel to the axis of the arc-shaped shaft arm, and the second driving mechanism being connected to the arc-shaped shaft arm, the second driving mechanism being capable of driving the camera device to slide relative to the arc-shaped shaft arm and rotate relative to the second rotation axis;

[0016] and a third driving mechanism connected to the arc-shaped shaft arm, wherein the third driving mechanism is arranged close to the first accommodating space and is used to drive the shooting device to rotate around a third rotation axis in the first accommodating space.

[0017] In a third aspect, an embodiment of the present application further discloses a gimbal camera, which includes: a camera and a gimbal as described in any one of the above items, wherein the camera is connected to the gimbal.

[0018] In a fourth aspect, an embodiment of the present application further provides an unmanned aerial vehicle, which includes a body and the above-mentioned gimbal camera, wherein the gimbal camera is connected to the body.

[0019] The gimbal described in the embodiment of the present application can connect the first drive mechanism and the second drive mechanism in series through the base and the arc-shaped shaft arm, so as to realize the linkage rotation of the gimbal around the first rotation axis and the second rotation axis. The structure is simple, the gimbal volume is small, the cantilever length is short, the modal frequency and static stiffness of the gimbal are large, which is conducive to the precise control of the gimbal and the capture of high-quality images. Moreover, since the side of the arc-shaped shaft arm close to its axis has a first accommodating space, the accommodating space can be used to accommodate a shooting device, the optical axis of the shooting device is not parallel to the axis of the arc-shaped shaft arm, and the arc-shaped shaft arm can rotate around the second rotation axis under the drive of the second drive mechanism, so that the arc-shaped shaft arm and the second drive mechanism can avoid the second rotation axis design, avoiding the second drive mechanism and the arc-shaped shaft arm from blocking the shooting device, which is conducive to increasing the field of view of the shooting device and improving the flexibility and applicability of the gimbal.

[0020] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] FIG1 schematically shows a structural diagram of a pan / tilt platform according to an embodiment of the present application;

[0023] FIG2 schematically shows a cross-sectional structural diagram of the pan / tilt platform shown in FIG1 ;

[0024] FIG3 schematically shows an exploded structural diagram of the pan / tilt platform shown in FIG1 ;

[0025] FIG4 schematically shows a longitudinal cross-sectional view of the connection between the arc-shaped shaft arm and the base in the pan / tilt platform shown in FIG1 ;

[0026] FIG5 schematically shows an exploded structural diagram of the rolling assembly in the structure shown in FIG4 ;

[0027] FIG6 schematically shows an exploded structural diagram of the pre-tightening assembly in the structure shown in FIG4 ;

[0028] FIG7 schematically shows a schematic structural diagram of the arc-shaped shaft arm, the rolling assembly and the pre-tightening assembly in the structure shown in FIG4 ;

[0029] FIG8 schematically shows a structural diagram of another rolling assembly according to an embodiment of the present application;

[0030] FIG9 schematically shows a longitudinal cross-sectional view of the rolling assembly shown in FIG8 ;

[0031] FIG10 schematically shows an exploded structural diagram of the rolling assembly shown in FIG8 ;

[0032] FIG11 schematically shows a structural diagram of another arc-shaped shaft arm, a rolling assembly, and a pre-tightening assembly according to an embodiment of the present application;

[0033] FIG12 schematically shows a longitudinal cross-sectional view of the structure shown in FIG11 ;

[0034] FIG13 schematically shows an exploded structural diagram of the structure shown in FIG11 ;

[0035] FIG14 schematically shows a schematic structural diagram of a first arc slider and a second arc slider according to an embodiment of the present application;

[0036] FIG15 schematically shows a structural diagram of another arc-shaped shaft arm, rolling assembly, and pre-tightening assembly according to an embodiment of the present application;

[0037] FIG16 schematically shows a longitudinal cross-sectional view of the structure shown in FIG15 ;

[0038] FIG17 schematically shows an exploded structural diagram of the structure shown in FIG15 ;

[0039] FIG18 schematically shows a structural diagram of a second driving mechanism according to an embodiment of the present application;

[0040] FIG19 schematically shows one of the side views of the second driving mechanism shown in FIG18 ;

[0041] FIG20 schematically shows a second side view of the second driving mechanism shown in FIG18 ;

[0042] FIG21 schematically shows one structural diagram of another pan / tilt platform according to an embodiment of the present application;

[0043] FIG22 schematically shows a second structural diagram of another pan / tilt platform according to an embodiment of the present application;

[0044] FIG23 schematically shows a structural diagram of another pan / tilt platform according to an embodiment of the present application;

[0045] FIG24 schematically shows a structural diagram of another pan / tilt platform according to an embodiment of the present application;

[0046] FIG25 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application;

[0047] Explanation of the reference numerals: 10-first driving mechanism, 11-base, 111-wedge-shaped rolling groove, 12-arc-shaped shaft arm, 121-step-shaped rolling groove, 13-second driving mechanism, 131-coil assembly, 132-magnetic assembly, 133-locating pin, 134-locating sleeve, 135-yoke, 136-motor, 137-first transmission rope, 138-second transmission rope, 139-first welding point, 1310-second welding point, 14-third driving mechanism, 15-rolling assembly, 151-central shaft, 152-roller, 1521-first roller, 1522-second roller, 153-first bearing, 154-second bearing, 155-first gasket, 156-pre-tightening nut, 157-second retaining frame, 1571-ball mounting hole, 158-ball, 1581-first ball, 1582-second ball, 16-preload assembly, 161-preload pin, 162-third bearing, 163-fourth bearing, 164-preload limit sleeve, 165-second gasket, 166-third gasket, 167-bearing bracket, 168-cover plate, 169-preload member, 1610-first push member, 1611-second push member, 1612-first pin shaft, 1613-second pin shaft, 1614-fifth bearing, 1615-sixth bearing, 1616-guide sleeve, 1617-first elastic member, 1618-first arc slider, 1619-second arc slider, 1620-first friction plate, 1621-second friction plate, 1622-first limit plate , 1623-second limit plate, 1624-pre-tightening pad, 1625-first coil assembly, 1626-first magnetic assembly, 1627-load-bearing pin, 1628-load-bearing bearing, 1629-fixed pin, 1630-fixed bearing, 1631-floating pin, 1632-floating bearing, 1633-second elastic member, 1634-fixed pressure plate, 1635-first yoke, 17-connecting part, 18-shock-absorbing bracket, 19-shock-absorbing ball, 110-extension arm, 112-position detection assembly, 113-auxiliary magnet, 114-magnet cover, 115-control line, 116-wire ring, 20-shooting device, 300-body, 400-pan-tilt camera, A-axis of the arc-shaped axis arm, B-optical axis of the shooting device. Specific embodiments

[0048] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0049] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly refer to one or more of the features. Throughout the description of this application, unless otherwise specified, "plurality" means two or more. Furthermore, "and / or" in the specification and claims refers to at least one of the connected entities, and the character " / " generally indicates an "or" relationship between the connected entities.

[0050] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0051] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0052] The embodiments of the present application provide a gimbal that can be used to connect to a camera device, which may include, but is not limited to, a camera, a terminal device, a video camera, or a light. The gimbal can be used to mount and support the camera device and control its rotation or movement to adjust the viewing angle of the camera device, thereby enriching the functionality and shooting experience of the camera device. This application only uses a camera as an example; other types of cameras can be implemented similarly.

[0053] Referring to Figure 1, a structural schematic diagram of a gimbal according to an embodiment of the present application is shown. Referring to Figure 2, a cross-sectional structural schematic diagram of the gimbal shown in Figure 1 is shown. Referring to Figure 3, a decomposed structural schematic diagram of the gimbal shown in Figure 1 is shown.

[0054] Specifically, the gimbal may include: a first driving mechanism 10, used to drive the shooting device 20 to rotate around a first rotation axis; a base 11, the base 11 is connected to the first driving mechanism 10; a second driving mechanism 13, connected to the base 11; an arc-shaped axis arm 12, the arc-shaped axis arm 12 has a first accommodating space on the side close to its axis, and the first accommodating space can be used to accommodate the shooting device 20, and the optical axis of the shooting device 20 is not parallel to the axis of the arc-shaped axis arm 12; wherein the second driving mechanism 13 is coupled to the arc-shaped axis arm 12, and the second driving mechanism 13 can drive the arc-shaped axis arm 12 to rotate around the second rotation axis.

[0055] The gimbal described in the embodiment of the present application can connect the first drive mechanism 10 and the second drive mechanism 13 in series through the base 11 and the arc-shaped shaft arm 12, so as to realize the coordinated rotation of the gimbal around the first rotation axis and the second rotation axis. The structure is simple, the gimbal volume is small, the cantilever length is short, the modal frequency and static stiffness of the gimbal are large, which is conducive to the precise control of the gimbal and the capture of high-quality images. Moreover, since the arc-shaped shaft arm 12 has a first accommodating space on the side near its axis, the accommodating space can be used to accommodate the shooting device 20. The optical axis of the shooting device 20 is not parallel to the axis of the arc-shaped shaft arm 12. The arc-shaped shaft arm 12 can rotate around the second rotation axis under the drive of the second drive mechanism 13, so that the arc-shaped shaft arm 12 and the second drive mechanism 13 can avoid the second rotation axis design, avoiding the second drive mechanism 13 and the arc-shaped shaft arm 12 from blocking the shooting device 20, which is conducive to increasing the field of view of the shooting device 20 and improving the flexibility and applicability of the gimbal.

[0056] Specifically, the first drive mechanism 10 and the second drive mechanism 13 may include but are not limited to at least one of a motor, an electric motor, or other drive components. The embodiment of the present application may not limit the specific types of the first drive mechanism 10 and the second drive mechanism 13. Among them, the output end of the first drive mechanism 10 can be connected to the base 11 to drive the base 11 to rotate around the first rotation axis, so that the rotation of the base 11 around the first rotation axis drives the camera 20 to rotate around the first rotation axis to adjust the viewing angle. The second drive mechanism 13 can be connected to the base 11, and the output end of the second drive mechanism 13 can be connected to the arc-shaped shaft arm 12 to drive the arc-shaped shaft arm 12 to rotate around the second rotation axis, so that the rotation of the arc-shaped shaft arm 12 around the second rotation axis drives the camera 20 to rotate around the second rotation axis to adjust the viewing angle.

[0057] Specifically, the base 11 can serve as a bracket for the rotation of the arc-shaped axis arm 12, providing a stable and precise installation reference. It is also a connecting piece for the first rotating axis and the second rotating axis. The base 11 and the first driving mechanism 10 can be connected by fasteners such as screws and bolts.

[0058] In the embodiment of the present application, the first rotation axis and the second rotation axis can be substantially perpendicular. In this way, by rotating the camera 30 around the first rotation axis and the arc-shaped axis arm 12 around the second rotation axis, the camera 20 can be rotated around two substantially perpendicular rotation axes, thereby increasing the viewing angle adjustment range of the camera 20.

[0059] For example, the first rotation axis is one of the roll axis, the pitch axis, and the yaw axis, and the second rotation axis is the other of the roll axis, the pitch axis, and the yaw axis. Specific contents of the first rotation axis and the second rotation axis may not be limited in this embodiment of the application.

[0060] In the embodiment of the present application, the arc-shaped shaft arm 12 may be a hollow arc-shaped structure having a first accommodation space on one side, and the camera 20 may be disposed in the first accommodation space and connected to the arc-shaped shaft arm 12. In this way, when the arc-shaped shaft arm 12 rotates about the second rotation axis, the camera 20 may rotate along with the arc-shaped shaft arm 12 about the second rotation axis.

[0061] Optionally, the shape of the arc-shaped shaft arm 12 may be at least one of a circular arc and an elliptical arc. The embodiment of the present application does not limit the specific shape of the arc-shaped shaft arm 12.

[0062] Optionally, the second rotation axis substantially coincides with the axis of the arc-shaped arm 12. Thus, during the rotation of the arc-shaped arm 12 about its axis, rotation about the second rotation axis can be achieved. Since the arc-shaped arm 12 has good rotational accuracy when rotating about its axis, when the second rotation axis substantially coincides with the axis of the arc-shaped arm 12, the rotation of the arc-shaped arm 12 about the second rotation axis can have relatively high rotational accuracy, thereby improving the accuracy of the pan / tilt control of the camera device 20.

[0063] For example, the second rotation axis and the axis of the arc-shaped axis arm 12 basically coincide with each other, which can be specifically: the angle between the second rotation axis and the axis of the arc-shaped axis arm 12 is less than a first threshold value, and the first threshold value can be less than or equal to 1 degree, 1.5 degrees or 2.2 degrees, etc. The embodiment of the present application may not limit the specific value of the first threshold value.

[0064] In the embodiment of the present application, the intersection of the first and second rotation axes is located within the first storage space. Since the camera 20 is located within the first storage space, the intersection of the first and second rotation axes within the first storage space can improve the stability of the camera 20's rotation about the first and second rotation axes, thereby facilitating improved shooting stability of the camera 20.

[0065] As shown in Figures 1, 2 and 3, the gimbal may include: a first driving mechanism 10, used to drive the shooting device 20 to rotate around a first rotation axis; a base 11, the base 11 is connected to the first driving mechanism 10; a second driving mechanism 13, connected to the base 11; an arc-shaped axis arm 12, the arc-shaped axis arm 12 has a first accommodating space on the side close to its axis, and the first accommodating space can be used to accommodate the shooting device 20, the optical axis of the shooting device 20 is not parallel to the axis of the arc-shaped axis arm 12, the second driving mechanism 13 is connected to the arc-shaped axis arm 12, and the second driving mechanism 13 can drive the arc-shaped axis arm 12 to rotate around the second rotation axis; and a third driving mechanism 14, connected to the arc-shaped axis arm 12, the third driving mechanism 14 is arranged close to the first accommodating space, and the third driving mechanism 14 can be used to drive the shooting device 20 to rotate around the third rotation axis in the first accommodating space.

[0066] The gimbal described in the embodiment of the present application can connect the first drive mechanism 10, the second drive mechanism 13, and the third drive mechanism 14 in series through the base 11 and the arc-shaped shaft arm 12, so as to realize the linkage rotation of the gimbal around the first rotation axis, the second rotation axis, and the third rotation axis. The structure is simple, the gimbal volume is small, the cantilever length is short, and the modal frequency and static stiffness of the gimbal are large, which is conducive to the precise control of the gimbal and the capture of high-quality images. Moreover, since the side of the arc-shaped shaft arm 12 near its axis has a first accommodating space, the accommodating space can be used to accommodate the shooting device 20. The arc-shaped shaft arm 12 can rotate around the second rotation axis under the drive of the second drive mechanism 13, so that the arc-shaped shaft arm 12 and the second drive mechanism 13 can avoid the second rotation axis design, avoiding the second drive mechanism 13 and the arc-shaped shaft arm 12 from blocking the shooting device 20, which is conducive to increasing the field of view of the shooting device 20 and improving the flexibility and applicability of the gimbal. In addition, the shooting device 20 can also rotate around the third rotation axis under the drive of the third driving mechanism 14. In this way, the gimbal can compensate for the position / angle changes of the shooting device 20 through three rotation axes to further improve the shooting stability and shooting quality of the shooting device 20.

[0067] In the embodiment of the present application, the first, second, and third rotation axes are substantially orthogonal to each other. Thus, by rotating the camera device 20 about the first rotation axis, the arc-shaped arm 12 about the second rotation axis, and the camera device 20 about the third rotation axis, the camera device 20 can rotate about three orthogonal rotation axes, achieving full-range viewing angle adjustment. This further increases the shooting range of the camera device 20 and enhances the shooting experience of the camera device 20.

[0068] For example, the first rotation axis is one of a roll axis, a pitch axis, and a yaw axis; the second rotation axis is another of the roll axis, the pitch axis, and the yaw axis; and the third rotation axis is another of the roll axis, the pitch axis, and the yaw axis. The specific contents of the first rotation axis, the second rotation axis, and the third rotation axis are not limited in this embodiment of the application.

[0069] In the embodiment of the present application, the intersection of the first, second, and third rotation axes is located within the first storage space. Since the camera 20 is located within the first storage space, the intersection of the first, second, and third rotation axes within the first storage space can improve the stability of the camera 20's rotation about the first, second, and third rotation axes, thereby facilitating improved shooting stability of the camera 20.

[0070] As shown in Figure 3, the optical axis B of the camera 20 is not parallel to the axis A of the arc-shaped shaft arm 12. In the embodiment of the present application, the angle between the optical axis B of the camera 20 and the axis of the arc-shaped shaft arm 12 is adjustable to avoid the arc-shaped shaft arm 12 blocking the shooting angle of the camera 20. Specifically, the angle between the optical axis B of the camera 20 and the axis A of the arc-shaped shaft arm 12 can be achieved by driving the camera 20 to rotate around the first rotation axis through the first driving mechanism 10, and / or driving the arc-shaped shaft arm 12 to rotate around the second rotation axis through the second driving mechanism 13, and / or driving the camera 20 to rotate around the third rotation axis through the third driving mechanism 14.

[0071] Optionally, the angle between the optical axis B of the camera 20 and the axis A of the curved arm 12 is between 0 and 180 degrees. In practical applications, the angle between the optical axis B of the camera 20 and the axis A of the curved arm 12 can be adjusted between 0 and 180 degrees according to the needs of the shooting scene to obtain a better shooting effect while preventing the curved arm 12 from blocking the shooting angle of the camera 20.

[0072] In some optional embodiments of the present application, the shooting device 20 can be connected to the first driving mechanism 10, and the first driving mechanism 10 can directly drive the shooting device 20 to rotate around the first rotation axis to adjust the angle between the optical axis B of the shooting device 20 and the axis of the arc-shaped axis arm 12.

[0073] In other optional embodiments of the present application, the camera device 20 is connected to the third driving mechanism 14, and the third driving mechanism 14 can drive the camera device 20 to rotate around the third rotation axis, so that the angle between the optical axis B of the camera device 20 and the axis A of the arc-shaped axis arm 12 can be adjusted.

[0074] Optionally, the extension direction of the optical axis B of the shooting device 20 is perpendicular to the extension direction of the axis A of the arc-shaped arm 12, so that the arc-shaped arm 12 can minimize the obstruction of the shooting device 20 and the shooting angle of the shooting device 20 can be maximized.

[0075] Optionally, the camera device 20 is connected to the first driving mechanism 10, and during the process of the camera device 20 sliding along the arc-shaped shaft arm 12, the camera device 20 remains oriented toward one side of the axis of the arc-shaped shaft arm 20. In this way, during the process of the camera device 20 sliding along the arc-shaped shaft arm 12, the arc-shaped shaft arm 20 can always maintain an unobstructed shooting angle of the camera device 20, so that the camera device can achieve a larger shooting angle.

[0076] In some optional embodiments of the present application, the arc-shaped shaft arm 12 is connected to the base 11, and the second driving mechanism 13 is capable of driving the arc-shaped shaft arm 12 to rotate about the second rotation axis on the base 11. The base 11 can be used to limit the rotation of the arc-shaped shaft arm 12 to improve the rotation accuracy of the arc-shaped shaft arm 12 about the second rotation axis. Therefore, the accuracy of the pan / tilt head in adjusting the rotation of the camera 20 about the second rotation axis can be improved, which is conducive to achieving better shooting effects with the camera 20.

[0077] Optionally, the pan / tilt head may further include a rolling assembly 15 connected between the arc-shaped shaft arm 12 and the base 11 to enable the arc-shaped shaft arm 12 to rotate on the base 11. The rolling assembly 15 can be used to assist the arc-shaped shaft arm 12 in rotating on the base 11, thereby improving the smoothness of the rotation of the arc-shaped shaft arm 12.

[0078] Optionally, the gimbal may further include a pre-tightening assembly 16, which is connected to the arc-shaped shaft arm 12 and the base 11, respectively, to provide a pre-tightening force to tighten the arc-shaped shaft arm 12 relative to the base 11. In this way, during the rotation of the arc-shaped shaft arm 12 around the second rotation axis on the base 11, under the action of the pre-tightening force of the pre-tightening assembly 16, the arc-shaped shaft arm 12 can be tightened relative to the base 11, and better fit on the base 11. Under the limiting action of the base 11, the arc-shaped shaft arm 12 can achieve higher rotation accuracy, which is conducive to obtaining better shooting effects for the shooting device 20.

[0079] In the embodiment of the present application, a clearance space is provided within the base 11, and the arcuate shaft arm 12 is disposed within the clearance space and is rotatable about the second rotation axis within the clearance space. The rolling assembly 15 and the pre-tightening assembly 16 are at least partially located within the clearance space. The rolling assembly 15 assists the arcuate shaft arm 12 in rotating within the clearance space of the base 11, thereby improving the smoothness of the rotation of the arcuate shaft arm 12. The pre-tightening assembly 16 provides a pre-tightening force to the arcuate shaft arm 12 relative to the clearance space of the base 11, thereby enabling the arcuate shaft arm 12 to achieve a high degree of rotational accuracy within the clearance space.

[0080] Specifically, the arc-shaped shaft arm 12 may include a first side close to its axis and a second side away from its axis. The rolling assembly 15 is connected between the base 11 and the second side to facilitate the second side of the arc-shaped shaft arm 12 to rotate along the base 11. The pre-tightening assembly 16 is connected between the base 11 and the first side to pre-tighten from the first side of the arc-shaped shaft arm 12 so that the arc-shaped shaft arm 12 can be tightened relative to the base 11.

[0081] In actual applications, the first side can serve as the inner side of the arc-shaped shaft arm 12, and the second side can serve as the outer side of the arc-shaped shaft arm 12. By connecting the rolling component 15 between the base 11 and the outer side of the arc-shaped shaft arm 12, and connecting the pre-tightening component 16 between the base 11 and the inner side of the arc-shaped shaft arm 12, the outer side rolling and the inner side pre-tightening of the arc-shaped shaft arm 12 can be achieved, thereby enhancing the synergistic effect of the rolling component 15 and the pre-tightening component 16 on the arc-shaped shaft arm 12, so that the arc-shaped shaft arm 12 can achieve smooth rotation while also having high rotation accuracy.

[0082] Referring to Figure 4, there is shown a schematic diagram of the longitudinal cross-sectional structure of the connection between the arc-shaped axis arm and the base in the gimbal shown in Figure 1, and referring to Figure 5, there is shown a schematic diagram of the decomposed structure of the rolling assembly in the structure shown in Figure 4. As shown in Figures 4 and 5, the rolling assembly 15 may specifically include: a central axis 151 and a roller 152 that can rotate around the central axis 151, the central axis 151 is fixed on the base 11, and the roller 152 is connected to the arc-shaped axis arm 12. Since the roller 152 is connected to the arc-shaped axis arm 12 and can rotate around the central axis 151, the rotation of the arc-shaped axis arm 12 around the central axis 151 can be achieved by the rotation of the roller 152 around the central axis 151. The central axis 151 can be used to limit the rotation of the arc-shaped axis arm 12 to improve the rotation accuracy of the arc-shaped axis arm 12 on the base 11.

[0083] As shown in Figures 4 and 5, the roller 152 specifically includes a first roller 1521 and a second roller 1522, respectively, disposed along the axial direction of the central axis 151. The first roller 1521 and the second roller 1522 are connected, and both the first roller 1521 and the second roller 1522 are sleeved outside the central axis 151 and can rotate around the central axis 151. By splitting the roller 152 into the first roller 1521 and the second roller 1522 disposed along the axial direction of the central axis 151, the length of each roller 152 can be reduced, facilitating the processing of the roller 152.

[0084] As shown in FIG4 , second roller 1522 extends at least partially along the axial direction of central axis 151 into first roller 1521 and forms an interference fit with first roller 1521, thereby achieving a fixed connection between first roller 1521 and second roller 1522. Thus, during rotation about central axis 151, first roller 1521 and second roller 1522 can rotate together as a single unit, thereby improving the rotational stability of first roller 1521 and second roller 1522.

[0085] Optionally, the rolling assembly 15 may further include: a first bearing 153 and a second bearing 154; wherein the first bearing 153 is located at an end of the first roller 1521 away from the second roller 1522, the outer ring of the first bearing 153 is connected to the first roller 1521, and the inner ring of the first bearing 153 is connected to the central axis 151, so as to enable the first roller 1521 to rotate about the central axis 151, and the first roller 1521 can rotate about the central axis 151 with low friction and smooth rotation. The second bearing 154 is located at an end of the second roller 1522 away from the first roller 1521, the outer ring of the second bearing 154 is connected to the second roller 1522, and the inner ring of the second bearing 154 is connected to the central axis 151, so as to enable the second roller 1522 to rotate about the central axis 151 with low friction and smooth rotation.

[0086] Optionally, the rolling assembly 15 also includes: a first gasket 155, which is connected between the second bearing 154 and the base 11, and the outer diameter of the first gasket 155 is larger than the inner ring of the second bearing 154 and smaller than the outer ring of the second bearing 154, so as to form a gap between the outer ring of the second bearing 154 and the base 11, so as to avoid the outer ring of the second bearing 154 from contacting with the base 11 to form friction and affect the rotation of the roller 152, so as to reduce the rotational friction of the roller 152 and improve the smoothness of the rotation of the roller 152.

[0087] As shown in Figures 4 and 5, the rolling assembly 15 may further include a pre-tightening nut 156. The pre-tightening nut 156 is located on the side of the first bearing 153 away from the second bearing 154 and is sleeved on the outside of the central shaft 151 to clamp the first bearing 153, the first roller 1521, the second roller 1522 and the second bearing 154 on the base 11. In actual application, the pre-tightening nut 156 can be threadedly engaged with the central shaft 151, and the lower end is pressed into the second bearing 154. After tightening the pre-tightening nut 156 and the central shaft 151, the pre-tightening nut 156 can clamp the first bearing 153, the first roller 1521, the second roller 1522 and the second bearing 154 on the base 11, thereby achieving precise positioning and tightening of the rolling assembly 15 and the base 11. At the same time, the first bearing 153 and the second bearing 154 are pre-tightened to eliminate clearance and achieve high-precision rotation of the first bearing 153 and the second bearing 154.

[0088] Optionally, the first roller 1521 is provided with a first inclined surface protruding toward the arc-shaped shaft arm 12, and the arc-shaped shaft arm 12 is provided with a second inclined surface at a position corresponding to the first inclined surface, and the first inclined surface and the second inclined surface are abutted against each other; the second roller 1522 is provided with a third inclined surface protruding toward the arc-shaped shaft arm 12, and the arc-shaped shaft arm 12 is provided with a fourth inclined surface at a position corresponding to the third inclined surface, and the third inclined surface and the fourth inclined surface are abutted against each other.

[0089] In actual applications, the axial movement of the arc-shaped shaft arm 12 can be limited by the abutment between the first inclined surface and the second inclined surface, and the abutment between the third inclined surface and the fourth inclined surface, thereby avoiding axial stringing of the arc-shaped shaft arm 12 and further improving the rotation accuracy of the arc-shaped shaft arm 12 around the second rotation axis.

[0090] Referring to Figure 6, a schematic diagram of the decomposed structure of the pre-tightening assembly in the structure shown in Figure 4 is shown. As shown in Figure 6, a receiving portion is provided on the base 11, and the receiving portion is communicated with the avoidance space. The pre-tightening assembly 16 is passed through the receiving portion; after the pre-tightening assembly 16 moves to the target position in the receiving portion, the pre-tightening assembly 16 can be fixed in the receiving portion to provide pre-tightening force and compensate for processing and assembly errors.

[0091] In actual applications, during the assembly process of the pan / tilt head, the position of the pre-tightening component 16 in the receiving portion can be adjusted according to actual needs until the pre-tightening component 16 is moved to the target position. When the pre-tightening component 16 is in the target position, the pre-tightening component 16 can provide appropriate pre-tightening force to the arc-shaped shaft arm 12 to tighten the arc-shaped shaft arm 12 to the base 11. At this time, the pre-tightening component 16 can be fixed in the receiving portion by other connection methods such as bonding and clamping, so that the pre-tightening component 16 can be maintained in the target position. In this way, during the rotation of the arc-shaped shaft arm 12 on the base 11, the pre-tightening component 16 can provide a constant pre-tightening force to the arc-shaped shaft arm 12 and compensate for processing errors, thereby improving the rotation accuracy of the arc-shaped shaft arm 12 on the base 11.

[0092] Optionally, the lengthwise extension direction of the receiving portion is radially of the arcuate shaft arm 12. Since the preload assembly 16 can only move along the lengthwise extension direction of the receiving portion, when the lengthwise extension direction of the receiving portion is radially of the arcuate shaft arm 12, the movement of the preload assembly 16 along the lengthwise extension direction of the receiving portion can provide a radial preload force to the arcuate shaft arm 12, limiting the arcuate shaft arm 12 to rotation only about its axial direction, thereby improving the rotational accuracy of the arcuate shaft arm 12.

[0093] As shown in Figure 6, the preload assembly 16 specifically includes a preload pin 161, and a third bearing 162 and a fourth bearing 163 disposed outside the preload pin 161. The outer races of the third and fourth bearings 162, 163 are respectively connected to the arc-shaped shaft arm 12, while the inner races of the third and fourth bearings 162, 163 are connected to the preload pin 161. The preload pin 161 is inserted into the receiving portion and secured therein. By positioning the third and fourth bearings 162, 163 between the preload pin 161 and the arc-shaped shaft arm 12, the arc-shaped shaft arm 12 can rotate about the preload pin 161 with minimal friction and smooth rotation. This allows the arc-shaped base 11 to rest against and rotate about the preload pin 161 during rotation, ensuring that the preload pin 161 provides a constant preload force to the arc-shaped shaft arm 12.

[0094] Optionally, the pre-tightening pin 161 is bonded to the receiving portion. By bonding the pre-tightening pin 161 to the receiving portion, the pre-tightening assembly 16 can be fixed to the receiving portion of the base 11. In actual application, after the pre-tightening assembly 16 is moved to the target position, the pre-tightening pin 161 can be bonded to the receiving portion using an adhesive medium such as glue or tape. This is easy to implement and can reliably connect the pre-tightening pin 161 to the receiving portion.

[0095] It should be understood that, in actual applications, the connection method of the pre-tightening pin 161 in the receiving portion may also include snap connection, welding, and threaded connection, etc. The embodiment of the present application does not specifically limit the fixed connection method of the pre-tightening pin 161 in the receiving portion.

[0096] Optionally, both ends of the pre-tightening pin 161 are at least partially exposed outside the receiving portion, so that an operating tool such as a wrench can be used to clamp the portion of the pre-tightening pin 161 exposed outside the receiving portion to adjust the position of the pre-tightening pin 161, thereby improving the operability and efficiency of the movement of the pre-tightening assembly 16.

[0097] As shown in FIG6 , the preload assembly 16 may further include a preload stop sleeve 164, which is sleeved over the stop pin and abuts between the third bearing 162 and the fourth bearing 163. The preload stop sleeve 164 can be used to limit the position of the third bearing 162 and the fourth bearing 163, preventing axial movement of the third bearing 162 and the fourth bearing 163, thereby further improving the preload reliability of the preload assembly 16.

[0098] As shown in Figure 6, the preload assembly 16 may also include: a second gasket 165 and a third gasket 166; wherein, the second gasket 165 is connected between the third bearing 162 and the base 11, and the outer diameter of the second gasket 165 is larger than the inner ring of the third bearing 162 and smaller than the outer ring of the third bearing 162, so as to form a gap between the outer ring of the third bearing 162 and the base 11, so as to avoid the outer ring of the third bearing 162 contacting with the base 11 to form friction and affect the rotation of the third bearing 162, so as to reduce the rotational friction of the third bearing 162 and improve the rotation smoothness of the third bearing 162. The third gasket 166 is connected between the fourth bearing 163 and the base 11. The outer diameter of the third gasket 166 is larger than the inner ring of the fourth bearing 163 and smaller than the outer ring of the fourth bearing 163, so as to form a gap between the outer ring of the fourth bearing 163 and the base 11, thereby preventing the outer ring of the fourth bearing 163 from contacting with the base 11 to form friction and affect the rotation of the fourth bearing 163, thereby reducing the rotational friction of the fourth bearing 163 and improving the rotation smoothness of the fourth bearing 163.

[0099] As shown in FIG6 , there are two pre-tightening components 16 , and the two pre-tightening components 16 are arranged at intervals. This can not only improve the load resistance capability of the pre-tightening component 16 , and improve the reliability and service life of the pre-tightening component 16 , but also prevent over-positioning, and facilitate the installation of the pre-tightening component 16 .

[0100] In the embodiment of the present application, the two pre-tightening components 16 may be parallel or non-parallel, and those skilled in the art may set them according to actual needs. The embodiment of the present application does not specifically limit the relative positional relationship of the two pre-tightening components 16.

[0101] Referring to FIG7 , a schematic diagram of the structure of the arc-shaped shaft arm, the rolling assembly, and the pre-tightening assembly in the structure shown in FIG4 is shown. As shown in FIG7 , the rolling assembly 15 is connected to the outside of the arc-shaped shaft arm 12, and the pre-tightening assembly 16 is connected to the inside of the arc-shaped shaft arm 12, so as to achieve outer rolling and inner pre-tightening of the arc-shaped shaft arm 12. In this way, the synergistic effect of the rolling assembly 15 and the pre-tightening assembly 16 on the arc-shaped shaft arm 12 can be enhanced, so that the arc-shaped shaft arm 12 can achieve smooth rotation while also having high rotation accuracy.

[0102] Furthermore, as shown in FIG7 , since the arc-shaped shaft arm 12 and the rolling assembly 15 are in contact with an inclined surface, the actual movement of the arc-shaped shaft arm 12 after being subjected to force is a rotation along the intersection of the normal lines of the inclined surface. By having the preload assembly 16 abut against the inner surface of the arc-shaped shaft arm 12, limiting its rotation in this direction, all degrees of freedom of the arc-shaped shaft arm 12 except along the second rotation axis can be restricted, thus forming its support. Due to the presence of the inclined surface, during assembly, the arc-shaped shaft arm 12 automatically maintains four-point contact with the rolling assembly 15. To ensure good contact between the four bearings of the preload assembly 16 (two third bearings 162 and two fourth bearings 163) and the arc-shaped shaft arm 12, each of the four bearings needs to be preloaded to avoid over-positioning.

[0103] Referring to FIG8 , there is shown a schematic structural diagram of another rolling assembly described in an embodiment of the present application, referring to FIG9 , there is shown a schematic longitudinal cross-sectional structural diagram of the rolling assembly shown in FIG8 , and referring to FIG10 , there is shown a schematic exploded structural diagram of the rolling assembly shown in FIG8 . As shown in FIG8 , FIG9 , and FIG10 , the rolling assembly 15 may specifically include: a second retaining frame 157 and balls 158 , the second retaining frame 157 being disposed between the outer side of the arc-shaped shaft arm 12 and the base 11 , the balls 158 being embedded in the second retaining frame 157 and being respectively connected in a rolling manner to the arc-shaped shaft arm 12 and the base 11 . The rolling of the balls 158 between the arc-shaped shaft arm 12 and the base 11 enables the rotation of the arc-shaped shaft arm 12 on the base 11 , and the structure is simple.

[0104] As shown in Figures 8 and 9, the balls 158 may further include: first balls 1581 and second balls 1582 spaced apart in an upper and lower arrangement, the first balls 1581 being embedded in the upper corner of the second retaining frame 157 to enable the upper side of the arc-shaped shaft arm 12 to roll on the base 11, and the second balls 1582 being embedded in the lower corner of the second retaining frame 157 to enable the lower side of the arc-shaped shaft arm 12 to roll on the base 11. Since both the upper and lower sides of the arc-shaped shaft arm 12 can roll relative to the base 11, the rolling of the upper and lower sides of the arc-shaped shaft arm 12 relative to the base 11 can be made more balanced and stable, thereby improving the rotational accuracy of the arc-shaped shaft arm 12 on the base 11.

[0105] As shown in FIG10 , the second retainer 157 is provided with a plurality of spaced-apart ball mounting holes 1571. A ball 158 is embedded in one of the ball mounting holes 1571 and is capable of rolling therein. In practical applications, the ball mounting holes 1571 can be used to mount and position the ball 158, facilitating its rolling between the arc-shaped shaft arm 12 and the base 11. At the same time, the ball 158 can be maintained in a constant position, preventing it from moving and falling, thereby improving the rotational accuracy between the arc-shaped shaft arm 12 and the base 11.

[0106] As shown in FIG10 , the base 11 is provided with a wedge-shaped rolling groove 111 at a position corresponding to the ball 158, and the arcuate shaft arm 12 is provided with a stepped rolling groove 121 at a position corresponding to the ball 158. The stepped rolling groove 121 has two interconnected groove walls, and the ball 158 abuts against the groove walls of the wedge-shaped rolling groove 111 and the stepped rolling groove 121, respectively. Thus, during the rolling process of the ball 158, the ball 158 can maintain one-point contact with the wedge-shaped rolling groove 111 of the base 11 and two-point contact with the stepped rolling groove 121 of the arcuate shaft arm 12, thereby improving rolling stability, providing the greatest possible torsional rigidity, and minimizing rolling friction, thereby enabling the arcuate shaft arm 12 to rotate reliably on the base 11.

[0107] In some optional embodiments of the present application, a receiving portion is provided on the base 11 , the receiving portion is communicated with the avoidance space, and the pre-tightening assembly 16 is passed through the receiving portion and moves within the receiving portion to adjust the pre-tightening force.

[0108] In actual applications, during the use of the pan / tilt head, the pre-tightening component 16 can dynamically adjust its own position to dynamically adjust the size of the pre-tightening force according to actual needs, and automatically pre-tighten during the rotation of the arc-shaped shaft arm 12.

[0109] Referring to FIG11 , there is shown a schematic structural diagram of another arc-shaped shaft arm, rolling assembly, and pre-tightening assembly according to an embodiment of the present application, and referring to FIG12 , there is shown a schematic longitudinal cross-sectional structural diagram of the structure shown in FIG11 , and referring to FIG13 , there is shown a schematic exploded structural diagram of the structure shown in FIG11 . As shown in FIG12 and FIG13 , the pre-tightening assembly 16 may specifically include: a bearing bracket 167, a cover plate 168, a pre-tightening member 169, and a pusher; wherein the bearing bracket 167 and the cover plate 168 are engaged and connected, and a second accommodating space for accommodating the pre-tightening member 169 and the pusher can be formed therebetween, the bearing bracket 167 is close to the arc-shaped shaft arm 12 and is rollingly connected to the arc-shaped shaft arm 12; the pre-tightening member 169 and the pusher are both arranged in the second accommodating space, the pre-tightening member 169 is connected to the pusher, and the pre-tightening member 169 can drive the pusher to move toward the arc-shaped shaft arm 12 to provide a pre-tightening force to the arc-shaped shaft arm 12.

[0110] In actual application, during the rotation of the arc-shaped shaft arm 12, the preload member 169 drives the pushing member to move toward the arc-shaped shaft arm 12 to push the arc-shaped shaft arm 12 to move and provide a preload force to the arc-shaped shaft arm 12. By adjusting the amount of movement of the arc-shaped shaft arm 12 pushed by the pushing member, the size of the preload force can be dynamically adjusted to achieve automatic preload during the rotation of the arc-shaped shaft arm 12.

[0111] Optionally, the preload assembly 16 further includes a rolling mechanism, which is disposed on a side of the bearing bracket 167 close to the arcuate shaft arm 12 to rollably connect the bearing bracket 167 to the arcuate shaft arm 12. In practical applications, the provision of the rolling mechanism enables relative rolling between the arcuate shaft arm 12 and the bearing bracket 167, thereby improving the smoothness of preloading the arcuate shaft arm 12.

[0112] Specifically, the rolling mechanism may include a first pin 1612, a second pin 1613, a fifth bearing 1614, and a sixth bearing 1615. The first pin 1612 is connected to the bearing bracket 167, the inner ring of the fifth bearing 1614 is connected to the first pin 1612, and the outer ring of the fifth bearing 1614 is connected to the arc-shaped shaft arm 12. Positioning the fifth bearing 1614 between the first pin 1612 and the arc-shaped shaft arm 12 enables the arc-shaped shaft arm 12 to rotate about the first pin 1612, reducing friction and ensuring smooth rotation. The second pin 1613 is connected to the bearing bracket 167, the inner ring of the sixth bearing 1615 is connected to the second pin 1613, and the outer ring of the sixth bearing 1615 is connected to the arc-shaped shaft arm 12. By arranging the sixth bearing 1615 between the second pin shaft 1613 and the bearing bracket 167, the bearing bracket 167 can be rotated around the second pin shaft 1613, and the rotation friction of the bearing bracket 167 around the second pin shaft 1613 can be small and the rotation can be smooth.

[0113] Optionally, the pre-tightening member 169 is a pre-tightening screw, and the pushing member may specifically include a first pushing member 1610 and a second pushing member 1611; wherein, the first pushing member 1610 and the second pushing member 1611 are fitted with the bearing bracket 167 on one side thereof close to the bearing bracket 167 via an inclined surface; the pre-tightening screw is threadedly engaged with the first pushing member 1610 and the second pushing member 1611, respectively, and the rotation of the pre-tightening screw can drive the first pushing member 1610 and the second pushing member 1611 to move along the axial direction of the pre-tightening screw, and the movement of the first pushing member 1610 and the second pushing member 1611 along the axial direction of the pre-tightening screw can push the bearing bracket 167 toward or away from the arc-shaped shaft arm 12. The movement of the bearing bracket 167 toward or away from the arc-shaped shaft arm 12 can push the arc-shaped shaft arm 12 to move, providing a pre-tightening force to the arc-shaped shaft arm 12, so as to achieve automatic pre-tightening of the arc-shaped shaft arm 12 during its rotation.

[0114] In a specific application, during the process of tightening the pre-tightening screw, the first pusher 1610 and the second pusher 1611 are pushed toward both ends along the axial direction of the pre-tightening screw. Due to the presence of the inclined surfaces on the first pusher 1610 and the second pusher 1611, the bearing bracket 167 can be pushed in along the radial direction of the arc-shaped shaft arm 12 to achieve pre-tightening of the arc-shaped shaft arm 12 on the base 11.

[0115] Optionally, the preload assembly 16 may further include a guide sleeve 1616 and a first elastic member 1617. One end of the guide sleeve 1616 is connected to the second pusher 1611, and the other end of the guide sleeve 1616 is provided with a receiving groove. The first elastic member 1617 is connected to the bottom of the receiving groove. The preload screw is inserted into the receiving groove and abuts against the first elastic member 1617. Because the first elastic member 1617 has an automatic restoring force, the elastic force of the first elastic member 1617 facilitates adjustment of the preload force and compensates for minor gaps to maintain a constant preload force. This improves the reliability of the preload assembly 16 in preloading the arc-shaped shaft arm 12.

[0116] Optionally, the preload assembly 16 may further include a first arc slider 1618 and a second arc slider 1619 ; wherein the first arc slider 1618 is connected to the cover plate 168 and engages with the first pusher 1610 in an arc shape, and the second arc slider 1619 is connected to the cover plate 168 and engages with the second pusher 1611 in an arc shape. The first arc slider 1618 and the second arc slider 1619 enable fine adjustment of the angles of the first and second pushers 1610, 1611, and maintain reliable contact between the first and second pushers 1610, 1611, and the cover plate 168.

[0117] Optionally, the preload assembly 16 may further include a first limiting piece 1622 and a second limiting piece 1623, wherein the first limiting piece 1622 and the second limiting piece 1623 may be fixed to the upper and lower end surfaces of the bearing bracket 167 by screws, bolts, or other fasteners. The first limiting piece 1622 and the second limiting piece 1623, while fixing the positions of the first and second pins 1612, 1613, also limit the upper and lower movement limits of the bearing bracket 167 on the base 11. A certain gap is left between the first limiting piece 1622 and the second limiting piece 1623 and the base 11, allowing for slight movement, which only limits their freedom of movement along the radial direction of the arc-shaped shaft arm 12.

[0118] Optionally, the pre-tightening assembly 16 may further include a pre-tightening pad 1624 . The pre-tightening pad 1624 and the first elastic member 1617 are sequentially installed in the guide sleeve 1616 . The pre-tightening pad 1624 may abut against the end of the pre-tightening screw.

[0119] FIG14 illustrates a schematic diagram of the structure of a first and second circular arc slider according to an embodiment of the present application. As shown in FIG14 , the first circular arc slider 1618 is provided with a first friction plate 1620 extending toward the second circular arc slider 1619. The first friction plate 1620 at least partially extends between the second circular arc slider 1619 and the cover plate 168. The second circular arc slider 1619 is provided with a second friction plate 1621 extending toward the first circular arc slider 1618. The second friction plate 1621 at least partially extends between the first circular arc slider 1618 and the cover plate 168. This prevents the first and second circular arc sliders 1618 and 1619 from locking with the arc-shaped shaft arm 12 while pushing the first and second pushers 1610 and 1611. The friction between the bottoms of the first and second friction plates 1620 and 1621 and the cover plate 168 enables self-locking between the first and second circular arc sliders 1618 and 1619. Only when both ends of the first friction plate 1620 and the second friction plate 1621 are simultaneously loosened and the upper and lower gaps are uniform can the first arc slider 1618 and the second arc slider 1619 move up and down, thus automatically pre-tightening the arc-shaped shaft arm 12. In this way, structural deformation and wear can be distinguished from vibration of the pan / tilt head.

[0120] Referring to FIG15 , a schematic diagram of the structure of another arc-shaped shaft arm, rolling assembly, and preload assembly according to an embodiment of the present application is shown. Referring to FIG16 , a schematic diagram of a longitudinal cross-section of the structure shown in FIG15 is shown. Referring to FIG17 , a schematic diagram of an exploded view of the structure shown in FIG15 is shown. As shown in FIG15 , FIG16 , and FIG17 , the preload assembly 16 may specifically include a first coil assembly 1625 and a first magnetic assembly 1626 . The first coil assembly 1625 is fixed to the base 11 , and the first magnetic assembly 1626 is fixed to the arc-shaped shaft arm 12 . The first magnetic assembly 1626 and the first coil assembly 1625 are spaced relative to each other. When energized, the first coil assembly 1625 can drive the arc-shaped shaft arm 12 to rotate relative to the base 11 to provide a preload force. Because the first magnetic assembly 1626 and the first coil assembly 1625 achieve non-contact preload through magnetic attraction, the rotational friction of the arc-shaped shaft arm 12 can be significantly reduced, thereby reducing the rotational force of the arc-shaped shaft arm 12.

[0121] For example, the first coil assembly 1625 may include an iron core and a winding, and the first magnetic assembly 1626 may include a magnet and a retaining frame for fixing and supporting the magnet.

[0122] As shown in Figures 15 to 17, the preload assembly 16 may further include: a bearing pin 1627 and a bearing bearing 1628; wherein the first coil assembly 1625 is fixed to the base 11 via the bearing pin 1627; the bearing bearing 1628 is sleeved over the bearing pin 1627, and the outer ring of the bearing bearing 1628 is connected to the arc-shaped shaft arm 12 to support the rotation of the arc-shaped shaft arm 12 relative to the bearing pin 1627. By arranging the bearing bearing 1628 between the bearing pin 1627 and the arc-shaped shaft arm 12, the arc-shaped shaft arm 12 can rotate about the bearing pin 1627, and the rotation friction of the arc-shaped shaft arm 12 about the bearing pin 1627 can be reduced, and the rotation can be smooth.

[0123] In actual application, the magnetic attraction between the first coil assembly 1625 and the first magnetic assembly 1626 forms a relatively stable preload between the arc-shaped shaft arm 12 and the first coil assembly 1625, and due to the existence of the air gap therebetween, the arc-shaped shaft arm 12 can rotate freely along the bearing pin 1627 under the support of the bearing bearing 1628.

[0124] Specifically, the preload assembly 16 can also include: a fixed pin 1629, a fixed bearing 1630, a floating pin 1631, a floating bearing 1632 and a second elastic member 1633; wherein; the fixed pin 1629 is connected to the base 11, and the fixed bearing 1630 is sleeved on the outside of the fixed pin 1629; the second elastic member 1633 is connected to the base 11, the floating pin 1631 is connected to the second elastic member 1633, and the floating bearing 1632 is sleeved on the outside of the floating pin 1631. Under the elastic action of the second elastic member 1633, the floating pin 1631 can drive the floating bearing 1632 to slide in the avoidance space, and be pressed onto the arc-shaped shaft arm 12 by the second elastic member 1633.

[0125] As shown in Figures 15 to 17, the preload assembly 16 may further include a fixed pressure plate 1634, which is respectively connected to the fixing pin 1629 and the base 11 to fix the fixing pin 1629 to the base 11. Specifically, the fixed bearing 1630 may be mounted on the fixing pin 1629 and fixed to the base 11 via the fixed pressure plate 1634 with screws.

[0126] In practice, floating bearing 1632 is mounted on floating pin 1631, and second elastic member 1633 can be mounted on base 11 via screws. Second elastic member 1633 can be a spring with an opening, one end of which presses against either side of floating pin 1631. Floating pin 1631 and floating bearing 1632 can slide up and down within a receptacle on base 11, while being pressed against arcuate shaft arm 12 by second elastic member 1633. Consequently, arcuate shaft arm 12 is vertically restrained downward by fixed pin 1629, fixed bearing 1630, and fixed pressure plate 1634, and upward by floating pin 1631, floating bearing 1632, and second elastic member 1633. Due to the elastic force of second elastic member 1633, arcuate shaft arm 12 is also elastically preloaded. Since the arc-shaped shaft arm 12 adopts adaptive elastic pre-tightening in the radial and axial directions, the processing accuracy requirements for each component can be reduced. At the same time, the unbalanced attraction between the first coil assembly 1625 and the first magnetic assembly 1626 is utilized to reduce the friction resistance of rotation, improve dynamic performance and stability, and ensure higher support stiffness.

[0127] Optionally, the pre-tightening assembly 16 may also include: a first yoke 1635, the first yoke 1635 is bonded to the inner side of the arc-shaped shaft arm 12, and the first yoke 1635 can be used to achieve magnetic isolation between the first magnetic assembly 1626 and the arc-shaped shaft arm 12 to avoid the magnetic force of the first magnetic assembly 1626 affecting the operation of other components.

[0128] In some optional embodiments of the present application, the second driving mechanism 13 may include an electromagnetic driving mechanism. Since electromagnetic driving is a high-precision driving method, when the second driving mechanism 13 is an electromagnetic driving mechanism, the driving precision of the second driving mechanism 13 can be improved.

[0129] As shown in Figure 2, the electromagnetic drive mechanism may specifically include: a coil assembly 131 and a magnetic assembly 132, the coil assembly 131 is connected to the base 11, the magnetic assembly 132 is connected to the arc-shaped shaft arm 12, the coil assembly 131 and the magnetic assembly 132 are arranged relative to each other, and the coil assembly 131 can drive the arc-shaped shaft arm 12 connected to the magnetic assembly 132 to rotate when powered on, thereby realizing the rotation of the arc-shaped shaft arm 12 on the base 11.

[0130] In practical applications, the first coil assembly 1625 may specifically include: an iron core and a coil wound around the iron core, wherein the iron core is fixedly connected to the base 11 to connect the first coil assembly 1625 to the base 11. The first magnetic assembly 1626 may specifically include a first retaining frame and a magnetic member connected to the first retaining frame, wherein the first retaining frame is connected to the inner side of the arc-shaped shaft arm 12 to connect the first magnetic assembly 1626 to the arc-shaped shaft arm 12.

[0131] As shown in Figures 1 to 3, the electromagnetic drive mechanism may further include: a positioning pin 133 and a positioning sleeve 134. The iron core is sleeved on the outside of the positioning pin 133, and the positioning sleeve 134 is sleeved on the outside of the iron core and abuts against the base 11. In actual application, the coil assembly 131 can be fixed to the base 11 by the positioning pin 133, and the upper and lower limits of the coil assembly 131 can be adjusted and limited by the positioning sleeve 134 to prevent the coil assembly 131 from moving up and down, thereby improving the rotation accuracy of the coil assembly 131 driving the magnetic assembly 132.

[0132] Specifically, the electromagnetic drive mechanism may further include a yoke 135 bonded to the inner side of the arc-shaped shaft arm 12. The yoke 135 may be used to achieve magnetic isolation between the magnetic component 132 and the arc-shaped shaft arm 12 to prevent the magnetic force of the magnetic component 132 from affecting the operation of other components.

[0133] Referring to Figure 18, a schematic structural diagram of a second drive mechanism described in an embodiment of the present application is shown, referring to Figure 19, one of the side schematic diagrams of the second drive mechanism shown in Figure 18 is shown, and referring to Figure 20, a second side schematic diagram of the second drive mechanism shown in Figure 18 is shown. As shown in Figures 18 to 20, the second drive mechanism 13 may specifically include: a motor 136 and a transmission member connected to the motor 136, the motor 136 is fixed on the base 11, the transmission member is connected to the arc-shaped shaft arm 12, and the motor 136 drives the transmission member to drive the arc-shaped shaft arm 12 to rotate. Since the driving method of the motor 136 is simple in structure and low in cost, when the driving member in the second drive mechanism 13 is the motor 136, the structure of the second drive mechanism 13 can be made simple and low in cost.

[0134] As shown in Figures 18 to 20, the transmission member specifically includes a first transmission rope 137 and a second transmission rope 138; one end of the first transmission rope 137 is connected to the motor 136, and the other end of the first transmission rope 137 is connected to the arc-shaped shaft arm 12. Under the drive of the motor 136, the first transmission rope 137 drives the arc-shaped shaft arm 12 to rotate along the first direction; one end of the second transmission rope 138 is connected to the motor 136, and the other end of the second transmission rope 138 is connected to the arc-shaped shaft arm 12. Under the drive of the motor 136, the second transmission rope 138 drives the arc-shaped shaft arm 12 to rotate along the second direction; wherein, the second direction is opposite to the first direction.

[0135] For example, the first direction is clockwise and the second direction is counterclockwise, or the first direction is counterclockwise and the second direction is clockwise. The embodiments of the present application do not limit the specific contents of the first direction and the second direction.

[0136] Optionally, the first transmission rope 137 is at least partially wrapped around the outside of the motor 136 along the second direction, and the second transmission rope 138 is at least partially wrapped around the outside of the motor 136 along the first direction; along the axial direction of the motor 136, the orthographic projections of the first transmission rope 137 and the second transmission rope 138 are staggered between the motor 136 and the arc-shaped shaft arm 12.

[0137] Optionally, one end of the first transmission rope 137 can be welded to the curved shaft arm 12 via a first weld 139, and the other end of the first transmission rope 137 can be passed around the motor 136 in the second direction and welded to the motor 136 via a second weld 1310. The second transmission rope 138 can be arranged as a mirror image of the second transmission rope 138, that is, the ends of the second transmission rope 138 can be welded to the curved shaft arm 12 and the motor 136 via the first weld 139 and the second weld 1310, respectively. Because the orthographic projections of the first transmission rope 137 and the second transmission rope 138 intersect between the motor 136 and the curved shaft arm 12, the first transmission rope 137 and the second transmission rope 138 can be effectively linked to each other, thereby achieving rotation of the curved shaft arm 12 in the first direction or the second direction.

[0138] Optionally, there is a gap between the first transmission rope 137 and the second transmission rope 138 along the axial direction of the motor 136 to avoid mutual interference between the first transmission rope 137 and the second transmission rope 138 and improve the movement accuracy of the first transmission rope 137 and the second transmission rope 138.

[0139] For example, the first transmission rope 137 and the second transmission rope 138 may include at least one of a steel wire, a steel belt, and a nylon rope. The specific forms of the first transmission rope 137 and the second transmission rope 138 are not limited in this embodiment of the application.

[0140] Optionally, the radius of the arc-shaped shaft arm 12 can be larger than the radius of the motor 136, so that the rotational speed of the arc-shaped shaft arm 12 is lower than the rotational speed of the motor 136, thereby achieving a reduced speed transmission. Alternatively, the radius of the arc-shaped shaft arm 12 can be smaller than the radius of the motor 136, so that the rotational speed of the arc-shaped shaft arm 12 is higher than the rotational speed of the motor 136, thereby achieving a increased speed transmission. This embodiment of the present application does not specifically limit the size of the radius of the arc-shaped shaft arm 12 and the radius of the motor 136.

[0141] As shown in Figure 1, the gimbal may further include a connector 17, and the first driving mechanism 10 is connected to the connector 17. The connector 17 may serve as a component for connecting the gimbal with the unmanned aerial vehicle, and is used to install the gimbal on the unmanned aerial vehicle.

[0142] Specifically, the gimbal further includes a shock absorbing assembly, which is located between the connector 17 and the first driving mechanism 10. The shock absorbing assembly can be used to filter high-frequency vibrations from the UAV or the outside world to improve the working stability of the gimbal.

[0143] Optionally, the shock-absorbing assembly may specifically include a shock-absorbing bracket 18 and a shock-absorbing ball 19. The first drive mechanism 10 is connected to the shock-absorbing bracket 18, and the shock-absorbing bracket 18 is connected to the connecting member 17 via the shock-absorbing ball 19. The shock-absorbing effect of the shock-absorbing ball 19 can filter high-frequency vibrations from the UAV or the outside world, thereby improving the operating stability of the first drive mechanism 10 connected to the shock-absorbing bracket 18.

[0144] Optionally, the first drive mechanism 10 may include a first motor including a first rotor portion and a first stator portion, wherein the first stator portion is connected to the shock-absorbing bracket 18, and the first rotor portion is connected to the base 11. The first rotor portion can rotate relative to the first stator portion, thereby driving the base 11 to rotate relative to the shock-absorbing bracket 18. The rotation of the base 11 can drive the camera 20 to rotate about the first rotation axis.

[0145] In this embodiment of the present application, extension arms 110 are further provided at both ends of the arc-shaped shaft arm 12, and the third drive mechanism 14 is mounted on the extension arms 110. Specifically, the extension arms 110 can be connected to both ends of the arc-shaped shaft arm 12 using fasteners such as screws and bolts. The extension arms 110 can serve as connectors between the second and third rotation axes, responsible for bearing and angle conversion.

[0146] Optionally, the extension arm 110 may be a planar structure to facilitate positioning and installation of the third driving mechanism 14 on the extension arm 110 , thereby improving installation efficiency and installation accuracy of the third driving mechanism 14 on the extension arm 110 .

[0147] For example, the extension arm 110 can be connected to the arc-shaped shaft arm 12 by screws, bolts and other fasteners, and the third drive mechanism 14 can also be connected to the extension arm 110 by screws, bolts and other fasteners. The embodiment of the present application does not specifically limit the connection method of the extension arm 110 on the arc-shaped shaft arm 12 and the connection method of the third drive mechanism 14 on the extension arm 110.

[0148] In some optional embodiments of the present application, the gimbal may further include a position detection component 112 , which is connected to the arc-shaped axis arm 12 to detect the rotational position of the arc-shaped axis arm 12 relative to the base 11 to improve the rotation accuracy of the arc-shaped axis arm 12 .

[0149] Optionally, the position detection assembly 112 includes a Hall assembly, which includes a magnetic member and a Hall sensor. The magnetic member is provided on the arc-shaped shaft arm 12, and the Hall sensor is connected to the base 11. When the arc-shaped shaft arm 12 rotates to different positions on the base 11, the magnitude and direction of the magnetic field detected by the Hall sensor on the base 11 will also vary. Therefore, the rotational position of the arc-shaped shaft arm 12 relative to the base 11 can be detected by the magnitude and direction of the magnetic field detected by the Hall sensor. The structure is simple and easy to implement.

[0150] Optionally, the magnetic member may include a plurality of auxiliary magnets 113 spaced apart along the circumference of the arc-shaped shaft arm 12. By providing a plurality of auxiliary magnets 113 spaced apart along the circumference of the arc-shaped shaft arm 12, accurate detection of multiple rotational positions of the arc-shaped shaft arm 12 can be achieved, thereby further improving the detection accuracy of the rotational position of the arc-shaped shaft arm 12.

[0151] Optionally, the Hall assembly further includes a magnet cover 114, which covers the auxiliary magnet 113. The magnet cover 114 can be used to protect the auxiliary magnet 113, preventing external debris from being adsorbed on the auxiliary magnet 113, thereby improving the working accuracy and service life of the auxiliary magnet 113.

[0152] For example, the position detection component 112 may further include at least one of a grating, a capacitive grating, and a magnetic grating. The embodiment of the present application may not limit the specific form of the position detection component 112.

[0153] Optionally, the position detection component 112 may further include an origin position detection sensor so that the shooting device 20 can automatically return to the origin when the pan / tilt head is started, thereby facilitating control of the rotation angle of the shooting device 20 .

[0154] For example, the origin position detection sensor may include but is not limited to a reflective or transmissive photoelectric sensor, a micro switch, and a contact spring, etc. The embodiment of the present application does not limit the specific content of the origin position detection sensor.

[0155] In this embodiment of the present application, the gimbal may further include a control cable 115. One end of the control cable 115 is electrically connected to the aircraft control panel, and the other end is sequentially routed through the first drive mechanism 10, the base 11, and the arc-shaped shaft arm 12 to be electrically connected to the camera 20. The control cable 115 can extend and retract with the rotation of the arc-shaped shaft arm 12. During the process of adjusting the position or angle of the camera 20, the control cable 115 can maintain a stable connection with the camera 20 through extension and retraction, thereby improving the reliability of the electrical connection between the camera 20 and the aircraft control panel.

[0156] Optionally, a through hole for the control line 115 to pass through is provided on the arc-shaped shaft arm 12, and a wire ring 116 is provided in the through hole. The control line 115 is passed through the wire ring 116 to reduce the friction between the control line 115 and the arc-shaped shaft arm 12, so as to improve the smoothness of the extension and retraction of the control line 115 and extend the service life of the control line 115.

[0157] Optionally, the material of the wire loop 116 may include at least one of polyoxymethylene, polytetrafluoroethylene, and polyetheretherketone. Since polyoxymethylene, polytetrafluoroethylene, polyetheretherketone, and other materials have the advantages of good lubricity and wear resistance, when the wire loop 116 is made of such materials, the friction of the control wire 115 can be reduced, thereby reducing wear on the control wire 115.

[0158] It should be noted that the connection and arrangement of the control line 115 may include but is not limited to circumferential arrangement along the arc-shaped shaft arm 12, radial arrangement along the arc-shaped shaft arm 12, axial arrangement along the arc-shaped shaft arm 12 and various combinations thereof, as well as routing schemes along other hollow shafts of the drive motor, etc. The embodiment of the present application does not specifically limit the routing method of the control line 115.

[0159] Optionally, the gimbal further includes a sealing structure, which can be used for the arc-shaped shaft arm 12. The sealing structure can prevent its moving parts, especially the hollow rotation of the arc-shaped shaft arm 12 and the driving structure from being affected by the outside world when the gimbal is working, and prevent external dust, gravel, water vapor, etc. from entering the interior of the gimbal. The gimbal is designed with a dustproof cover and a sealing lip structure.

[0160] For example, the sealing structure may include at least one of a labyrinth seal, a felt seal, a sealing ring seal, and a pressure differential seal. The specific content of the sealing structure is not limited in the embodiments of the present application.

[0161] In the gimbal shown in Figure 1 , the first rotation axis can be a roll axis, the second rotation axis can be a yaw axis, and the third rotation axis can be a pitch axis. That is, the three rotation axes are arranged in the order of roll axis-yaw axis-pitch axis. The roll axis can be fixed to the fuselage of the UAV, while the yaw axis and the pitch axis are free axes. Accordingly, in the gimbal shown in Figure 1 , the first drive mechanism 10 can be a roll axis drive mechanism, the second drive mechanism 13 can be a yaw axis drive mechanism, and the third drive mechanism 14 can be a pitch axis drive mechanism.

[0162] 21 and 22 , a schematic structural diagram of another gimbal according to an embodiment of the present application is shown. The first rotation axis may be a roll axis, the second rotation axis may be a yaw axis, and the third rotation axis may be a pitch axis. The three rotation axes are arranged in series in the order of pitch axis-yaw axis-roll axis, wherein the pitch axis may be fixed to the fuselage of the unmanned aerial vehicle, and the yaw axis and the pitch axis are free axes. Accordingly, in the gimbal shown in FIG21 and FIG22 , the first drive mechanism 10 may be a roll axis drive mechanism, the first drive mechanism 10 is connected to the shooting device 20, the second drive mechanism 13 may be a yaw axis drive mechanism, and the third drive mechanism 14 may be a pitch axis drive mechanism.

[0163] Referring to FIG23 , there is shown a schematic structural diagram of another gimbal according to an embodiment of the present application, wherein the first rotation axis may be a yaw axis, the second rotation axis may be a roll axis, and the third rotation axis may be a pitch axis. The three rotation axes are arranged in a series sequence of pitch axis-roll axis-yaw axis, wherein the pitch axis may be fixed to the fuselage of the unmanned aerial vehicle, and the roll axis and the yaw axis are free axes. Accordingly, in the gimbal shown in FIG23 , the first drive mechanism 10 may be a yaw axis drive mechanism, the first drive mechanism 10 being connected to the camera 20, the second drive mechanism 13 may be a roll axis drive mechanism, and the third drive mechanism 14 may be a pitch axis drive mechanism.

[0164] Referring to FIG24 , there is shown a schematic structural diagram of another gimbal according to an embodiment of the present application, wherein the first rotation axis may be a yaw axis, the second rotation axis may be a roll axis, and the third rotation axis may be a pitch axis. The three rotation axes are arranged in a series sequence of yaw axis-roll axis-pitch axis, wherein the yaw axis may be fixed to the fuselage of the unmanned aerial vehicle, and the roll axis and the pitch axis are free axes. Accordingly, in the gimbal shown in FIG24 , the first drive mechanism 10 may be a yaw axis drive mechanism, the second drive mechanism 13 may be a roll axis drive mechanism, and the third drive mechanism 14 may be a pitch axis drive mechanism. The third drive mechanism 13 is connected to the camera 20.

[0165] In summary, the gimbal described in the embodiments of the present application can at least include the following advantages:

[0166] The gimbal described in the embodiment of the present application can connect the first drive mechanism and the second drive mechanism in series through the base and the arc-shaped shaft arm, so as to realize the linkage rotation of the gimbal around the first rotation axis and the second rotation axis. The structure is simple, the gimbal volume is small, the cantilever length is short, the modal frequency and static stiffness of the gimbal are large, which is conducive to the precise control of the gimbal and the capture of high-quality images. Moreover, since the side of the arc-shaped shaft arm close to its axis has a first accommodating space, the accommodating space can be used to accommodate a shooting device, the optical axis of the shooting device is not parallel to the axis of the arc-shaped shaft arm, and the arc-shaped shaft arm can rotate around the second rotation axis under the drive of the second drive mechanism, so that the arc-shaped shaft arm and the second drive mechanism can avoid the second rotation axis design, avoiding the second drive mechanism and the arc-shaped shaft arm from blocking the shooting device, which is conducive to increasing the field of view of the shooting device and improving the flexibility and applicability of the gimbal.

[0167] The present application also provides a gimbal camera as shown in FIG1 , which may include: a gimbal as described in any one of the above, wherein the camera is connected to the gimbal. In the present application, the structure of the gimbal may be the same as that of the gimbal described in any of the above embodiments, and will not be described in detail here.

[0168] 25 , a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application is shown. As shown in FIG25 , the unmanned aerial vehicle may specifically include: a body 300 and the above-mentioned gimbal camera 400 , and the gimbal camera 400 is connected to the body 300 .

[0169] Specifically, the body 300 can be the main component of the unmanned aerial vehicle, such as the fuselage, the center body, etc. The structure of the gimbal camera 400 can be the same as the gimbal camera described in any of the aforementioned embodiments, which will not be repeated here.

[0170] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0171] References herein to "one embodiment," "an embodiment," or "one or more embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Furthermore, please note that instances of the phrase "in one embodiment" do not necessarily all refer to the same embodiment.

[0172] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0173] In the claims, any reference signs placed between brackets shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application may be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0174] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A pan / tilt head for connecting a shooting device, characterized in that: The pan / tilt platform comprises: A first driving mechanism, configured to drive the photographing device to rotate around a first rotation axis; a base, the base being connected to the first driving mechanism; a second driving mechanism connected to the base; An arc-shaped shaft arm, wherein the arc-shaped shaft arm has a first accommodating space on one side close to its axis, and the first accommodating space can be used to accommodate a shooting device, the optical axis of the shooting device is arranged non-parallel to the axis of the arc-shaped shaft arm, and the second driving mechanism is connected to the arc-shaped shaft arm, and the second driving mechanism can drive the shooting device to slide relatively along the arc-shaped shaft arm and rotate relative to the second rotation axis.

2. A pan / tilt head for connecting to a photographing device, characterized in that: The pan / tilt platform comprises: A first driving mechanism, configured to drive the photographing device to rotate around a first rotation axis; a base, the base being connected to the first driving mechanism; a second driving mechanism connected to the base; an arc-shaped shaft arm, wherein the arc-shaped shaft arm has a first accommodation space on a side near its axis, the first accommodation space being capable of accommodating a camera device, the optical axis of the camera device being arranged non-parallel to the axis of the arc-shaped shaft arm, and the second driving mechanism being connected to the arc-shaped shaft arm, the second driving mechanism being capable of driving the camera device to slide relative to the arc-shaped shaft arm and rotate relative to the second rotation axis; and a third driving mechanism connected to the arc-shaped shaft arm, wherein the third driving mechanism is arranged close to the first accommodating space and is used to drive the shooting device to rotate around a third rotation axis in the first accommodating space.

3. The pan / tilt head according to claim 1 or 2, characterized in that: The angle between the optical axis of the shooting device and the axis of the arc-shaped shaft arm is adjustable.

4. The pan / tilt head according to claim 3, wherein: The angle between the optical axis of the shooting device and the axis of the arc-shaped shaft arm is between 0 degrees and 180 degrees.

5. The pan / tilt head according to claim 3, wherein: The photographing device is connected to the first driving mechanism, and the first driving mechanism drives the photographing device to rotate around the first rotation axis to adjust the angle between the optical axis of the photographing device and the axis of the arc-shaped shaft arm.

6. The pan / tilt head according to claim 2, wherein: The photographing device is connected to the third driving mechanism, and the third driving mechanism drives the photographing device to rotate around the third rotation axis, so that the angle between the optical axis of the photographing device and the axis of the arc-shaped shaft arm can be adjusted.

7. The pan / tilt head according to claim 1 or 2, characterized in that: An extension direction of the optical axis of the shooting device is perpendicular to an extension direction of the axis of the arc-shaped shaft arm.

8. The pan / tilt head according to claim 7, wherein: The photographing device is connected to the first driving mechanism. During the process of the photographing device sliding along the arc-shaped shaft arm, the photographing device remains facing one side of the axis of the arc-shaped shaft arm.

9. The pan / tilt head according to claim 1 or 2, characterized in that: The second rotation axis substantially coincides with an axis of the arc-shaped shaft arm.

10. The pan / tilt head according to claim 1 or 2, characterized in that: The intersection of the first rotation axis and the second rotation axis is located in the first accommodation space.

11. The pan / tilt head according to claim 2, wherein: An intersection of the first rotation axis, the second rotation axis, and the third rotation axis is located in the first accommodation space.

12. The pan / tilt head according to claim 1 or 2, characterized in that: The first rotation axis is one of a roll axis, a pitch axis, and a yaw axis, and the second rotation axis is the other of the roll axis, the pitch axis, and the yaw axis.

13. The pan / tilt head according to claim 2, wherein: The first rotation axis is one of the roll axis, the pitch axis, and the yaw axis; the second rotation axis is the other of the roll axis, the pitch axis, and the yaw axis; and the third rotation axis is the other of the roll axis, the pitch axis, and the yaw axis.

14. The pan / tilt head according to claim 1, wherein: The first rotation axis and the second rotation axis are substantially perpendicular.

15. The pan / tilt head according to claim 2, wherein: The first rotation axis, the second rotation axis, and the third rotation axis are substantially orthogonal to each other.

16. The pan / tilt head according to claim 1 or 2, characterized in that: The arc-shaped shaft arm is in a circular arc shape or an elliptical arc shape.

17. The pan / tilt head according to claim 1 or 2, characterized in that: The second driving mechanism includes an electromagnetic driving mechanism.

18. The pan / tilt head according to claim 17, wherein: The electromagnetic drive mechanism includes: a coil assembly and a magnetic assembly, one of the coil assembly and the magnetic assembly is connected to the base, and the other of the coil assembly and the magnetic assembly is connected to the arc-shaped shaft arm. The coil assembly and the magnetic assembly are arranged relative to each other and spaced apart. When the coil assembly is energized, it drives the arc-shaped shaft arm and the base to slide relative to each other.

19. The pan / tilt head according to claim 18, wherein: The coil assembly includes: an iron core and a coil wound around the iron core; the magnetic assembly includes a first retaining frame and a magnetic member connected to the first retaining frame.

20. The pan / tilt platform according to claim 19, wherein: The electromagnetic drive mechanism further comprises: a positioning pin and a positioning sleeve, the iron core is sleeved outside the positioning pin, and the positioning sleeve is sleeved outside the iron core.

21. The pan / tilt platform according to claim 18, wherein: The electromagnetic driving mechanism further includes a yoke, and the magnetic component is bonded to the yoke.

22. The pan / tilt head according to claim 1 or 2, characterized in that: The second driving mechanism includes: a motor and a transmission member connected to the motor, the motor is fixed on the base, the transmission member is connected to the arc-shaped shaft arm, and the motor drives the transmission member to drive the arc-shaped shaft arm to rotate.

23. The pan / tilt platform according to claim 22, wherein: The transmission member includes a first transmission rope and a second transmission rope; One end of the first transmission rope is connected to the motor, and the other end of the first transmission rope is connected to the arc-shaped shaft arm. Under the drive of the motor, the first transmission rope drives the arc-shaped shaft arm to rotate along the first direction; One end of the second transmission rope is connected to the motor, and the other end of the second transmission rope is connected to the arc-shaped shaft arm. Under the drive of the motor, the second transmission rope drives the arc-shaped shaft arm to rotate along the second direction; The second direction is opposite to the first direction.

24. The pan / tilt platform according to claim 23, wherein: The first transmission rope is at least partially wound around the outside of the motor along the second direction, and the second transmission rope is at least partially wound around the outside of the motor along the first direction; Along the axial direction of the motor, the orthographic projections of the first transmission rope and the second transmission rope are staggered between the motor and the arc-shaped shaft arm.

25. The pan / tilt platform according to claim 23, wherein: Along the axial direction of the motor, there is a gap between the first transmission rope and the second transmission rope.

26. The pan / tilt platform according to claim 23, wherein: The first transmission rope and the second transmission rope include at least one of a steel wire, a steel belt and a nylon rope.

27. The pan / tilt platform according to claim 22, wherein: The radius of the arc-shaped shaft arm is greater than the radius of the motor; Alternatively, the radius of the arc-shaped shaft arm is smaller than the radius of the motor.

28. The pan / tilt head according to claim 1 or 2, characterized in that: The arc-shaped shaft arm is provided through the base, and the second driving mechanism can drive the arc-shaped shaft arm or the base to rotate around the second rotation axis.

29. The pan / tilt platform according to claim 28, wherein: The pan / tilt head further includes a rolling assembly connected between the arc-shaped shaft arm and the base so that the arc-shaped shaft arm can slide relative to the base.

30. The pan / tilt platform according to claim 29, wherein: The rolling assembly includes a central axis and a roller that can rotate around the central axis. The central axis is fixed on the base, and the roller is connected to the arc-shaped shaft arm.

31. The pan / tilt platform according to claim 30, wherein: The rollers include a first roller and a second roller arranged along the axial direction of the central axis. The first roller and the second roller are connected, and both the first roller and the second roller are sleeved outside the central axis and can rotate around the central axis.

32. The pan / tilt platform according to claim 31, wherein: The second roller at least partially extends into the first roller along the axial direction of the central shaft and is interference-fitted with the first roller.

33. The pan / tilt platform according to claim 31, wherein: The rolling assembly further comprises: a first bearing and a second bearing; wherein, The first bearing is located at an end of the first roller away from the second roller, the outer ring of the first bearing is connected to the first roller, and the inner ring of the first bearing is connected to the central shaft; The second bearing is located at an end of the second roller away from the first roller. The outer ring of the second bearing is connected to the second roller, and the inner ring of the second bearing is connected to the central shaft.

34. The pan / tilt platform according to claim 33, wherein: The rolling assembly also includes: a first gasket, which is connected between the second bearing and the base, and the outer diameter of the first gasket is larger than the inner ring of the second bearing and smaller than the outer ring of the second bearing to form a gap between the outer ring of the second bearing and the base.

35. The pan / tilt platform according to claim 33, wherein: The rolling assembly further includes a pre-tightening nut, which is located on a side of the first bearing away from the second bearing and is sleeved outside the central shaft to clamp the first bearing, the first roller, the second roller and the second bearing on the base.

36. The pan / tilt platform according to claim 31, wherein: The first roller is provided with a first inclined surface protruding toward the arc-shaped shaft arm, and the arc-shaped shaft arm is provided with a second inclined surface corresponding to the first inclined surface, and the first inclined surface abuts against the second inclined surface; The second roller is provided with a third inclined surface protruding toward the arc-shaped shaft arm, and the arc-shaped shaft arm is provided with a fourth inclined surface corresponding to the third inclined surface, and the third inclined surface abuts against the fourth inclined surface.

37. The pan / tilt platform according to claim 29, wherein: The rolling assembly includes: a second retainer and balls, the second retainer is arranged between the outer side of the arc-shaped shaft arm and the base, the balls are embedded in the second retainer and are rollingly connected to the arc-shaped shaft arm and the base respectively.

38. The pan / tilt platform according to claim 37, wherein: The balls include: a first ball and a second ball, the first ball is embedded in the upper vertex corner of the second retaining frame, and the second ball is embedded in the lower vertex corner of the first retaining frame.

39. The pan / tilt platform according to claim 37, wherein: The second retaining frame is provided with a plurality of ball mounting holes arranged at intervals, and one ball is embedded in one of the ball mounting holes.

40. The pan / tilt platform according to claim 37, wherein: The base is provided with a wedge-shaped rolling groove at a position corresponding to the ball, and the arc-shaped shaft arm is provided with a step-shaped rolling groove at a position corresponding to the ball. The step-shaped rolling groove has two groove walls connected to each other, and the ball abuts against the groove walls of the wedge-shaped rolling groove and the step-shaped rolling groove respectively.

41. The pan / tilt platform according to claim 28, wherein: The pan / tilt head further includes a pre-tightening assembly, which is respectively connected to the arc-shaped shaft arm and the base to provide a pre-tightening force to the arc-shaped shaft arm relative to the base.

42. The pan / tilt platform according to claim 41, wherein: The base is provided with a receiving portion, and the pre-tightening assembly is passed through the receiving portion; After the pre-tightening assembly moves to a target position in the receiving portion, the pre-tightening assembly can be fixed in the receiving portion to provide a pre-tightening force and compensate for machining and assembly errors.

43. The pan / tilt platform according to claim 42, wherein: The length extension direction of the receiving portion is the radial direction of the arc-shaped shaft arm.

44. The pan / tilt platform according to claim 42, wherein: The pre-tightening assembly includes: a pre-tightening pin and a third bearing and a fourth bearing sleeved outside the pre-tightening pin, the outer rings of the third bearing and the fourth bearing are respectively connected to the arc-shaped shaft arm, and the inner rings of the third bearing and the fourth bearing are connected to the pre-tightening pin; the pre-tightening pin is passed through the receiving portion and fixed in the receiving portion.

45. The pan / tilt platform according to claim 44, wherein: The pre-tightening pin is bonded in the receiving portion.

46. ​​The pan / tilt platform according to claim 44, wherein: Both ends of the pre-tightening pin are at least partially exposed outside the receiving portion.

47. The pan / tilt platform according to claim 44, wherein: The pre-tightening assembly further includes a pre-tightening limiting sleeve, which is sleeved on the outside of the pre-tightening pin and abuts between the third bearing and the fourth bearing.

48. The pan / tilt platform according to claim 44, wherein: The pre-tightening assembly further includes: a second gasket and a third gasket; wherein, The second gasket is connected between the third bearing and the base, and the outer diameter of the second gasket is larger than the inner ring of the third bearing and smaller than the outer ring of the third bearing, so as to form a gap between the outer ring of the third bearing and the base; The third gasket is connected between the fourth bearing and the base. The outer diameter of the third gasket is larger than the inner ring of the fourth bearing and smaller than the outer ring of the fourth bearing, so as to form a gap between the outer ring of the fourth bearing and the base.

49. The pan / tilt platform according to claim 41, wherein: There are two pre-tightening components, and the two pre-tightening components are arranged at intervals.

50. The pan / tilt platform according to claim 49, wherein: The two pre-tightening components are parallel or non-parallel.

51. The pan / tilt platform according to claim 41, wherein: The base is provided with a receiving portion, and the pre-tightening assembly is passed through the receiving portion and moves in the receiving portion to adjust the pre-tightening force.

52. The pan / tilt platform according to claim 51, wherein: The pre-tightening assembly includes: a bearing bracket, a cover plate, a pre-tightening member and a pushing member; wherein, The bearing bracket and the cover plate are buckled and connected, and a second accommodating space for accommodating the preload member and the push member is formed therebetween. The bearing bracket is close to the arc-shaped shaft arm and is rollingly connected to the arc-shaped shaft arm. The pre-tightening member and the pushing member are both disposed in the second accommodating space. The pre-tightening member is connected to the pushing member. The pre-tightening member can drive the pushing member to move toward the arc-shaped shaft arm to provide a pre-tightening force to the arc-shaped shaft arm.

53. The pan / tilt platform according to claim 52, wherein: The pre-tightening assembly further includes a rolling mechanism, which is arranged on a side of the bearing bracket close to the arc-shaped shaft arm to connect the bearing bracket to the arc-shaped shaft arm in a rolling manner.

54. The pan / tilt platform according to claim 53, wherein: The rolling mechanism includes: a first pin, a second pin, a fifth bearing and a sixth bearing; wherein, The first pin is connected to the bearing bracket, the inner ring of the fifth bearing is connected to the first pin, and the outer ring of the fifth bearing is connected to the arc-shaped shaft arm; The second pin is connected to the bearing bracket, the inner ring of the sixth bearing is connected to the second pin, and the outer ring of the sixth bearing is connected to the arc-shaped shaft arm.

55. The pan / tilt platform according to claim 52, wherein: The pre-tightening member is a pre-tightening screw, and the pushing member includes a first pushing member and a second pushing member; wherein, The first pushing member and the second pushing member are fitted with the bearing bracket on one side close to the bearing bracket via an inclined surface; The pre-tightening screw is threadably engaged with the first pushing member and the second pushing member respectively. The rotation of the pre-tightening screw can drive the first pushing member and the second pushing member to move along the axial direction of the pre-tightening screw. The movement of the first pushing member and the second pushing member along the axial direction of the pre-tightening screw can push the bearing bracket toward or away from the arc-shaped shaft arm.

56. The pan / tilt platform according to claim 55, wherein: The pre-tightening assembly further comprises: a guide sleeve and an elastic member; wherein, One end of the guide sleeve is connected to the second pusher, and the other end of the guide sleeve is provided with a receiving groove, and the elastic member is connected to the bottom of the receiving groove; The pre-tightening screw is inserted into the receiving groove and abuts against the elastic member.

57. The pan / tilt platform according to claim 55, wherein: The pre-tightening assembly further comprises: a first arc slider and a second arc slider; wherein, The first arc sliding block is connected to the cover plate and is matched with the first pusher in an arc shape. The second arc sliding block is connected to the cover plate and is matched with the second pusher in an arc shape.

58. The pan / tilt platform according to claim 57, wherein: The first arc slider is provided with a first friction plate extending toward the second arc slider, and the first friction plate at least partially extends between the second arc slider and the cover plate; The second arc slider is provided with a second friction plate extending toward the first arc slider, and the second friction plate at least partially extends between the first arc slider and the cover plate.

59. The pan / tilt platform according to claim 51, wherein: The pre-tightening assembly includes: a first coil assembly and a first magnetic assembly; wherein, The first coil assembly is fixed to the base, the first magnetic assembly is fixed to the arc-shaped shaft arm, the first magnetic assembly and the first coil assembly are arranged relative to each other, and the first coil assembly can drive the arc-shaped shaft arm to rotate relative to each other when powered to provide pre-tightening force.

60. The pan / tilt platform according to claim 59, wherein: The preload assembly further includes: a load-bearing pin and a load-bearing bearing; wherein, The first coil assembly is fixed to the base via the bearing pin; The load-bearing bearing is sleeved on the outside of the load-bearing pin, and the outer ring of the load-bearing bearing is connected to the arc-shaped shaft arm to support the arc-shaped shaft arm to rotate relative to the load-bearing pin.

61. The pan / tilt platform according to claim 59, wherein: The preload assembly further comprises: a fixed pin, a fixed bearing, a floating pin, a floating bearing and a second elastic member; wherein; The fixing pin is connected to the base, and the fixing bearing is sleeved outside the fixing pin; The second elastic member is connected to the base, the floating pin is connected to the second elastic member, and the floating bearing is sleeved on the outside of the floating pin. Under the elastic action of the second elastic member, the floating pin can drive the floating bearing to slide in the receiving portion and be pressed against the arc-shaped shaft arm by the second elastic member.

62. The pan / tilt platform according to claim 61, wherein: The pre-tightening assembly further includes a fixed pressing plate, which is respectively connected to the fixing pin and the base to fix the fixing pin to the base.

63. The pan / tilt platform according to claim 59, wherein: The pre-tightening assembly further includes a first yoke, which is bonded to the inner side of the arc-shaped shaft arm.

64. The pan / tilt platform according to claim 29, wherein: The pan / tilt head further includes a pre-tightening assembly, which is respectively connected to the arc-shaped shaft arm and the base to provide a pre-tightening force to the arc-shaped shaft arm relative to the base.

65. The pan / tilt platform according to claim 64, wherein: An escape space is provided in the base, the arc-shaped shaft arm passes through the escape space and can rotate around the second rotation axis in the escape space, and the rolling assembly and the pre-tightening assembly are at least partially located in the escape space.

66. The pan / tilt platform according to claim 64, wherein: The arc-shaped shaft arm includes a first side close to its axis and a second side away from its axis. The roller assembly is connected between the base and the first side, and the pre-tightening assembly is connected between the base and the second side.

67. The pan / tilt platform according to claims 1 and 2, characterized in that The pan-tilt head further includes a position detection component, which is connected to the arc-shaped shaft arm to detect the rotational position of the arc-shaped shaft arm relative to the base.

68. The pan / tilt platform according to claim 67, wherein: The position detection component includes a Hall component, and the Hall component includes a magnetic component and a Hall sensor. The magnetic component is arranged on the arc-shaped shaft arm, and the Hall sensor is connected to the base.

69. The pan / tilt platform according to claim 68, wherein: The magnetic component includes a plurality of auxiliary magnets that are sequentially spaced and distributed along the circumference of the arc-shaped shaft arm.

70. The pan / tilt platform according to claim 69, wherein: The Hall assembly further includes a magnet cover plate, and the magnet cover plate covers the auxiliary magnet.

71. The pan / tilt platform according to claim 67, wherein: The position detection component includes at least one of a grating, a capacitive grating, and a magnetic grating.

72. The pan / tilt platform according to claim 67, wherein: The position detection component also includes an origin position detection sensor.

73. The pan / tilt platform according to claim 1 or 2, characterized in that: The pan / tilt platform further includes a connecting member, and the first driving mechanism is connected to the connecting member.

74. The pan / tilt platform according to claim 73, wherein: The pan / tilt head further includes a shock absorbing assembly, which is located between the connecting member and the first driving mechanism.

75. The pan / tilt platform according to claim 74, wherein: The shock-absorbing assembly includes a shock-absorbing bracket and a shock-absorbing ball. The first driving mechanism is connected to the shock-absorbing bracket, and the shock-absorbing bracket is connected to the connecting member through the shock-absorbing ball.

76. The pan / tilt platform according to claim 74, wherein: The first driving mechanism includes a first motor, the first motor includes a first rotor part and a first stator part, the first stator part is connected to the shock-absorbing bracket, and the first rotor part is connected to the base.

77. The pan / tilt platform according to claim 2, wherein: Extension arms are further provided at both ends of the arc-shaped shaft arm, and the third driving mechanism is mounted on the extension arms for easy installation and positioning.

78. The pan / tilt platform according to claim 77, wherein: The extension arm is a planar structure.

79. The pan / tilt platform according to claim 77, wherein: The extension arm is connected to the arc-shaped shaft arm through a fastener, and the third driving mechanism is connected to the extension arm through a fastener.

80. The pan / tilt platform according to claim 1 or 2, characterized in that: The gimbal also includes a control line, one end of which is electrically connected to the control board, and the other end is sequentially passed through the first drive mechanism, the base and the arc-shaped axis arm and is electrically connected to the shooting device. The control line extends and retracts as the arc-shaped axis arm rotates.

81. The pan / tilt platform according to claim 80, wherein: The arc-shaped shaft arm is provided with a through hole for the control line to pass through, the through hole is sleeved with a wire loop, and the control line is passed through the wire loop to reduce friction between the control line and the arc-shaped shaft arm.

82. The pan / tilt platform according to claim 81, wherein: The material of the wire loop includes at least one of polyoxymethylene, polytetrafluoroethylene, and polyetheretherketone.

83. The pan / tilt platform according to claims 1 and 2, characterized in that The pan / tilt head further includes a sealing structure, which is used to seal the arc-shaped axis arm.

84. The pan / tilt platform according to claim 83, wherein: The sealing structure includes at least one of a labyrinth seal, a felt seal, a sealing ring seal, and a pressure differential seal.

85. The pan / tilt platform according to claim 1 or 2, wherein: The second rotation axis substantially coincides with an axis of the arc-shaped shaft arm.

86. A pan-tilt camera, characterized in that The gimbal camera includes: a camera and the gimbal according to any one of claims 1 to 85, and the camera is connected to the gimbal.

87. An unmanned aerial vehicle, characterized in that: The unmanned aerial vehicle includes a body and the gimbal camera described in claim 86, and the gimbal camera is connected to the body.

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