Holder assembly and aircraft

Abstract

The invention provides a holder assembly and an aircraft, and relates to the technical field of holders. The holder assembly comprises a first connecting arm and a first driver, one end of the first connecting arm is connected with the first driver, the first driver is used for driving the first connecting arm to rotate around a preset rotating center line, and the included angle between the length direction of the first connecting arm and the axial direction of the preset rotating center line facing the other end of the first connecting arm is an acute angle. The other end of the first connecting arm can be located at the lowermost part, the uppermost part and the position between the lowermost part and the uppermost part of a preset rotating center line in the height direction of the holder assembly; through rotation of the first connecting arm, the purpose of folding and unfolding the holder assembly is achieved.

Description

[0001] Cross-reference

[0002] This disclosure claims priority to Chinese Patent Application No. 202520653658.6, filed on April 8, 2025, the entire disclosure of which is hereby incorporated by reference in its entirety as part of this disclosure. Technical Field

[0003] This disclosure relates to the technical field of gimbals, and more particularly, to a gimbal assembly and an aircraft. Background Art

[0004] Most of the gimbals connected to existing aircraft are non-retractable gimbals, and the positions of the gimbals are mostly placed outside the aircraft, seriously affecting the aerodynamic performance of the aircraft.

[0005] However, in order to achieve the retractable function of the gimbal for some aircraft, a lifting mechanism is added, and the retraction is achieved by the movement of a lead screw or a chain. However, its structure is complex, the cost is high, and the weight increases significantly, which has a great impact on the endurance of the aircraft.

[0006] It should be noted that the information disclosed in the above background art section is only used to enhance the understanding of the background of this disclosure, and thus may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0007] The purpose of this disclosure is to provide a gimbal assembly and an aircraft, which achieve the purpose of retracting and extending the gimbal assembly.

[0008] According to one aspect of this disclosure, a gimbal assembly is provided, which includes: a first connecting arm and a first driver;

[0009] One end of the first connecting arm is connected to the first driver. The first driver is used to drive the first connecting arm to rotate around a preset rotation center line, and the included angle between the length direction of the first connecting arm and the axial direction of the preset rotation center line is an acute angle towards the other end of the first connecting arm, so that the other end of the first connecting arm can be located at the lowest and highest positions and positions between the lowest and highest positions of the preset rotation center line in the height direction of the gimbal assembly.

[0010] In an exemplary embodiment of this disclosure, the gimbal assembly further includes:

[0011] A camera assembly and a second driver. The camera assembly is connected to the other end of the first connecting arm through the second driver, and the second driver is used to drive the camera assembly to rotate.

[0012] In an exemplary embodiment of the present disclosure, the pan-tilt assembly further includes:

[0013] A housing, when the other end of the first connecting arm is at the lowermost position, at least a part of the imaging assembly is located outside the housing; when the other end of the first connecting arm is at the uppermost position, the imaging assembly is located inside the housing.

[0014] In an exemplary embodiment of the present disclosure, when the other end of the first connecting arm is at the lowermost position, in the axial direction, the other end of the first connecting arm extends toward the side away from the first driver; in the height direction, the other end of the first connecting arm extends toward the lowermost position; in the width direction of the pan-tilt assembly, the first main body portion of the first connecting arm is on the same side as the first driver and the imaging assembly.

[0015] In an exemplary embodiment of the present disclosure, a first limiting structure is provided on the first connecting arm and the imaging assembly, and the first limiting structure is configured to limit the rotation angle of the imaging assembly relative to the first connecting arm.

[0016] In an exemplary embodiment of the present disclosure, the first limiting structure includes a first limiting protrusion provided on one of the first connecting arm and the imaging assembly, a first positioning protrusion and a second positioning protrusion provided on the other; when the imaging assembly rotates forward relative to the first connecting arm to the maximum angle, the first positioning protrusion abuts against the first limiting protrusion; when the imaging assembly rotates backward relative to the first connecting arm to the maximum angle, the second positioning protrusion abuts against the first limiting protrusion.

[0017] In an exemplary embodiment of the present disclosure, the first connecting arm further includes a first mounting portion, the first mounting portion is connected to the rotor of the first driver, and the first main body portion is connected to the first mounting portion;

[0018] The pan-tilt assembly further includes: a counterweight, the counterweight is connected to the first mounting portion; when the first connecting arm is at the lowermost position, in the axial direction, the first connecting arm and the counterweight are on the same side of the first mounting portion; in the height direction, the first connecting arm and the counterweight extend in opposite directions; in the width direction, the first main body portion and the counterweight are connected to both sides of the first mounting portion.

[0019] In an exemplary embodiment of the present disclosure, the counterweight includes a first counterweight portion and a second counterweight portion, one end of the first counterweight portion is connected to the first mounting portion, and the other end is connected to one end of the second counterweight portion;

[0020] When the first connecting arm is at the lowermost position, in the axial direction, the other end of the first counterweight portion extends toward the side away from the first driver; in the height direction, the other end of the first counterweight portion extends toward the side away from the imaging assembly; in the width direction, the first counterweight portion and the first main body portion are located on both sides of the first mounting portion, and the other end of the second counterweight portion extends toward the side of the first main body portion.

[0021] In an exemplary embodiment of the present disclosure, the gimbal assembly further includes:

[0022] A second connecting arm and a third driver, one end of the second connecting arm is connected to the third driver, and the other end is connected to the stator of the first driver; the third driver is configured to drive the second connecting arm to rotate about the height direction.

[0023] In an exemplary embodiment of the present disclosure, a second limiting structure is provided on the first connecting arm and the second connecting arm, and the second limiting structure is configured to limit the rotation angle of the first connecting arm relative to the second connecting arm.

[0024] In an exemplary embodiment of the present disclosure, the second limiting structure includes a second limiting protrusion provided on one of the first connecting arm and the second connecting arm, a third positioning protrusion and a fourth positioning protrusion provided on the other; when the first connecting arm rotates forward relative to the second connecting arm to the maximum angle, the third positioning protrusion abuts against the second limiting protrusion; when the first connecting arm rotates backward relative to the second connecting arm to the maximum angle, the fourth positioning protrusion abuts against the second limiting protrusion.

[0025] In an exemplary embodiment of the present disclosure, the second limiting structure includes a second limiting protrusion provided on the second connecting arm and a third positioning protrusion provided on the first connecting arm; when the first connecting arm rotates forward relative to the second connecting arm to the maximum angle, the body of the first connecting arm abuts against the second limiting protrusion; when the first connecting arm rotates backward relative to the second connecting arm to the maximum angle, the third positioning protrusion abuts against the second limiting protrusion.

[0026] In an exemplary embodiment of the present disclosure, the gimbal assembly further includes:

[0027] A fixing member, one side of the fixing member is connected to the stator of the third driver, and the other side is configured to be connected to the fuselage of the aircraft.

[0028] In an exemplary embodiment of the present disclosure, a third limiting structure is provided on the second connecting arm and the fixing member, and the third limiting structure is configured to limit the rotation angle of the second connecting arm relative to the fixing member.

[0029] In an exemplary embodiment of the present disclosure, the third limiting structure includes a third limiting protrusion provided on one of the second connecting arm and the fixing member, a fifth positioning protrusion and a sixth positioning protrusion provided on the other; when the second connecting arm rotates forward relative to the fixing member to the maximum angle, the fifth positioning protrusion abuts against the third limiting protrusion; when the second connecting arm rotates backward relative to the fixing member to the maximum angle, the sixth positioning protrusion abuts against the third limiting protrusion.

[0030] In an exemplary embodiment of the present disclosure, the height difference between the other end of the first connecting arm at the lowest position and the highest position is 25 mm to 33 mm.

[0031] In an exemplary embodiment of the present disclosure, the output shaft of the first driver is parallel or coincident with the preset rotation center line.

[0032] According to another aspect of the present disclosure, there is provided an aircraft, which includes:

[0033] A fuselage;

[0034] The pan-tilt assembly according to any of the above embodiments, and the pan-tilt assembly is connected to the fuselage.

[0035] In the pan-tilt assembly provided by the present disclosure, under the drive of the first driver, the other end of the first connecting arm away from the first driver can be at the lowest position, the highest position, and positions between the lowest and highest positions of the preset rotation center line in the height direction of the pan-tilt assembly. That is to say, the imaging component connected to the other end of the first connecting arm can move at the lowest position, the highest position, and positions between the lowest and highest positions of the preset rotation center line. The retraction and extension of the imaging component can be realized by the rotation of the first connecting arm. The structure for realizing the retraction and extension of the imaging component is simple, small in size, light in weight, simple in installation and manufacturing, and the influence on the endurance of the aircraft is avoided while realizing the retraction and extension function.

[0036] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings herein are incorporated into and constitute a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure. Obviously, the accompanying drawings in the following description are only some embodiments of the present disclosure, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0038] Figure 1 Schematic diagram of a pan-tilt assembly provided for an embodiment of the present disclosure.

[0039] Figure 2 Exploded view of a pan-tilt assembly provided for an embodiment of the present disclosure.

[0040] Figure 3 Schematic diagram of the pan-tilt assembly provided for an embodiment of the present disclosure at the lowest position.

[0041] Figure 4 Schematic diagram of the pan-tilt assembly provided for an embodiment of the present disclosure at the highest position.

[0042] Figure 5 Schematic diagram of another perspective of the pan-tilt assembly provided for an embodiment of the present disclosure.

[0043] Figure 6 Schematic diagram of the rotation angle of the pan-tilt assembly provided for an embodiment of the present disclosure.

[0044] Explanation of reference numerals:

[0045] 11. First connecting arm; 111. First main body part; 112. First mounting part; 113. Second mounting part; 114. First limiting protrusion; 115. Third positioning protrusion; 116. Fourth positioning protrusion;

[0046] 12. Second connecting arm; 121. Second main body part; 122. Third mounting part; 123. Fourth mounting part; 124. Second limiting protrusion; 125. Third limiting protrusion;

[0047] 21. First driver; 22. Second driver; 23. Third driver;

[0048] 30. Camera assembly; 310. First positioning protrusion; 320. Second positioning protrusion;

[0049] 40. Counterweight; 410. First counterweight part; 420. Second counterweight part;

[0050] 50. Fixing part; 510. Fifth positioning protrusion; 520. Sixth positioning protrusion;

[0051] X. Width direction; Y. Axial direction; Z. Height direction. Detailed implementation mode

[0052] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. Like reference numerals in the figures denote like or similar structures, and thus their detailed description will be omitted.

[0053] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another component, these terms are used in this specification only for convenience, for example, according to the orientation of the example described in the accompanying drawings. It can be understood that if the device of the icon is flipped so that it is upside down, the component described as "upper" will become the component "lower". When a structure is "on" another structure, it may mean that a structure is integrally formed on another structure, or that a structure is "directly" disposed on another structure, or that a structure is "indirectly" disposed on another structure through another structure.

[0054] The terms "a", "an", "the", "said" and "at least one" are used to indicate the existence of one or more elements / components / etc.; the terms "comprising" and "having" are used to mean an open inclusion and mean that there may be additional elements / components / etc. in addition to the listed elements / components / etc.; the terms "first", "second", "third", etc. are used only as labels and are not a limitation on the quantity of their objects.

[0055] The embodiments of the present disclosure first provide a pan-tilt assembly, as Figures 1 to 4 shown, the pan-tilt assembly includes: a first connecting arm 11 and a first driver 21. One end of the first connecting arm 11 is connected to the first driver 21. The first driver 21 is configured to drive the first connecting arm 11 to rotate around a preset rotation center line, and the included angle A between the length direction of the first connecting arm 11 and the axial direction Y of the preset rotation center line is an acute angle toward the other end of the first connecting arm 11, so that the other end of the first connecting arm 11 can be at the lowest position, the highest position, and positions between the lowest and highest positions of the preset rotation center line in the height direction Z of the pan-tilt assembly.

[0056] In the pan-tilt assembly provided by the present disclosure, under the drive of the first driver 21, the other end of the first connecting arm 11 away from the first driver 21 can be at the lowest position as Figure 3 shown and the highest position as Figure 4The uppermost position shown, as well as the positions between the lowermost and the uppermost. That is to say, the camera assembly 30 connected to the other end of the first connecting arm 11 can move at the lowermost, uppermost positions and the positions between the lowermost and the uppermost of the preset rotation center line. By rotating the first connecting arm 11, the retraction and extension of the camera assembly 30 can be realized. The structure for realizing the retraction and extension of the camera assembly 30 is simple, small in volume, light in weight, simple in installation and manufacture, and while realizing the retraction and extension function, it avoids affecting the endurance of the aircraft.

[0057] It should be noted that the length direction of the first connecting arm 11 is the extended direction between the two ends of the connecting arm. When the first connecting arm 11 is a linear structure, the extended direction of the linear structure is the length direction; when the second connecting arm 12 is a non-linear structure, the overall extended direction of the non-linear structure is the length direction. The height direction Z of the gimbal assembly is the direction perpendicular to the horizontal plane when the gimbal assembly is connected to the fuselage of the aircraft and the fuselage is in a horizontal state. This height direction Z can also be understood as the direction parallel to the gravity direction when the fuselage is in a horizontal state. Among them, at the lowermost and uppermost positions of the preset rotation center line, that is, when the first connecting arm 11 rotates to the uppermost position during rotation, at least part of the first connecting arm 11 is located above the preset rotation center line; when the first connecting arm 11 rotates to the lowermost position during rotation, at least part of the first connecting arm 11 is located below the preset rotation center line.

[0058] In one embodiment, as Figures 1 to 4 shown, the gimbal assembly further includes: a camera assembly 30 and a second driver 22. The camera assembly 30 is connected to the other end of the first connecting arm 11 through the second driver 22, and the second driver 22 is used to drive the camera assembly 30 to rotate. Through the first driver 21 and the second driver 22, the two-axis adjustment of the camera assembly 30 can be realized.

[0059] Among them, the stator of the second driver 22 is connected to the other end of the first connecting arm 11, and the rotor of the second driver 22 is connected to the second connecting arm 12. When the first connecting arm 11 rotates under the drive of the first driver 21, the first connecting arm 11 drives the second driver 22 to rotate, and then drives the camera assembly 30 to rotate through the second driver 22; when the first connecting arm 11 is at the lowermost position, it drives the camera assembly 30 to be in the lowered position; when the second connecting arm 12 is at the uppermost position, it drives the camera assembly 30 to be in the raised position.

[0060] Among them, when the second driver 22 drives the camera assembly 30 to rotate, the rotation center line of the camera assembly 30 can be perpendicular to the axial direction Y and the height direction Z, so as to be able to adjust the pitch angle relative to the fuselage of the aircraft.

[0061] The camera assembly 30 includes a camera for taking photos and / or recording videos. The rotor of the second driver 22 can be directly connected to the housing of the camera, or the camera assembly 30 includes a housing, the camera is fixed to the housing of the camera assembly 30, and the rotor of the second driver 22 can be directly connected to the housing of the camera assembly 30 to drive the camera to rotate. The camera assembly 30 and the rotor of the second driver 22 can be directly connected or connected by a connecting member (such as a coupling). In addition, the camera assembly 30 can include multiple cameras, and the multiple cameras can perform different camera operations.

[0062] In one embodiment, if Figures 1 to 4 As shown, the gimbal assembly also includes: a second connecting arm 12 and a third driver 23, one end of the second connecting arm 12 is connected to the third driver 23, and the other end is connected to the stator of the first driver 21; the third driver 23 is used to drive the second connecting arm 12 to rotate around the height direction Z. Through the first driver 21, the second driver 22 and the third driver 23, the three-axis adjustment of the camera assembly 30 can be achieved, so that the camera assembly 30 can achieve the best shooting angle for camera operation. Specifically, when the second connecting arm 12 is driven to rotate by the third driver 23, the second connecting arm 12 can drive the first connecting arm 11 and the camera assembly 30 to rotate synchronously, that is, drive the entire gimbal assembly except the third driver 23 to rotate left and right, so that the aircraft can be observed by the camera during flight.

[0063] In one embodiment, if Figure 2 As shown, the first connecting arm 11 includes a first main body 111, a first mounting portion 112 and a second mounting portion 113, and the second connecting arm 12 includes a second main body 121, a third mounting portion 122 and a fourth mounting portion 123. The length direction of the first connecting arm 11 can be the direction in which the first main body 111 extends, and the first main body 111, the first mounting portion 112 and the second mounting portion 113 can be an integrally formed structure, or connected together by bonding, clamping, threading, etc. The first mounting portion 112 is connected to the rotor of the first driver 21, and the second mounting portion 113 is connected to the stator of the second driver 22; the extension direction of the second main body 121 can be parallel to the height direction Z, the third mounting portion 122 is connected to the rotor of the second driver 22, and the fourth mounting portion 123 is connected to the stator of the first driver 21. It should be noted that since the rotation of the driver is in a relative rotation relationship with the stator, the above-mentioned setting positions of the stator and rotor of the driver can be exchanged to achieve the same driving effect.

[0064] Among them, the first installation part 112 and the fourth installation part 123 cooperate to form an installation space for the first driver 21, realizing the hidden assembly of the first driver 21, which can improve the service life of the first driver 21; the output shaft of the first driver 21 is parallel or coincident with the preset rotation center line, which can reduce the distance between the first connecting arm 11 and the second connecting arm 12, improve the structural compactness of the pan-tilt assembly, and reduce the volume of the pan-tilt assembly. Among them, when the first driver 21 is a drive motor, the first installation part 112 and the fourth installation part 123 are in a cylindrical structure matching the shape of the drive motor.

[0065] Among them, the second installation part 113 forms an installation space for the second driver 22, realizing the hidden assembly of the second driver 22, which can improve the service life of the second driver 22; the output shaft of the second driver 22 is parallel or coincident with the rotation center line of the camera assembly 30, which can reduce the distance between the camera assembly 30 and the first connecting arm 11, thereby improving the structural compactness of the pan-tilt assembly and reducing the volume of the pan-tilt assembly. Among them, when the second driver 22 is a drive motor, the second installation part 113 is in a cylindrical structure matching the shape of the drive motor.

[0066] Among them, the third installation part 122 forms an installation space for the third driver 23, realizing the hidden assembly of the third driver 23, which can improve the service life of the third driver 23; the output shaft of the third driver 23 is parallel or coincident with the rotation center line of the second connecting arm 12, which can reduce the distance between the second connecting arm 12 and the fuselage, thereby improving the structural compactness of the pan-tilt assembly and reducing the volume of the pan-tilt assembly. Among them, when the third driver 23 is a drive motor, the third installation part 122 can be in a cylindrical structure matching the shape of the drive motor.

[0067] As Figures 1 to 3 shown, when the other end of the first connecting arm 11 is at the lowest position, in the axial direction Y of the preset rotation center line, the other end of the first connecting arm 11 extends toward the side away from the first driver 21; in the height direction Z, the other end of the first connecting arm 11 extends toward the lowest position; in the width direction X of the pan-tilt assembly, the first main body part 111 of the first connecting arm 11 is located on the same side of the first driver 21 and the camera assembly 30, improving the structural compactness of the pan-tilt assembly and reducing the volume of the pan-tilt assembly.

[0068] Among them, the second body part of the first connecting arm 11 is located on the side of the third installation part 122 away from the camera assembly 30 in the axial direction Y, so as to form an installation space below the third installation part 122 to facilitate the installation of the first driver 21, improve the structural compactness of the pan-tilt assembly, and reduce the volume of the pan-tilt assembly.

[0069] In one embodiment, as Figures 1 to 4As shown in the figure, the pan-tilt assembly may further include: a fixing member 50. One side of the fixing member 50 is connected to the stator of the third driver 23, and the other side is configured to be connected to the fuselage of the aircraft. Connecting the pan-tilt assembly to the fuselage of the aircraft through the fixing member 50 is conducive to the modular setting of the fuselage and the pan-tilt assembly, facilitating the connection of different fuselages and pan-tilt assemblies; at the same time, it can improve the connection strength and stability between the pan-tilt assembly and the fuselage, thereby improving the shooting effect of the imaging assembly 30.

[0070] Among them, the fixing member 50 may be in a plate-like structure and is fixedly connected to the fuselage through threaded members. The fixing member 50 may be provided with an installation portion for cooperating with the third installation portion 122 to install the third driver 23, so as to form the positioning and assembly of the multiple third drivers 23 and improve the assembly accuracy. In addition, through holes may be formed on the fixing plate for the lines connecting the first driver 21, the second driver 22, the third driver 23, and the camera to pass through. Each line may be correspondingly arranged in the hollow first connecting arm 11 and the second connecting arm 12 to achieve hidden assembly.

[0071] It can be understood that the second connecting arm 12 may be directly connected to the fuselage of the aircraft through the third driver 23, that is, the stator of the third driver 23 is fixedly connected to the fuselage, and the rotor of the third driver 23 is connected to the second connecting arm 12 to drive the second connecting arm 12 to rotate relative to the fuselage. When the pan-tilt assembly does not include the second connecting arm 12, the first connecting arm 11 may be directly connected to the fuselage through the first driver 21.

[0072] In an embodiment, the first connecting arm 11 and the imaging assembly 30 are provided with a first limiting structure, and the first limiting structure is configured to limit the rotation angle of the imaging assembly 30 relative to the first connecting arm 11, so as to limit the pitching rotation angle of the imaging assembly 30. At the same time, through the first limiting structure, the rotation angle of the imaging assembly 30 can be calibrated relative to the limit position, improving the precise control of the rotation angle of the imaging assembly 30. It can be understood that the imaging assembly 30 can also rotate 360° relative to the first connecting arm 11.

[0073] Such as Figures 3 to 5As shown in the figure, the first limiting structure includes a first limiting protrusion 114 provided on one of the first connecting arm 11 and the imaging component 30, a first positioning protrusion 310 and a second positioning protrusion 320 provided on the other one; when the imaging component 30 rotates forward relative to the first connecting arm 11 to the maximum angle, the first positioning protrusion 310 abuts against the first limiting protrusion 114; when the imaging component 30 rotates backward relative to the first connecting arm 11 to the maximum angle, the second positioning protrusion 320 abuts against the first limiting protrusion 114. By forming a restriction on the rotation range of the first limiting protrusion 114 through the first positioning protrusion 310 and the second positioning protrusion 320, the rotation angle of the imaging component 30 is restricted. The first limiting structure is small in volume, high in reliability and low in cost. At the same time, the limiting effect at the limit position is visualized, which is convenient for later maintenance.

[0074] Among them, as Figures 3 to 5 shown in the figure, the first limiting protrusion 114 can be arranged on the second mounting portion 113 of the first connecting arm 11, and the first positioning protrusion 310 and the second positioning protrusion 320 can be arranged on the imaging component 30, such as on the camera housing or the housing of the imaging component 30, so that when the imaging component 30 rotates, the first positioning protrusion 310 and the second positioning protrusion 320 are driven to rotate. The rotation angle of the imaging component 30 can be adjusted by adjusting the positions of the first limiting protrusion 114, the first positioning protrusion 310 and the second positioning protrusion 320. The present disclosure does not limit this.

[0075] Of course, an optical sensor, a Hall sensor, an encoder, etc. can also be used to detect the rotation angle of the imaging component 30 relative to the first connecting arm 11, so as to control the rotation angle of the imaging component 30 relative to the first connecting arm 11 by controlling the rotation of the second driver 22. The present disclosure does not limit this.

[0076] In an embodiment, a second limiting structure is provided on the first connecting arm 11 and the second connecting arm 12. The second limiting structure is configured to limit the rotation angle of the first connecting arm 11 relative to the second connecting arm 12, so as to limit the up-and-down rotation angle of the first connecting arm 11. At the same time, through the second limiting structure, the rotation angle of the first connecting arm 11 can be calibrated relative to the limit position, and the precise control of the rotation angle of the first connecting arm 11 can be improved. It can be understood that the first connecting arm 11 can also rotate 360° relative to the second connecting arm 12.

[0077] As Figure 5 and Figure 6As shown in the figure, the second limiting structure includes a second limiting protrusion 124 provided on one of the first connecting arm 11 and the second connecting arm 12, a third positioning protrusion 115 and a fourth positioning protrusion 116 provided on the other one; when the first connecting arm 11 rotates forward relative to the second connecting arm 12 to the maximum angle, the third positioning protrusion 115 abuts against the second limiting protrusion 124; when the first connecting arm 11 rotates backward relative to the second connecting arm 12 to the maximum angle, the fourth positioning protrusion 116 abuts against the second limiting protrusion 124. By forming a restriction on the rotation range of the second limiting protrusion 124 through the third positioning protrusion 115 and the fourth positioning protrusion 116, the rotation angle of the first connecting arm 11 is restricted. The second limiting structure is small in volume, high in reliability, low in cost, and at the same time, the limiting effect at the extreme position is visualized, which is convenient for later maintenance.

[0078] Among them, as Figure 5 and Figure 6 shown in the figure, the second limiting protrusion 124 is provided on the second main body portion 121 of the second connecting arm 12, and the third positioning protrusion 115 and the fourth positioning protrusion 116 are provided on the first mounting portion 112 of the first connecting arm 11. When the first connecting arm 11 rotates under the drive of the first driver 21, the third positioning protrusion 115 and the fourth positioning protrusion 116 are driven to rotate. For example, as Figure 6 shown in the figure, when the first connecting arm 11 is in the lowermost position, the included angle between the third positioning protrusion 115 and the second limiting protrusion 124 in the rotation direction is 71°, and the included angle between the fourth positioning protrusion 116 and the second limiting protrusion 124 in the rotation direction is 96°. That is to say, when the first connecting arm 11 is in the lowermost position, the first connecting arm 11 can rotate 71° and 96° respectively in two opposite directions relative to the second connecting arm 12. Among them, the rotation angle can be adjusted by adjusting the positions of the second limiting protrusion 124, the third positioning protrusion 115 and the fourth positioning protrusion 116, and the present disclosure does not limit this.

[0079] It can be understood that the second limiting structure may include a second limiting protrusion 124 provided on the second connecting arm 12 and a third positioning protrusion 115 provided on the first connecting arm 11; when the first connecting arm 11 rotates forward relative to the second connecting arm 12 to the maximum angle, the body of the first connecting arm 11 abuts against the second limiting protrusion 124; when the first connecting arm 11 rotates backward relative to the second connecting arm 12 to the maximum angle, the third positioning protrusion 115 abuts against the second limiting protrusion 124. By abutting the body of the first connecting arm 11 against the second limiting protrusion 124 to form a rotation limit, the number of positioning protrusions is reduced, and the reliability of the limiting structure can be further improved, and the cost can be reduced.

[0080] Of course, an optical sensor, a Hall sensor, an encoder, etc. can also be used to detect the rotation angle of the first connecting arm 11 relative to the second connecting arm 12, so as to control the rotation of the first driver 21 through holes to realize the control of the rotation angle of the first connecting arm 11 relative to the second connecting arm 12. The present disclosure does not limit this.

[0081] In one embodiment, a third limiting structure is provided on the second connecting arm 12 and the fixing member 50. The third limiting structure is configured to limit the rotation angle of the second connecting arm 12 relative to the fixing member 50, so as to limit the left and right rotation angles of the second connecting arm 12. At the same time, through the third limiting structure, the rotation angle of the second connecting arm 12 can be calibrated relative to the limit position, improving the precise control of the rotation angle of the second connecting arm 12. It can be understood that the second connecting arm 12 can also rotate 360° relative to the fuselage.

[0082] Such as Figures 2 to 4 As shown, the third limiting structure includes a third limiting protrusion 125 provided on one of the second connecting arm 12 and the fixing member 50, a fifth positioning protrusion 510 and a sixth positioning protrusion 520 provided on the other; when the second connecting arm 12 rotates forward relative to the fixing member 50 to the maximum angle, the fifth positioning protrusion 510 abuts against the third limiting protrusion 125; when the second connecting arm 12 rotates backward relative to the fixing member 50 to the maximum angle, the sixth positioning protrusion 520 abuts against the third limiting protrusion 125. By forming the fifth positioning protrusion 510 and the sixth positioning protrusion 520 to limit the rotation range of the third limiting protrusion 125, the rotation angle of the second connecting arm 12 is limited. The third limiting structure is small in volume, high in reliability, low in cost, and at the same time, the limiting effect at the limit position is visualized, which is convenient for later maintenance.

[0083] Among them, as Figures 2 to 4 As shown, the third limiting protrusion 125 is provided on the third mounting portion 122 of the second connecting arm 12, and the third positioning protrusion 115 and the fourth positioning protrusion 116 are provided on the fixing member 50. When the second connecting arm 12 rotates under the drive of the third driver 23, the third limiting protrusion 125 is driven to rotate. The rotation angle of the second connecting arm 12 can be adjusted by adjusting the positions of the third limiting protrusion 125, the fifth positioning protrusion 510 and the sixth positioning protrusion 520. The present disclosure does not limit this.

[0084] Of course, an optical sensor, a Hall sensor, an encoder, etc. can also be used to detect the rotation angle of the second connecting arm 12 relative to the fuselage, so as to control the rotation of the third driver 23 through holes to realize the control of the rotation angle of the second connecting arm 12 relative to the fuselage. The present disclosure does not limit this.

[0085] In one embodiment, such as Figures 1 to 6As shown, the aerial ladder assembly further includes a counterweight 40. When the first connecting arm 11 is at the lowest position, in the axial direction Y, the first connecting arm 11 and the counterweight 40 are on the same side of the first mounting portion 112; in the height direction Z, the first connecting arm 11 and the counterweight 40 extend in opposite directions; in the width direction X, the first main body portion 111 and the counterweight 40 are connected to both sides of the first mounting portion 112. While balancing the center of gravity of the pan-tilt assembly by the counterweight 40, the counterweight 40 and the first main body portion 111 of the first connecting arm 11 are oppositely arranged relative to the first mounting portion 112, so that the space below the third mounting portion 122 can be utilized to accommodate the counterweight 40, thereby improving the structural compactness of the pan-tilt assembly and reducing the volume of the pan-tilt assembly.

[0086] As Figures 2 to 6 shown, the counterweight 40 may include a first counterweight portion 410 and a second counterweight portion 420. One end of the first counterweight portion 410 is connected to the first mounting portion 112, and the other end is connected to one end of the second counterweight portion 420; when the first connecting arm 11 is at the lowest position, in the axial direction Y, the other end of the first counterweight portion 410 extends toward the side away from the first driver 21; in the height direction Z, the other end of the first counterweight portion 410 extends toward the side away from the camera assembly 30; in the width direction X, the first counterweight portion 410 and the first main body portion 111 are on both sides of the first mounting portion 112, and the other end of the second counterweight portion 420 extends toward the side of the first main body portion 111. The first counterweight portion 410 and the first main body portion 111 of the first connecting arm 11 are oppositely arranged relative to the first mounting portion 112, and the second counterweight portion 420 and the camera assembly 30 are oppositely arranged relative to the first mounting portion 112, so that the space below the third mounting portion 122 can be fully utilized to accommodate the counterweight 40, further improving the structural compactness of the pan-tilt assembly and reducing the volume of the pan-tilt assembly.

[0087] In an embodiment, the height difference between the lowest position and the highest position of the first connecting arm 11 is 25 mm to 33 mm, such as 25 mm, 26 mm, 26.63 mm, 27 mm, 28 mm, 28.92 mm, 29 mm, 30 mm, 31 mm, 32 mm, 33 mm, etc., which are not listed one by one in the present disclosure; of course, according to the actual needs of the product, the height difference between the lowest position and the highest position of the first connecting arm 11 may also be less than 25 mm or greater than 33 mm, and the present disclosure does not limit this.

[0088] As Figure 3 shown, when the other end of the first connecting arm 11 is at the lowest position, the distance between the lower contour of the camera assembly 30 and the rotation center of the first mounting portion 112 is h1, such as 46.62 mm; as Figure 4As shown, when the other end of the first connecting arm 11 is at the uppermost position, the distance between the lower contour of the counterweight 40 or the first mounting portion 112 and the rotation center of the first mounting portion 112 is h2, for example, 17.50 mm. That is, the retractable distance of the gimbal assembly is obtained as 28.92 mm.

[0089] In an embodiment, the gimbal assembly further includes: a housing. When the other end of the first connecting arm 11 is at the lowermost position, at least a part of the camera assembly 30 is located outside the housing; when the other end of the first connecting arm 11 is at the uppermost position, the camera assembly 30 is located inside the housing. That is, when the camera assembly 30 is in the lowered position, at least a part of it is located outside the housing so that the camera lens protrudes from the housing to achieve the best shooting angle for shooting operations; when the camera assembly 30 is in the raised position, it is retracted into the accommodation space of the housing without leaking out of the housing, improving the aerodynamic performance of the aircraft, and thus improving the endurance of the aircraft.

[0090] It can be understood that when the other end of the first connecting arm 11 is at the lowermost position, the camera assembly 30 can be entirely located outside the housing. When the camera assembly 30 is in the raised position, the camera assembly 30 is entirely retracted into the accommodation space of the housing without leaking out of the housing at all, thereby maximizing the improvement of the aerodynamic performance of the aircraft.

[0091] Wherein, the opening provided on the housing for the camera assembly 30 to enter and exit the housing can have a shape and size that matches the shape of the camera assembly 30, so that when the camera assembly 30 passes through the opening during the switching between the raised position and the lowered position, the distance between the edge of the opening and the outer contour of the camera assembly 30 is small, for example, less than 5 mm, to avoid affecting the aerodynamic performance when the opening is large.

[0092] In addition, in an embodiment, the gimbal assembly may not include a housing, but the body housing of the aircraft fuselage forms the accommodation for the camera assembly 30 when it is in the raised position so that it does not leak out of the body housing. The present disclosure does not limit this.

[0093] The embodiments of the present disclosure also provide an aircraft, which includes a fuselage and the gimbal assembly provided in the above embodiments, and the gimbal assembly is connected to the fuselage. The aircraft can be a drone, and the beneficial effects of the aircraft can be referred to the detailed discussion in the above gimbal assembly and will not be elaborated here.

[0094] Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and examples are only to be considered as exemplary, and the true scope and spirit of the present disclosure are pointed out by the appended claims.

Claims

1. A pan-tilt assembly, characterized in that, Comprising: A first connecting arm (11) and a first driver (21); One end of the first connecting arm (11) is connected to the first driver (21), the first driver (21) is configured to drive the first connecting arm (11) to rotate about a preset rotation center line, and the included angle between the length direction of the first connecting arm (11) and the axial direction (Y) of the preset rotation center line is an acute angle towards the other end of the first connecting arm (11), such that the other end of the first connecting arm (11) can be located at the lowest point, the highest point, and positions between the lowest point and the highest point in the height direction (Z) of the pan-tilt assembly.

2. The pan-tilt assembly according to claim 1, wherein The pan-tilt assembly further comprises: An imaging assembly (30) and a second driver (22), the imaging assembly (30) is connected to the other end of the first connecting arm (11) through the second driver (22), and the second driver (22) is configured to drive the imaging assembly (30) to rotate.

3. The pan-tilt assembly according to claim 2, wherein The pan-tilt assembly further comprises: A housing. When the other end of the first connecting arm (11) is at the lowest point, at least a part of the imaging assembly (30) is located outside the housing; when the other end of the first connecting arm (11) is at the highest point, the imaging assembly (30) is located inside the housing.

4. The pan-tilt assembly according to claim 2, wherein When the other end of the first connecting arm (11) is at the lowest point, in the axial direction (Y), the other end of the first connecting arm (11) extends towards the side away from the first driver (21); in the height direction (Z), the other end of the first connecting arm (11) extends towards the lowest position; in the width direction (X) of the pan-tilt assembly, the first main body portion (111) of the first connecting arm (11) is located on the same side of the first driver (21) and the imaging assembly (30).

5. The pan-tilt assembly according to claim 2, wherein The first connecting arm (11) and the imaging assembly (30) are provided with a first limiting structure, and the first limiting structure is configured to limit the rotation angle of the imaging assembly (30) relative to the first connecting arm (11).

6. The pan-tilt assembly according to claim 5, wherein, The first limiting structure includes a first limiting protrusion (114) provided on one of the first connecting arm (11) and the imaging assembly (30), a first positioning protrusion (310) and a second positioning protrusion (320) provided on the other one; when the imaging assembly (30) rotates forward relative to the first connecting arm (11) to the maximum angle, the first positioning protrusion (310) abuts against the first limiting protrusion (114); when the imaging assembly (30) rotates backward relative to the first connecting arm (11) to the maximum angle, the second positioning protrusion (320) abuts against the first limiting protrusion (114).

7. The pan-tilt assembly according to claim 4, wherein The first connecting arm (11) further includes a first mounting portion (112), the first mounting portion (112) is connected to the rotor of the first driver (21), and the first main body portion (111) is connected to the first mounting portion (112); The pan-tilt assembly further includes: a counterweight member (40), the counterweight member (40) being connected to the first mounting portion (112); when the first connecting arm (11) is at the lowermost position, in the axial direction (Y), the first connecting arm (11) and the counterweight member (40) are on the same side of the first mounting portion (112); in the height direction (Z), the first connecting arm (11) and the counterweight member (40) extend in opposite directions; in the width direction (X), the first main body portion (111) and the counterweight member (40) are connected to both sides of the first mounting portion (112).

8. The pan-tilt assembly according to claim 7, wherein, The counterweight member (40) includes a first counterweight portion (410) and a second counterweight portion (420), one end of the first counterweight portion (410) being connected to the first mounting portion (112), and the other end being connected to one end of the second counterweight portion (420); when the first connecting arm (11) is at the lowermost position, in the axial direction (Y), the other end of the first counterweight portion (410) extends toward the side away from the first driver (21); in the height direction (Z), the other end of the first counterweight portion (410) extends toward the side away from the imaging assembly (30); in the width direction (X), the first counterweight portion (410) and the first main body portion (111) are on both sides of the first mounting portion (112), and the other end of the second counterweight portion (420) extends toward the side of the first main body portion (111).

9. The pan-tilt assembly according to claim 1, wherein The pan-tilt assembly further includes: a second connecting arm (12) and a third driver (23), one end of the second connecting arm (12) being connected to the third driver (23), and the other end being connected to the stator of the first driver (21); the third driver (23) is configured to drive the second connecting arm (12) to rotate about the height direction (Z).

10. The pan-tilt assembly according to claim 9, wherein, The first connecting arm (11) and the second connecting arm (12) are provided with a second limiting structure, and the second limiting structure is configured to limit the rotation angle of the first connecting arm (11) relative to the second connecting arm (12).

11. The pan-tilt assembly according to claim 10, wherein, The second limiting structure includes a second limiting protrusion (124) provided on one of the first connecting arm (11) and the second connecting arm (12), a third positioning protrusion (115) and a fourth positioning protrusion (116) provided on the other; when the first connecting arm (11) rotates forward relative to the second connecting arm (12) to the maximum angle, the third positioning protrusion (115) abuts against the second limiting protrusion (124); when the first connecting arm (11) rotates backward relative to the second connecting arm (12) to the maximum angle, the fourth positioning protrusion (116) abuts against the second limiting protrusion (124).

12. The pan-tilt assembly according to claim 10, wherein The second limiting structure includes a second limiting protrusion (124) provided on the second connecting arm (12) and a third positioning protrusion (115) provided on the first connecting arm (11); when the first connecting arm (11) rotates forward relative to the second connecting arm (12) to the maximum angle, the body of the first connecting arm (11) abuts against the second limiting protrusion (124); when the first connecting arm (11) rotates backward relative to the second connecting arm (12) to the maximum angle, the third positioning protrusion (115) abuts against the second limiting protrusion (124).

13. The pan-tilt assembly according to claim 9, wherein, The pan-tilt assembly further includes: A fixing member (50), one side of the fixing member (50) is connected to the stator of the third driver (23), and the other side is configured to be connected to the fuselage of the aircraft.

14. The pan-tilt assembly according to claim 13, wherein, The second connecting arm (12) and the fixing member (50) are provided with a third limiting structure, and the third limiting structure is configured to limit the rotation angle of the second connecting arm (12) relative to the fixing member (50).

15. The pan-tilt assembly according to claim 14, wherein The third limiting structure includes a third limiting protrusion (125) provided on one of the second connecting arm (12) and the fixing member (50), and a fifth positioning protrusion (510) and a sixth positioning protrusion (520) provided on the other; when the second connecting arm (12) rotates forward relative to the fixing member (50) to the maximum angle, the fifth positioning protrusion (510) abuts against the third limiting protrusion (125); when the second connecting arm (12) rotates backward relative to the fixing member (50) to the maximum angle, the sixth positioning protrusion (520) abuts against the third limiting protrusion (125).

16. The pan-tilt assembly according to claim 1, wherein The height difference between the other end of the first connecting arm (11) when it is at the lowest position and the highest position is 25 mm to 33 mm.

17. The pan-tilt assembly according to claim 1, wherein The output shaft of the first driver (21) is parallel or coincident with the preset rotation center line.

18. An aircraft, characterized in that, Including: Fuselage; The pan-tilt assembly according to any one of claims 1 to 17, and the pan-tilt assembly is connected to the fuselage.

Images