Heavy-load holder system

Abstract

The invention relates to the technical field of holders, in particular to a heavy-load holder system, which comprises a holder and camera equipment, and is characterized in that the holder comprises a yaw axis assembly and a pitch axis assembly; the yaw shaft assembly comprises a yaw shaft stepping gear motor which is used for driving the camera equipment to rotate around a yaw shaft. The pitch axis assembly comprises a pitch axis stepping gear motor which is used for driving the camera equipment to rotate around a pitch axis. The pitch axis assembly further comprises a pitch axis motor supporting piece which is fixedly connected to the output end of the yaw axis stepping gear motor. The pitch axis stepping gear motor is rotatably connected to the pitch axis motor supporting piece around a pitch axis, and the output end of the pitch axis stepping gear motor is fixedly connected with the pitch axis motor supporting piece. And the camera equipment is arranged on the pitch axis stepping gear motor. According to the invention, low-return-difference and high-response stable rotation control can be realized while large-load equipment such as a professional telephoto lens of more than 5kg can be reliably borne, and strict requirements of long-distance telephoto photography on dynamic target tracking precision and motion smoothness are met.

Description

[0001] Priority Application This application claims priority to Chinese Invention Patent Application No. 202610162769.6, filed on February 4, 2026, entitled “Intelligent Tracking Gimbal System,” which is incorporated by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of gimbals, and in particular to a large-load gimbal system. BACKGROUND

[0003] With the wide application of long-focus photography in the fields of wild animal observation, sports event follow-up, outdoor documentary, scientific research monitoring, and emergency reconnaissance, the performance requirements of gimbal systems have far exceeded those of traditional photography scenarios. Such applications generally use professional long-focus lenses with focal lengths exceeding 400 mm or even 1000 mm, which have extremely narrow imaging angles and extremely high magnification, making the image extremely sensitive to small angle disturbances. Even if the gimbal produces milliradian-level jitter or nonlinear motion, it will be significantly magnified into visible trailing, blur, or out-of-focus at the imaging end, severely reducing image clarity and usability.

[0004] At the same time, the target objects in the above scenarios (such as flying birds, running animals, or high-speed athletes) often have high-frequency, non-uniform, and unpredictable motion characteristics, forcing the gimbal system to continuously perform high-dynamic closed-loop tracking actions of “acceleration-deceleration-fine tuning-reverse correction”. In this process, any small nonlinear response introduced by mechanical structure gaps, transmission backlash, insufficient system rigidity, or motor output fluctuations will be dramatically magnified in the long-focus image, forming visible tracking lag, image jumping, or oscillation, which severely affects the shooting quality and user experience.

[0005] Currently, the gimbal solutions in the industry that are adapted to long-focus lenses generally have a core contradiction between “load capacity” and “rotation precision”, and the overall load upper limit is a significant shortcoming. On the one hand, mainstream consumer-level intelligent photography gimbals, in pursuit of lightweight and portability, generally use small brushless motors or ordinary stepper motors without integrating special high-precision reduction mechanisms, with a nominal load capacity limited to less than 3 kg, which is completely unable to support professional large-volume long-focus lenses (such as Canon RF 800mm f / 11, Nikon Z 600mm f / 4, etc.) weighing more than 5 kg. Even if they are installed, the lack of motor torque and unstable power output will cause rotation lag, start-stop jitter, making it difficult to achieve smooth tracking, and the image blur problem is prominent when shooting at a distance.

[0006] On the other hand, although the large-load holder for industrial scenarios has high bearing capacity, its design target and camera demand are significantly deviated. For example, the invention patent with the application publication number CN119900903A discloses an explosion-proof holder of a double-side load torque direct-drive motor, which realizes impact resistance positioning under high load through a torque direct-drive motor and a reduction fixed mechanism, effectively solving the stable locking and safety protection problem of the shooting device in the explosion and other dangerous environments. However, this scheme focuses on static monitoring and mechanical protection under extreme working conditions, and its structure is large, the control logic is mainly position locking, and it does not consider the smooth stepless speed regulation, low back difference transmission, high resolution closed-loop feedback and lightweight portable design required by dynamic target tracking, so it cannot meet the comprehensive requirements of high precision, high response and high mobility for long-distance long-focus photography. SUMMARY

[0007] The purpose of the present application is to provide a large-load holder system, which partially solves or alleviates the above-mentioned deficiencies in the prior art, and can reliably bear large-load equipment such as professional long-focus lenses of more than 5 kg, while realizing low-back-difference and high-response smooth rotation control, meeting the stringent requirements of dynamic target tracking accuracy and motion smoothness for long-distance long-focus photography.

[0008] In order to solve the above-mentioned technical problems, the present application specifically adopts the following technical solutions: A large-load holder system, comprising a control module and a holder shooting device in communication connection with the control module, the holder shooting device comprising a holder and a camera equipment arranged on the holder; Wherein, the holder comprises a yaw shaft assembly and a pitch shaft assembly, the pitch shaft assembly is arranged at the output end of the yaw shaft assembly, and the camera equipment is arranged at the output end of the pitch shaft assembly; The yaw shaft assembly comprises a yaw shaft step-down motor, the yaw shaft step-down motor is used for driving the camera equipment to rotate around the yaw shaft in the yaw direction, comprising a yaw shaft step motor, and a yaw shaft reduction assembly connected to the output shaft of the yaw shaft step motor; The pitch shaft assembly comprises a pitch shaft step-down motor, the pitch shaft step-down motor is used for driving the camera equipment to rotate around the pitch shaft in the pitch direction, comprising a pitch shaft step motor, and a pitch shaft reduction assembly connected to the output shaft of the pitch shaft step motor; The pitch shaft assembly further comprises a pitch shaft motor support, the pitch shaft motor support is fixedly connected to the output end of the yaw shaft step-down motor; the pitch shaft step-down motor is rotatably connected to the pitch shaft motor support around the pitch shaft, and the output end of the pitch shaft step-down motor is fixedly connected to the pitch shaft motor support; The camera device is mounted on the pitch axis stepper motor, and there is a height difference between the center of gravity of the camera device and the pitch axis.

[0009] Preferably, as an improvement, the yaw axis assembly further includes a yaw axis sensor for detecting the angle and speed of rotation of the camera device around the yaw axis; And / or, the pitch axis assembly further includes a pitch axis sensor for detecting the angle and speed of rotation of the camera device about the pitch axis.

[0010] Preferably, as an improvement, the yaw axis assembly further includes a housing, within which the yaw axis stepper motor is mounted; The outer casing is equipped with a knob, which is used to zoom the camera device. The housing contains a position sensor, which is used to detect the rotation angle and speed of the knob.

[0011] Preferably, as an improvement, the housing is provided with a joystick, which is used to control the movement trajectory of the gimbal along the yaw and pitch directions; And / or, the housing is provided with a mode button, which is used to switch the shooting mode of the camera device; And / or, the housing is provided with a shooting button, which is used to trigger the shooting action of the camera device.

[0012] Preferably, as an improvement, the housing contains a battery that powers the gimbal. And / or, the housing is provided with a switch, which is used to control the opening and closing of the gimbal.

[0013] Preferably, as an improvement, the housing is provided with a trigger button, which is used to reset the gimbal to a preset initial posture; And / or, the housing is provided with an indicator light guide column, which is used to indicate the operating status of the gimbal.

[0014] Preferably, as an improvement, the pitch axis assembly further includes a motor housing, the pitch axis stepper motor is installed inside the motor housing, the motor housing is rotatably connected to the pitch axis motor support about the pitch axis, and the camera device is installed on the motor housing.

[0015] Preferably, as an improvement, the gimbal shooting device further includes a connector for mounting the camera device, the camera device being fixedly connected to the motor housing via the connector.

[0016] Preferably, as an improvement, the motor housing is provided with a quick-release clamping plate, which is assembled and fixed with the connecting piece using a slot-type locking structure.

[0017] Preferably, as an improvement, the yaw axis reduction assembly includes a meshing yaw axis turbine and a yaw axis worm gear, the yaw axis worm gear being connected to the output shaft of the yaw axis stepper motor; And / or, the pitch axis reduction assembly includes a pitch axis worm gear and a pitch axis worm shaft that mesh with each other, the pitch axis worm shaft being connected to the output shaft of the pitch axis stepper motor.

[0018] Beneficial technical effects of the present invention: (I) The core technical effects achieved by the technical solution of this invention itself This invention utilizes a dual-axis drive system consisting of a yaw axis stepper motor and a pitch axis stepper motor, combined with closed-loop sensor feedback, a rigid support structure, and an integrated human-machine interface design, to achieve a harmonious balance between high load capacity and high precision. Specifically, both axes employ stepper motors with low-backlash reduction components, significantly improving output torque and enabling the gimbal to stably support professional telephoto lenses weighing over 5kg (such as the Canon RF 800mm f / 11 and Nikon Z 600mm f / 4), breaking through the traditional 3kg load limit of consumer-grade gimbals. Simultaneously, the yaw axis and pitch axis sensors collect rotation angle and speed information in real time, allowing for dynamic closed-loop adjustment by the control module. This achieves sub-degree positioning accuracy and jitter-free continuous tracking motion, effectively addressing the challenges of shooting high-frequency, non-uniform-speed targets such as birds, running animals, or high-speed athletes.

[0019] Furthermore, the camera device is rigidly connected to the motor housing via a dedicated connector, and a quick-release clamping plate with a slot-type locking structure enables rapid assembly and secure locking, ensuring no micro-gaps or loosening, thus blocking vibration transmission at the source. The gimbal housing integrates knobs, joysticks, mode buttons, shooting buttons, and a power button, and has a built-in battery for independent power supply. Users can complete full-function control without operating the camera itself, greatly improving the convenience and efficiency of single-person field work. The overall solution ensures high load capacity while also considering smoothness, responsiveness, and portability, meeting the dual requirements of long-range telephoto photography for imaging stability and operational flexibility.

[0020] (ii) The hidden nature of the technical pain points addressed and industry perception biases It is worth noting that the technical problem addressed by this invention is highly concealed. In practical use, users often attribute blurry images, motion blur, or out-of-focus shots occurring at long distances to insufficient lens optical quality or improper shutter speed settings, while ignoring the fundamental limitations of the gimbal system in terms of load capacity, structural rigidity, and motion accuracy. This misjudgment stems from the mismatch between the performance boundaries of existing products and user expectations—for a long time, the industry has generally regarded 3kg as the standard for "heavy load," leading to a systematic underestimation of the actual needs of professional telephoto users weighing over 5kg, and a severe lack of relevant high-performance adaptation solutions. This invention is based on an insight into this deep-seated contradiction, reconstructing the performance boundaries of the gimbal from the system's bottom layer, enabling users to truly obtain a stable imaging experience that is "what you see is what you get," thereby revealing and solving the core bottleneck that has been hidden for a long time.

[0021] (III) Structural advantages and performance improvements compared to traditional pitch axis layout Compared to the traditional layout of existing dual-axis gimbals, where the pitch motor is directly mounted on the output shaft of the yaw motor and indirectly drives the camera to rotate around the pitch axis via a linkage, rocker arm, or gear set, this invention achieves a key breakthrough in mechanical architecture. Traditional solutions not only have long transmission chains, introducing additional clearances and elastic deformation, but also easily amplify vibrations under heavy loads due to leverage effects, leading to unstable tracking and sluggish response. More seriously, when the camera's center of gravity is significantly higher than the pitch axis, the entire pitch assembly forms a single-sided cantilever structure, which is highly susceptible to bending, sagging, and even structural fatigue under gravitational torque.

[0022] This invention employs an innovative "power-support separation" architecture: a pitch axis motor support is installed, with one end rigidly fixed to the output end of the yaw axis drive device, and the other end serving as a support base for pitch rotation. The housing of the pitch axis stepper motor is rotatably connected to this support, while its output shaft is fixedly connected to the support. During operation, the motor housing (along with the camera equipment it carries) rotates relative to the support around the pitch axis, achieving direct drive. This design abandons the traditional indirect transmission method, making the motion path shorter and more direct, significantly reducing hysteresis and backlash. Simultaneously, the support, acting as a rigid beam, effectively shares and transmits the overturning moment generated by the eccentric center of gravity, transforming the cantilever force into an approximate double-support structure, greatly improving the overall rigidity and deformation resistance of the system. Furthermore, this structure provides mechanical restraint even in the event of a power outage, preventing the equipment from suddenly falling due to gravity and ensuring the safety of expensive lenses. Therefore, this invention not only improves dynamic response and stability, but also fundamentally optimizes the force flow path and motion transmission efficiency, providing unprecedented structural reliability and control precision for long-range telephoto photography. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. The elements or parts in the drawings are not necessarily drawn to scale. Obviously, the drawings described below are some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0024] Figure 1 A three-dimensional schematic diagram of the gimbal system provided in an embodiment of the present invention; Figure 2 A three-dimensional schematic diagram of a gimbal provided in an embodiment of the present invention; Figure 3 A three-dimensional schematic diagram of the gimbal yaw axis assembly provided in an embodiment of the present invention; Figure 4 A three-dimensional schematic diagram of the gimbal pitch axis assembly provided in an embodiment of the present invention; Figure 5 for Figure 4 An exploded view of the gimbal pitch axis assembly; Figure 6 A three-dimensional schematic diagram of the lower shell assembly of the gimbal yaw axis assembly provided in an embodiment of the present invention; Figure 7 for Figure 6 An exploded view of the lower housing assembly of the gimbal yaw axis component; Figure 8 A three-dimensional schematic diagram of the upper shell assembly of the gimbal yaw axis assembly provided in an embodiment of the present invention; Figure 9 A three-dimensional schematic diagram of the front shell assembly of the gimbal yaw axis assembly provided in an embodiment of the present invention; Figure 10 A three-dimensional schematic diagram of the rear shell of the gimbal yaw axis assembly provided in an embodiment of the present invention; Figure 11 An exploded view of the internal components of the gimbal pitch axis stepper motor and yaw axis stepper motor provided in an embodiment of the present invention. Figure 12 This is a three-dimensional schematic diagram of a camera host provided in an embodiment of the present invention.

[0025] Summary of reference numerals in the attached diagrams: Gimbal shooting device 1000, Gimbal 10, Yaw axis assembly 11, Lower shell assembly 111, Lower shell 1111, Base 1112, Drive board assembly 1113, Yaw axis motor mount 1114, Yaw axis Hall plate 1115, Upper shell assembly 112, Upper shell 1121, Encoder 1122, Knob 1123, Trigger button 1124, Battery 1125, Front shell assembly 113, Front shell 1131, Joystick 1132, Mode button 1133, Shooting button 1134, Indicator light guide column 1135, Power button 1136, Rear shell 114 115 yaw axis stepper motor, 1151 yaw axis stepper motor, 1152 yaw axis worm gear, 1153 yaw axis connecting shaft, 1154 yaw axis assembly, 121 pitch axis motor support, 122 motor housing, 123 magnet bracket, 124 pitch axis Hall plate, 125 yaw axis stepper motor, 1251 pitch axis stepper motor, 1252 pitch axis worm gear, 1253 pitch axis connecting shaft, 1254 quick-release clamping plate, 126 telephoto camera, 20 camera main unit, 30 connector, 40 connector key, 41 connector seat, 42 connector. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] In this document, suffixes such as "module," "part," or "unit" used to denote elements are used only for the purpose of illustrative purposes and have no specific meaning in themselves. Therefore, "module," "part," or "unit" may be used interchangeably.

[0028] In this document, the terms "upper," "lower," "inner," "outer," "front," "rear," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] In this document, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0030] In this document, "and / or" includes any and all combinations of one or more of the listed related items.

[0031] In this article, "several" and "multiple" refer to two or more, that is, including two, three, four, five, etc.

[0032] As used in this specification, the term "about" typically means + / -5% of the value, more typically + / -4% of the value, more typically + / -3% of the value, more typically + / -2% of the value, even more typically + / -1% of the value, and even more typically + / -0.5% of the value.

[0033] In this specification, certain embodiments may be disclosed in a range-bound format. It should be understood that this "range-bound" description is merely for convenience and brevity and should not be construed as a rigid limitation on the disclosed range. Therefore, the description of a range should be considered as having specifically disclosed all possible subranges and the individual numerical values ​​within those ranges. For example, a description of the range 1-6 should be considered as having specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., and the individual numbers within those ranges, such as 1, 2, 3, 4, 5, and 6. This rule applies regardless of the breadth of the range.

[0034] Definition of noun: Yaw Axis: This refers to the axis of rotation in the gimbal 10 used to control the horizontal rotation of the device. Rotation around the yaw axis allows the camera to scan or track in the left-right direction (i.e., the azimuth direction), with the plane of motion being the horizontal plane. In aviation and photography, this degree of freedom corresponds to "yaw" motion. For example, when the gimbal 10 moves the camera from due north to due east, the axis around which it rotates is the yaw axis.

[0035] Pitch Axis: This refers to the rotational axis of the gimbal 10 used to control the vertical pitch of the device. Rotation around the pitch axis causes the camera to rise or fall in the vertical direction (i.e., the elevation direction), and its plane of motion is the vertical plane. In aviation and photography, this degree of freedom corresponds to the "pitch" motion. For example, when the gimbal 10 raises the camera from a horizontal position aimed at a ground target to an angle aimed at a bird in flight, the axis around which it rotates is the pitch axis.

[0036] Long-range telephoto photography and high-frequency moving target tracking (birds, wildlife, sporting events, outdoor documentary, scientific research monitoring, emergency reconnaissance, etc.) place significantly different system-level requirements on gimbals compared to conventional shooting: First, telephoto lenses have a narrower angle of view and a stronger imaging magnification effect, meaning that even small angular disturbances are significantly amplified into image displacement, resulting in motion blur, camera shake, and reduced sharpness. Second, these scenarios are often limited by lighting and shutter speed, and the high-speed movement of the target forces the gimbal to continuously perform a closed-loop tracking action of "acceleration / deceleration—micro-motion—reverse correction," causing any slight nonlinearity caused by mechanical gaps, backlash, or insufficient rigidity to be magnified into visible flaws in telephoto images. In the field of photography, image blur caused by camera shake is more likely to occur at the telephoto end, requiring faster shutter speeds or stronger stabilization to suppress this blur risk.

[0037] Current gimbal solutions for telephoto lenses in the industry generally suffer from the core problem of balancing "load capacity" and "rotational accuracy," with the upper load limit being a significant weakness. Consumer-grade intelligent photography gimbal solutions, in pursuit of portability, mostly use small brushless motors or ordinary stepper motors, lacking dedicated high-precision reduction structures. Their load capacity is generally limited to within 3kg, completely unable to support professional large-volume telephoto lenses weighing over 5kg. At the same time, the motor's power output is unstable, and the rotational accuracy is poor, resulting in motion blur and shakiness when shooting at long distances, failing to meet the high-definition requirements of professional shooting. While general-purpose high-load gimbal solutions can barely support a 3kg load, they often use industrial-grade servo motors paired with heavy-duty gear reducers. Not only are the devices bulky and heavy, resulting in extremely poor portability and unsuitability for mobile scenarios in long-distance photography, but their rotational control logic is also complex, with large transmission backlash and insufficient stability, making it difficult to achieve high-precision shooting.

[0038] In long-distance photography scenarios, the demand for "high-load telephoto lenses + high-precision, stable rotation" is a long-standing but unresolved core pain point in the industry, and solving this problem presents significant barriers. The difficulty lies in the fact that most users attribute "blurry images from long distances" to lens performance rather than insufficient gimbal load causing shaking or inadequate rotational precision. Furthermore, most gimbals in the industry use 3kg as the standard for "high load," leaving the core needs of users with professional telephoto lenses weighing 5kg or more unmet, resulting in a severe lack of compatible solutions. The barriers to solving this problem lie in achieving the dual goals of "high load of 5kg or more" and "high-precision rotation," requiring overcoming two major technical challenges: first, the power system needs strong and stable torque output, which ordinary motors cannot provide, while industrial-grade motors would lead to uncontrolled equipment size and weight; second, the transmission structure needs to balance low backlash and high rigidity, as traditional gear reducers have large backlash. The industry lacks an integrated solution for "high load + high precision + lightweight" in long-distance intelligent photography scenarios, forcing professional users to compromise, which is the core motivation for the development of this invention.

[0039] Based on this, the present invention provides a two-axis intelligent tracking gimbal system driven by a stepper motor. (Reference) Figure 1 The gimbal system includes a gimbal shooting device 1000, which includes a gimbal 10, a telephoto camera 20, a camera main unit 30, and a connector 40 mounted on the gimbal 10. (Reference) Figure 2 The gimbal 10 includes a yaw axis assembly 11 and a pitch axis assembly 12.

[0040] refer to Figure 3 The yaw axis assembly 11 includes a lower shell assembly 111, an upper shell assembly 112, a front shell assembly 113, and a rear shell 114. The yaw axis assembly 11 is the core drive module for the yaw rotation of the gimbal 10, and is integrated inside the lower shell assembly 111.

[0041] refer to Figure 6 , Figure 7 and Figure 11 The lower housing assembly 111 includes: a lower housing 1111, a base 1112, a drive board assembly 1113, a yaw axis motor mount 1114, a yaw axis Hall plate 1115, and a yaw axis stepper motor 115. The yaw axis stepper motor 115 includes a yaw axis stepper motor 1151, a yaw axis worm gear 1152, and a yaw axis worm 1153.

[0042] The lower shell 1111 serves as the external protective housing for the yaw axis assembly 11, while also providing an installation reference for internal components and isolating them from outdoor dust and minor impacts. The base 1112 supports the entire yaw axis assembly 11 and other components of the gimbal 10, and can also connect to an external mechanical tripod to support the entire gimbal shooting device 1000, ensuring stability during device placement or installation. The drive board assembly 1113 is the control core for yaw axis movement, receiving operation commands and outputting drive signals to control the start, stop, speed, and direction of the yaw axis stepper motor 115. The yaw axis motor mount 1114 secures the yaw axis stepper motor 115, using a rigid connection to offset motor vibration and ensure transmission stability. The yaw axis Hall plate 1115 cooperates with the output detection structure of the yaw axis stepper motor 115 to collect real-time yaw axis rotation angle and speed data, achieving ±0.1° level precise positioning. The yaw axis stepper motor 115 provides power for the rotation of the yaw axis: the yaw axis stepper motor 1151 outputs basic power, which is transmitted through the vertical meshing of the yaw axis worm gear 1153 and the yaw axis turbine 1152 to achieve a large reduction ratio and power failure self-locking function, which amplifies the torque to drive the gimbal 10 to rotate horizontally and smoothly, and avoids natural deviation under heavy load.

[0043] refer to Figure 8 The upper housing assembly 112 includes an upper housing 1121, an encoder 1122, a knob 1123, a trigger button 1124, and a battery 1125. The upper housing 1121 serves as the upper protective shell, working in conjunction with the lower housing 1111 and the rear housing 114 to form a complete protective structure, isolating the device from outdoor environmental interference. The encoder 1122 collects the operation signals from the knob 1123 and feeds them back to the control module, enabling fine-tuning of the rotation angle and speed. The knob 1123 is used for manual fine-tuning of the gimbal 10's rotation angle or shooting parameters, adapting to the precise focusing and angle calibration needs of birdwatching scenarios. The trigger button 1124 triggers the emergency braking or quick-lock function, instantly fixing the gimbal 10's posture and preventing accidental shaking during shooting. The battery 1125 provides continuous power to the entire gimbal 10 device, ensuring long-term outdoor observation and shooting.

[0044] refer to Figure 9The front housing assembly 113 includes a front housing 1131, a joystick 1132, a mode button 1133, a shooting button 1134, an indicator light guide column 1135, and a power button 1136. The front housing 1131 serves as a protective shell for the operating area, integrating various operating components and optimizing their layout for outdoor one-handed operation. The joystick 1132 controls the yaw and pitch movement of the gimbal 10, supporting stepless speed adjustment for rapid target tracking. The mode button 1133 switches shooting modes (such as follow, lock, and panorama), adapting to different observation scenarios with a single click. The shooting button 1134 triggers the shooting action of the telephoto camera 20, eliminating the need for additional camera operation and improving capture efficiency. The indicator light guide column 1135 visually displays the device's operating status (such as power, mode, and battery level) for quick outdoor viewing. The power button 1136 controls the device's startup and shutdown, extending battery life with its low-power design.

[0045] refer to Figure 3 and Figure 10 The rear shell 114, together with the lower shell 1111, upper shell 1121, and front shell 1131, forms a fully enclosed protective structure, which provides comprehensive protection for the internal circuits, motors, and other core components, and improves the durability of the equipment in complex outdoor environments (such as sand and dust, and light rain).

[0046] refer to Figure 4 , Figure 5 and Figure 11 The pitch axis assembly 12 is the core drive module for the pitch axis rotation of the gimbal 10, and it works in conjunction with the yaw axis assembly 11. The pitch axis assembly 12 includes a pitch axis motor support 121, a motor housing 122, a magnet bracket 123, a pitch axis Hall plate 124, a pitch axis stepper motor 125, and a quick-release clamping plate 126. The pitch axis stepper motor 125 includes a pitch axis stepper motor 1251, a pitch axis worm gear 1252, and a pitch axis worm 1253.

[0047] The pitch axis motor support 121 connects the pitch axis assembly 12 to the main structure of the gimbal 10, and provides rigid mounting support for the pitch axis stepper motor 125 to counteract force deformation under heavy loads. The motor housing 122 seals and protects the pitch axis stepper motor 125 to prevent dust and impact from affecting transmission stability during outdoor use. The magnet bracket 123 cooperates with the pitch axis Hall plate 124 to detect the rotation angle and position of the pitch axis in real time, forming a closed-loop control to ensure the accuracy of rotation control under heavy loads. The pitch axis stepper motor 125 provides power for the pitch axis rotation: the pitch axis stepper motor 1251 outputs basic power, which meshes with the helical teeth of the pitch axis worm gear 1253 and the pitch axis worm 1252 to achieve high torque output and low noise operation. Its output torque is suitable for the rotation requirements of a 5kg heavy-load telephoto camera 20, and it also has a power-off self-locking function to prevent the pitch axis from sagging naturally due to gravity.

[0048] The quick-release clamping plate 126 adopts a slot-type locking structure for use with, for example Figure 1 The connector 40 shown enables quick assembly and fixation of the telephoto camera 20 and the camera host 30, preventing accidental detachment and facilitating quick assembly and replacement of the equipment in outdoor scenarios.

[0049] The connector 40 is the connecting component between the telephoto camera 20 and the camera host 30. It is fixedly assembled with the gimbal 10 through the quick-release clamping plate 126 to ensure the rigidity of the connection between the telephoto camera 20, the camera host 30 and the gimbal 10, and to ensure that the yaw and pitch rotation of the gimbal 10 can be accurately transmitted to the shooting equipment, so as to realize the closed-loop control of "gimbal adjustment - shooting angle synchronization".

[0050] refer to Figure 1 and Figure 12 The telephoto camera 20 and the camera main unit 30 work together via a connector 40 to form a long-range telephoto recognition and shooting system, capable of accurately identifying and capturing targets hundreds of meters away in high definition. The shooting angle is adjusted synchronously with the yaw and pitch rotation of the gimbal 10, and can also be adjusted via... Figure 9 The corresponding buttons on the front shell component 113 shown enable operations such as shooting and parameter adjustment, adapting to the needs of outdoor birdwatching and ecological observation scenarios.

[0051] This invention breaks with the industry convention of limiting the load capacity of traditional gimbals to 3kg, while simultaneously meeting the high-precision rotation shooting requirements under heavy loads. The core differences lie in two main dimensions. Regarding the breakthrough upgrade in load capacity, traditional solutions generally use 3kg as the upper limit for heavy load gimbals, employing small motors or ordinary transmission structures, which cannot handle large-volume telephoto lenses weighing over 5kg. This invention specifically selects a high-power-density stepper motor, paired with a worm gear reduction scheme with a reduction ratio of 60:1. Combined with this reduction structure and reinforced support design, the load capacity is increased to over 5kg, precisely covering the core needs of professional users. Regarding the targeted optimization of rotational accuracy, traditional heavy load gimbals often rely on industrial-grade general-purpose transmission components, resulting in large transmission backlash and poor rotational stability. This invention, through a combination of a stepper motor structure and a real-time feedback mechanism, achieves closed-loop control of rotational accuracy, completely solving the industry pain points of rotational jitter and large backlash under heavy loads.

[0052] Based on the aforementioned technological breakthroughs, the advantages of this invention are concentrated in two core dimensions: "large load capacity" and "high-precision stable rotation," forming a competitive barrier that traditional solutions cannot match. Firstly, it breaks through the industry's load limit by achieving ultra-large loads of over 5kg. This invention utilizes a high-torque output design of a stepper motor, a 60:1 high reduction ratio worm gear providing strong self-locking and torque amplification, and a robust support structure to achieve a 5kg load capacity. The stable load-bearing capacity of the above-mentioned large-volume professional telephoto lenses is over 60% higher than the industry's 3kg load limit, making it compatible with various heavy-duty telephoto lenses. This completely solves the core pain point for professional users: "lenses are too heavy to fit," eliminating concerns about equipment shaking or tipping risks due to insufficient load. Secondly, high-precision and stable rotation ensures high-definition shooting at long distances. Under heavy loads of over 5kg, this invention reduces the rotational backlash of the yaw and pitch axes through the synergistic effect of a real-time feedback mechanism, ensuring smooth and vibration-free rotation. This fully meets the stringent requirements for image clarity in long-distance shooting. Simultaneously, the precise speed control characteristics of the stepper motor (the self-locking and low backlash advantages of the worm gear solution further enhance rigidity and disturbance resistance), combined with sensitive operation control, allow for rapid response to angle adjustment commands and accurate capture of distant objects, avoiding shooting errors caused by rotational lag or shaking. Thirdly, the synergistic optimization of load and precision adapts to professional scenario needs. This invention does not sacrifice portability and ease of operation in pursuit of high load capacity. Through an integrated structural design, it achieves a 5kg load capacity while maintaining high precision. While increasing load capacity, the overall weight of the gimbal is kept within a reasonable range, making it easy to carry for outdoor hiking. The customized layout of the operating components, combined with high-precision rotation control, forms a complete closed loop of "high load capacity - high-precision adjustment - instant capture", perfectly adapting to the core needs of long-distance scenarios and filling the market gap in the industry for "high load capacity + high precision" consumer-grade professional gimbals.

[0053] Compared to industrial-grade solutions (such as nuclear radiation detection or drone antenna tracking applications), this invention prioritizes 5kg+ professional long-range telephoto balance for consumer-grade long-distance birdwatching, rather than heavy fixed equipment load-bearing. In terms of accuracy and rigidity, the 60:1 worm gear solution provides excellent self-locking, resistance to reverse disturbances, and high rigidity (wind vibration stability <0.1° jitter), far exceeding the shock or vibration compensation of industrial solutions. For long-range intelligent tracking, it supports AI bird trajectory recognition and automatic locking, suitable for dynamic outdoor movement scenarios, rather than fixed hotspot positioning or GPS guidance. In terms of application scenarios, it achieves a perfect balance of portability, high precision, and quiet operation for consumer-grade outdoor birdwatching / wildlife photography, significantly differentiating itself from the limitations of industrial hazardous environments or fixed monitoring platforms.

[0054] Example 1: This embodiment provides a high-load gimbal system, including a control module and a gimbal imaging device 1000 communicatively connected to the control module. Figure 1 As shown, the gimbal shooting device 1000 includes a gimbal 10 and a camera device mounted on the gimbal 10.

[0055] Specifically, the camera equipment includes a telephoto camera 20 and a camera main unit 30.

[0056] like Figure 1 and Figure 2 As shown, the gimbal 10 includes a yaw axis assembly 11 and a pitch axis assembly 12. The pitch axis assembly 12 is located at the output end of the yaw axis assembly 11, and the camera device is located at the output end of the pitch axis assembly 12.

[0057] like Figure 3 As shown, the yaw axis assembly 11 includes a lower shell assembly 111, an upper shell assembly 112, a front shell assembly 113, and a rear shell 114. The yaw assembly 11 is the core drive module for the gimbal 10 to rotate along the yaw direction (yaw axis), and is integrated inside the lower shell assembly 111.

[0058] like Figure 6 and Figure 7 As shown, the lower housing assembly 111 contains a yaw axis drive device, which drives the camera device to rotate around the yaw axis in the yaw direction. Specifically, the yaw axis drive device is a yaw axis stepper motor 115.

[0059] like Figure 2 and Figure 11As shown, the yaw axis stepper motor 115 includes a yaw axis stepper motor 1151 and a yaw axis reduction assembly connected to the output shaft of the yaw axis stepper motor 1151; the pitch axis assembly 12 is connected to the yaw axis reduction assembly. Specifically, the yaw axis reduction assembly includes a yaw axis worm gear 1152 and a yaw axis worm 1153. The yaw axis worm 1153 is coaxially and fixedly connected to the output shaft of the yaw axis stepper motor 1151, and the yaw axis worm gear 1152 and the yaw axis worm 1153 mesh and transmit power. A yaw connecting shaft 1154 is fixedly connected to the center of the yaw axis worm gear 1152, and the pitch axis assembly 12 is fixedly connected to the yaw connecting shaft 1154, thereby realizing the connection between the pitch axis assembly 12 and the yaw axis reduction assembly.

[0060] The yaw axis stepper motor 115 provides power for the camera equipment to rotate around the yaw axis. Specifically, the yaw axis stepper motor 1151 outputs basic power, which is transmitted through the vertical meshing of the yaw axis worm gear 1153 and the yaw axis turbine 1152, achieving a large reduction ratio and a power-off self-locking function. This design not only amplifies the torque, ensuring that the camera equipment can rotate smoothly horizontally, but also effectively prevents natural drift that may occur under heavy load.

[0061] In some implementations, such as Figure 6 and Figure 7 As shown, the lower housing assembly 111 also includes a lower housing 1111, a base 1112, and a yaw axis motor mount 1114. The base 1112 is fixedly connected to the bottom of the lower housing 1111. The yaw axis motor mount 1114 is fixedly connected to the top of the lower housing 1111, and the yaw axis stepper motor 115 is fixedly connected to the yaw axis motor mount 1114.

[0062] The lower shell 1111 serves as the external protective housing for the yaw axis assembly 11, providing a unified mounting standard for all internal functional components and effectively isolating dust intrusion and minor impacts from the outdoor environment, thus improving the overall reliability of the device. The base 1112 supports the entire yaw axis assembly 11 and other components of the gimbal 10, and can be connected to an external mechanical tripod via a standard interface, thereby stably supporting the entire gimbal shooting device 1000 and ensuring overall stability during placement or installation. The yaw axis motor mount 1114 rigidly secures the yaw axis stepper motor 115, effectively suppressing vibrations generated during its operation and ensuring the smoothness and precision of the transmission system.

[0063] In some implementations, such as Figure 7As shown, the yaw axis assembly 11 also includes a yaw axis sensor, which is used to detect the angle and speed of the camera device rotating around the yaw axis in real time. In this embodiment, the yaw axis sensor adopts a yaw axis Hall plate 1115. Specifically, a groove is provided on the top of the yaw axis motor mount 1114, and the yaw axis Hall plate 1115 is fixedly connected in the groove, so that the yaw axis Hall plate 1115 is located between the yaw axis motor mount 1114 and the yaw axis stepper motor 115, ensuring that the sensing position is compact and stable.

[0064] Correspondingly, the yaw axis assembly 11 also includes a magnet (not shown in the figure). This magnet is fixedly connected to the output end of the yaw axis stepper motor 115, specifically arranged on the end face of the yaw axis turbine 1152 away from the yaw connection shaft 1154, and precisely aligned axially and radially with the yaw axis Hall plate 1115. When the yaw axis stepper motor 115 drives the camera device to rotate around the yaw axis, the magnet rotates synchronously with the yaw axis turbine 1152, and its magnetic field changes are sensed in real time by the yaw axis Hall plate 1115, thereby outputting corresponding pulses or analog signals.

[0065] The yaw axis Hall plate 1115, together with the detection structure (i.e., magnet) at the output end of the yaw axis stepper motor 115, forms a non-contact angle detection structure. This structure can acquire the real-time rotation angle and speed information of the yaw connecting shaft 1154 with high precision and high reliability, thereby acquiring the real-time rotation angle and speed information of the camera device and feeding the data back to the control module to achieve closed-loop control. In this embodiment, the sensing system supports an angle positioning accuracy of ±0.1°, effectively ensuring the stable tracking and precise pointing performance of the gimbal 10 under heavy load and long focal length conditions.

[0066] In other embodiments, the yaw axis sensor can also employ an optical encoder, magnetic encoder, rotary transformer, potentiometer, or a multi-sensor fusion scheme based on an inertial measurement unit (IMU). For example, a miniature incremental or absolute optical encoder can be directly integrated into the output of the yaw axis stepper motor 115; or a high-resolution magnetic encoder chip can be used to replace the Hall plate to obtain higher anti-interference capability and temperature stability; or complementary filtering can be performed by combining gyroscope data in the IMU under complex dynamic scenarios to further improve the robustness of angle calculation under high-speed motion. The above alternatives can be flexibly selected according to cost, accuracy, environmental adaptability, and power consumption requirements, and all can achieve effective monitoring of the motion state of the yaw connecting axis 1154, thereby achieving effective monitoring of the motion state of the camera device.

[0067] like Figure 8As shown, the upper housing assembly 112 includes an upper housing 1121, a knob 1123, and a position sensor. The knob 1123 is rotatably mounted on the outside of the upper housing 1121 and extends through the upper housing 1121 via a mounting shaft extending from its inner end, partially penetrating the interior of the upper housing 1121 for zooming operations on the camera device. The position sensor is fixedly disposed inside the upper housing 1121 for real-time detection of the rotation angle and speed of the knob 1123.

[0068] Specifically, the mounting shaft of knob 1123 is coaxial and rigidly connected to the detection shaft of the position sensor, allowing the rotational motion of knob 1123 to be directly transmitted to the sensing element (such as an encoder or magnetic ring) inside the position sensor. This enables high-precision, lag-free detection of the rotation angle and speed of knob 1123. This direct coupling method avoids backlash and wear introduced by intermediate transmission mechanisms such as gears and connecting rods, ensuring corresponding linearity and long-term stability of operation.

[0069] In this embodiment, the position sensor uses an encoder 1122, preferably a high-resolution photoelectric encoder or a magnetic rotary encoder, to balance accuracy, anti-interference ability and environmental adaptability, and ensure accurate acquisition and reliable transmission of user operation signals.

[0070] The upper shell 1121 serves as the upper protective housing for the yaw axis assembly 11. It works in close conjunction with the lower shell 1111, rear shell 114, and front shell assembly 113 to form a closed protective structure, effectively isolating the device from dust, moisture, and minor mechanical impacts in the outdoor environment. This significantly improves the reliability and durability of the entire unit under complex field conditions. The encoder 1122 converts the operation information from the knob 1123 into electrical signals and transmits them to the control module, thereby enabling stepless and precise adjustment of the focal length or focus parameters by linking the camera equipment. The knob 1123 is particularly suitable for shooting scenarios requiring high-precision manual control, such as slow zoom tracking in wildlife observation and precise focus calibration for distant targets, greatly improving the operational efficiency and image quality for single-person operation.

[0071] In other embodiments, the position sensor may also employ a Hall angle sensor, a potentiometer, an anisotropic magnetoresistive (AMR) or tunnel magnetoresistive (TMR) sensor, a rotary transformer, or a non-contact angle detection device based on optical / capacitive principles. For example, a Hall angle sensor can achieve long-life angle feedback without mechanical contact; a potentiometer is suitable for cost-sensitive applications; while an AMR / TMR sensor can maintain excellent linear output and repeatability accuracy in environments with strong vibration, wide temperature range, or high electromagnetic interference. These alternatives can be flexibly selected based on product positioning, environmental adaptability, power consumption, and accuracy requirements, all of which effectively support reliable sensing and system response of the knob 1123's operating signal.

[0072] In some implementations, such as Figure 8As shown, the upper housing assembly 112 also includes a trigger button 1124 and a battery 1125. The trigger button 1124 is fixedly installed on the outer wall of the upper housing 1121 and is used to reset the gimbal 10 for easy one-handed operation by the user; the battery 1125 is fixedly installed on the inner wall of the upper housing 1121 and provides power to the gimbal 10.

[0073] Trigger button 1124 is used to trigger the quick reset function of gimbal 10. When the user presses trigger button 1124, the control module receives a reset command and drives the yaw axis assembly 11 and pitch axis assembly 12 to automatically rotate back to the preset initial position (e.g., horizontal centering attitude), facilitating quick restoration of standard shooting composition or restarting the tracking task, significantly improving operational efficiency, especially suitable for dynamic scenarios such as bird watching and sports event tracking that require frequent angle resets. Battery 1125, as a built-in power module, provides continuous and stable power support for the gimbal 10's drive system, control module, and various sensors, ensuring that the equipment can achieve long-term, highly reliable observation and shooting operations in outdoor environments.

[0074] like Figure 9 As shown, the front housing assembly 113 includes a front housing 1131 and a joystick 1132. Specifically, the joystick 1132 is fixedly embedded in the outer wall of the front housing 1131 and is used to control the movement trajectory of the gimbal 10 along the yaw and pitch directions.

[0075] The front shell 1131 serves as a protective housing for the human-computer interaction area, providing physical protection for the internal structure and integrating various operating components through a rational layout, conforming to ergonomics and outdoor one-handed operation logic. The joystick 1132 supports two-dimensional multi-directional control, allowing synchronous or independent adjustment of the camera's movement along the yaw and pitch directions, and features stepless speed regulation—that is, the output signal continuously changes with the offset of the joystick 1132, thereby achieving a smooth transition from micro-fine adjustments to high-speed continuous tracking, fully meeting the dynamic tracking needs of fast-moving targets such as birds and running animals.

[0076] In some implementations, such as Figure 9 As shown, the front housing assembly 113 also includes a mode button 1133. Specifically, the mode button 1133 is fixedly embedded in the outer wall of the front housing 1131 and is used to switch the shooting mode of the camera device.

[0077] With the mode button 1133, users can quickly switch between multiple working modes (such as intelligent follow shooting, direction lock, panoramic scanning, etc.) with one click, flexibly adapting to the operational needs of different field observation scenarios such as bird watching, sports events, and nature monitoring.

[0078] In some implementations, such as Figure 9As shown, the front housing assembly 113 also includes a shooting button 1134. Specifically, the shooting button 1134 is fixedly embedded in the outer wall of the front housing 1131 and is used to trigger the shooting action of the camera device.

[0079] Specifically, users can directly start the camera to take photos or record videos by pressing the shutter button 1134 without having to operate the camera. This significantly improves the response speed and ease of operation when shooting handheld or fixed on a tripod, and is especially suitable for capturing fleeting dynamic targets.

[0080] In some implementations, such as Figure 9 As shown, the front housing assembly 113 also includes an indicator light guide post 1135 and a power switch 1136. Specifically, the indicator light guide post is fixedly embedded in the outer wall of the front housing 1131 to indicate the operating status of the gimbal 10; the power switch 1136 is fixedly embedded in the outer wall of the front housing 1131 to control the opening and closing of the gimbal 10.

[0081] The indicator light guide column 1135 is used to visually display the operating status of the gimbal 10. For example, by turning the indicator light guide column 1135 on and off, the gimbal is indicated to be in the current power-on or power-off state. The change of different colors (such as green, orange, and red) reflects the power level of the battery 1125, which makes it easy for users to quickly identify the device status in strong outdoor light environments, thereby improving operating efficiency and user experience.

[0082] The power switch 1136 is used to control the start and stop of the gimbal 10. Its design incorporates a low-power management strategy, effectively cutting off power to unnecessary circuits in optical mode, significantly reducing standby power consumption. Combined with the built-in battery 1125, it achieves longer battery life, meeting the needs of long-term field observation and shooting missions.

[0083] like Figure 3 and Figure 10 As shown, the rear shell 114, lower shell 1111, upper shell 1121, and front shell 1131 fit tightly together to form the complete outer shell of the yaw shaft assembly 11. Figure 7 and Figure 8 As shown, the core electronic components such as the yaw axis stepper motor 115 (as a yaw axis drive device), the yaw axis Hall plate 1115 (as a yaw axis sensor), the encoder 1122 (as a position sensor), and the battery 1125 are all integrated and installed inside the housing.

[0084] The enclosure features a fully enclosed structure design, which not only provides comprehensive mechanical protection for the internal motor, circuits and sensing components, but also effectively blocks the intrusion of outdoor environmental factors such as sand, moisture and light rain, significantly improving the reliability, safety and long-term durability of the whole machine under complex field conditions.

[0085] like Figure 4 and Figure 5 As shown, the pitch axis assembly 12 is the core drive module for the gimbal 10 to rotate along the pitch axis. It works in conjunction with the yaw axis assembly 11 to achieve omnidirectional control of the camera equipment. The pitch axis assembly 12 includes a pitch axis drive device, which drives the camera equipment to rotate around the pitch axis in the pitch direction. Specifically, the pitch axis drive device uses a pitch axis stepper motor 125.

[0086] like Figure 1 and Figure 11 As shown, the pitch axis stepper motor 125 includes a pitch axis stepper motor 1251 and a pitch axis reduction assembly connected to the output shaft of the pitch axis stepper motor 1251; the camera equipment is connected to the pitch axis reduction assembly. Specifically, the pitch axis reduction assembly includes a pitch axis worm gear 1252 and a pitch axis worm 1253. The pitch axis worm 1253 is coaxially and fixedly connected to the output shaft of the pitch axis stepper motor 1251, and the pitch axis worm gear 1252 meshes with the pitch axis worm 1253 for transmission. A pitch connecting shaft 1254 is coaxially and fixedly connected to the center of the pitch axis worm gear 1252.

[0087] The pitch axis stepper motor 125 provides power for the camera equipment to rotate around the pitch axis. Specifically, the pitch axis stepper motor 1251 outputs basic power, which meshes with the helical teeth of the pitch axis worm gear 1253 and the pitch axis turbine 1252 to achieve efficient high torque output and low noise operation. This design not only meets the rotation requirements of the 5kg-class heavy-load telephoto camera 20, but also has a power-off self-locking function to ensure that the pitch axis assembly 12 will not sag naturally due to gravity when the power is interrupted, thereby ensuring the safety and stability of the camera equipment.

[0088] In addition, the overall design of the pitch axis assembly 12 takes into account the structural rigidity and motion accuracy under high load conditions, so that the gimbal 10 can still maintain a stable and precise pitch angle adjustment even when carrying heavy professional camera equipment, making it suitable for various complex shooting scenarios.

[0089] In some implementations, such as Figure 4 and Figure 5 As shown, the pitch axis assembly 12 also includes a motor housing 122, and the pitch axis stepper motor 125, which serves as a pitch axis drive device, is fixedly installed inside the motor housing 122.

[0090] The motor housing 122 not only provides a stable mounting base for the pitch axis stepper motor 125, but also effectively protects the motor from outdoor dust, moisture and minor impacts through its sealed design, ensuring the stability and reliability of the transmission system.

[0091] In some implementations, such asFigure 2 , Figure 4 and Figure 5 As shown, the pitch axis assembly 12 also includes a pitch axis motor support 121. Specifically, the pitch axis motor support 121 is fixedly connected to, for example, Figure 6 The output terminal of the yaw axis stepper motor 115 shown is fixedly connected to, for example, Figure 11 The yaw connection shaft 1154 is located at the center of the yaw axis turbine 1152. The pitch axis motor support 121 serves as a key mechanical interface, tightly connecting the pitch axis assembly 12 to the main structure of the gimbal 10. It also provides rigid support for the pitch axis stepper motor 125, effectively counteracting the force-rectangular deformation generated under heavy load conditions and ensuring the overall rigidity and stability of the system.

[0092] The motor housing 122 is rotatably connected to the pitch axis motor support 121 around the pitch axis, so that the pitch axis stepper motor 125 is rotatably connected to the pitch axis motor support 121 around the pitch axis. For example, a rotating shaft (not shown in the figure) is coaxially fixedly connected to the outer wall of opposite sides of the motor housing 122. A rotating hole is opened on the pitch axis motor support 121 at the position corresponding to the rotating shaft. The rotating shaft is rotatably inserted into the rotating hole at the corresponding position to realize the rotatable connection between the motor housing 122 and the pitch axis motor support 121.

[0093] The output end of the pitch axis stepper motor 125 is fixedly connected to the pitch axis motor support 121, i.e. Figure 11 The pitch connecting shaft 1254 at the center of the pitch axis turbine 1152 passes through the motor housing 122 and is fixedly connected to the pitch axis motor support 121, forming a stable power transmission path. The camera equipment is mounted on the motor housing 122; that is, the telephoto camera 20 and the camera main unit 30 are mounted on the motor housing 122, ensuring a reasonable layout between the equipment's center of gravity and the pitch axis, reducing the impact of overturning moment on system stability. This design not only enhances the installation rigidity and operability of the camera equipment but also improves the dynamic response performance and tracking accuracy of the gimbal 10 under heavy load conditions, making it particularly suitable for professional long-distance photography needs.

[0094] In summary, the pitch axis motor support 121 and its precise fit with the motor housing 122 constitute a robust yet flexible power transmission and support system, significantly improving the reliability and ease of operation of the entire gimbal system in complex environments.

[0095] In some implementations, such as Figure 5 As shown, the pitch axis assembly 12 also includes a pitch axis sensor, which is used to detect the angle and speed of the camera device's rotation around the pitch axis in real time. In this embodiment, the pitch axis sensor is a pitch axis Hall plate 124. Specifically, the pitch axis Hall plate 124 is fixedly connected to the outer wall of the pitch axis motor support 121.

[0096] Correspondingly, the pitch axis assembly 12 also includes a magnet bracket 123. Specifically, the magnet bracket 123 is fixedly connected to the outer wall of the motor housing 122, and the magnet bracket 123 and the pitch axis Hall plate 124 are precisely aligned in space. Further, the magnet bracket 123 includes a circular protective cover and a frame fixedly connected to the top of the circular protective cover. The circular protective cover is rotatably fitted onto the rotation shaft at the corresponding position of the pitch axis motor support 121, and covers the pitch axis Hall plate 124 therein; the top of the frame is fixedly connected to the motor housing 122, thereby ensuring that the magnet bracket 123 rotates synchronously with the motor housing 122 around the pitch axis.

[0097] In actual operation, the magnet (usually a multi-stage ring magnet, not separately shown in the figure) is fixed inside the circular protective cover or integrally formed with it, rotating with the motor housing 122; while the pitch axis Hall plate 124, as a stationary sensing unit, outputs corresponding angle and speed signals by sensing changes in the rotating magnetic field. The two together constitute a non-contact angle detection system, which can achieve high-resolution, low-latency pitch axis motion feedback, thereby forming a closed-loop control with the control module, significantly improving the rotation accuracy, response speed, and anti-disturbance capability of the gimbal 10 under a heavy load of 5kg.

[0098] In other embodiments, the pitch axis sensor can also employ an optical encoder, magnetic encoder, rotary transformer, potentiometer, or a high-precision angle sensor based on the principles of anisotropic magnetoresistive (AMR) / tunneling magnetoresistive (TMR). For example, a miniature absolute magnetic encoder can be directly integrated into the end of the rotating shaft of the motor housing 122; or a rotary transformer can be used in scenarios with high reliability requirements to withstand extreme temperatures and strong electromagnetic interference; or an inertial measurement unit (IMU) can be combined for multi-source data fusion to further enhance the robustness of dynamic tracking. The above alternatives can be flexibly selected according to product positioning, environmental adaptability, and cost control requirements, and all can effectively support the accurate perception and closed-loop control of the camera equipment's motion state around the pitch axis.

[0099] In some implementations, such as Figure 6 and Figure 7 As shown, the control module is integrated inside the lower shell assembly 111. Specifically, the control module is the driver board assembly 1113.

[0100] The drive board assembly 1113, as the core control unit of the gimbal 10, is responsible for coordinating the motion control of the camera equipment around the yaw and pitch axes. It is configured to receive commands from user operations (such as trigger buttons 1124, joysticks 1132, etc.) or upper-level systems (such as remote controls, mobile terminals, or automatic tracking algorithms), and generate high-precision drive signals accordingly to control the start / stop, speed, and rotation direction of the yaw axis stepper motor 115 and the pitch axis stepper motor 125, respectively. By integrating real-time feedback data from sensors such as the yaw axis Hall plate 1115 and the pitch axis Hall plate 124, the drive board assembly 1113 achieves closed-loop control of the horizontal (yaw) and vertical (pitch) motion of the gimbal 10, ensuring stable, accurate, and responsive dynamic performance even under heavy load conditions.

[0101] In some implementations, such as Figure 1 and Figure 2 As shown, the gimbal shooting device 1000 also includes a connector 40 for mounting a camera device, which is fixedly connected to the motor housing 122 via the connector 40.

[0102] Specifically, connector 40 includes a connecting key 41 and a connecting base 42. For example... Figure 12 The camera main unit 30 shown is fixedly connected to the top of the telephoto camera 20 via a connecting key 41. For example, the connecting key 41 includes a connecting buckle fixedly connected to the top of the telephoto camera 20 and a connecting block fixedly connected to the bottom of the camera main unit 30. The connecting block is inserted into the connecting buckle and is interference-fitted with it to achieve a fixed connection between the camera main unit 30 and the telephoto camera 20. A connecting seat 42 is fixedly connected to the bottom of the telephoto camera 20. The connecting seat 42 is fixedly connected to the motor housing 122 of the gimbal 10 to achieve the installation of the camera equipment on the gimbal 10.

[0103] The telephoto camera 20 and the main camera unit 30 work together to form a high-performance telephoto long-distance recognition and shooting system, capable of accurately identifying and capturing targets hundreds of meters away in high definition. When the gimbal 10 yaws or tilts, the camera equipment synchronously adjusts its shooting angle; simultaneously, the user can... Figure 9 The operation buttons (such as shooting button 1134, mode button 1133, etc.) on the front shell assembly 113 shown can remotely complete shooting trigger and mode switching operations, which are fully adapted to professional application scenarios such as outdoor bird watching, wildlife tracking, and ecological monitoring.

[0104] To further improve assembly efficiency and safety, the motor housing 122 is equipped with a quick-release clamping plate 126. The quick-release clamping plate 126 adopts a slot-type locking structure and is assembled and fixed with the connector 40 to achieve quick installation and reliable fixation of the camera equipment.

[0105] Specifically, the top of the quick-release clamping plate 126 has a connecting groove extending through both ends along its length; corresponding limiting grooves extending through both ends along the length are provided on the side walls of the connecting groove. The bottom of the connecting seat 42 is slidably inserted into the connecting groove, and limiting strips are provided on the opposite side walls of the connecting seat 42 at positions corresponding to the limiting grooves. The limiting strips are slidably inserted into the limiting grooves simultaneously, forming a guiding and anti-detachment constraint. This structure allows the connecting seat 42 to quickly slide into or quickly pull out of the quick-release clamping plate 126, achieving efficient assembly of the connecting seat 42 and the quick-release clamping plate 126.

[0106] In addition, the side wall of the quick-release clamping plate 126 is provided with a threaded hole. The threaded hole passes through the side wall of the quick-release clamping plate 126 and communicates with the corresponding limiting groove. A fastening bolt is threaded into the threaded hole. When the connecting seat 42 is slidably inserted into the connecting groove, it is quickly assembled with the quick-release clamping plate 126 through the cooperation of the limiting strip and the limiting groove. After tightening the fastening bolt, its end presses against the limiting strip at the corresponding position of the connecting seat 42, thereby firmly locking the connecting seat 42 in the connecting groove of the quick-release clamping plate 126 to prevent loosening or falling off due to vibration or gravity.

[0107] The quick-release clamp plate 126 combined with the connector 42 of the connector 40 not only supports the quick disassembly and replacement of the telephoto camera 20 and the camera main unit 30 in outdoor environments, but also effectively prevents accidental contact or accidental detachment, taking into account both ease of operation and structural reliability.

[0108] The connector 42 of the connector 40 serves as a key connecting component between the camera equipment and the gimbal 10. It forms a high-rigidity fixed connection with the motor housing 122 through the quick-release clamping plate 126, ensuring that the angle changes generated by the gimbal 10 during yaw and pitch movements can be accurately and without lag transmitted to the camera equipment. This achieves closed-loop control of "gimbal adjustment - shooting angle synchronization", providing a stable mechanical foundation for high-magnification long-distance imaging.

[0109] It should be noted that there is a height difference between the center of gravity of the camera device and the pitch axis. Due to the optical structure characteristics of the telephoto camera 20, its center of gravity is usually located above the pitch axis, meaning there is a vertical height difference between the center of gravity of the telephoto camera 20 and the pitch axis, and the center of gravity of the telephoto camera 20 is higher than the pitch axis. This eccentric load condition will generate a continuous overturning moment, placing higher demands on the structural rigidity and drive stability of the gimbal 10. This invention effectively overcomes this adverse effect through the coordinated design of the pitch axis motor support 121, the rigid connector 40, and the reduction self-locking transmission, ensuring that the system can maintain high precision and high stability operation under large eccentric loads.

[0110] This embodiment provides a high-load gimbal system that, through multi-dimensional collaborative innovation, achieves significant and beneficial technical effects in structural design, drive control, human-computer interaction, and environmental adaptability. Specifically, these effects are reflected in the following aspects: (1) Overcoming the performance contradiction between "high load" and "high precision and stable rotation": When traditional gimbals carry professional telephoto equipment weighing more than 5kg (such as Canon RF 800mm f / 11, Nikon Z 600mm f / 4, etc.), they often experience shaking, lag or even instability due to insufficient torque, weak structural rigidity or large transmission clearance. This system adopts dual stepper motors (including worm gear low backlash transmission) for yaw axis and pitch axis, which not only have sufficient output torque to support stable operation of 5kg+ load, but also effectively prevent sag under heavy load with power failure self-locking function; at the same time, dual-axis closed-loop feedback control (Hall plate + magnetic ring) achieves ±0.1° level angle positioning accuracy, ensuring no ghosting or jumping during high-speed tracking, truly taking into account both "high load" and "high dynamic accuracy".

[0111] (2) Innovative pitch axis support architecture to solve the structural stability problem under eccentric load: In response to the overturning moment problem caused by the fact that the center of gravity of telephoto lenses is generally higher than the pitch axis, this invention abandons the traditional cantilever layout and pioneers a "power-support separation" structure: the pitch axis assembly 12 is rigidly connected to the output end of the yaw axis assembly 11 through the pitch axis motor support 121, and the motor housing 122 rotates around the pitch axis motor support 121. This design transforms the single-sided cantilever force into an approximate double-support structure, which greatly improves the bending stiffness, effectively suppresses deformation, swaying and power failure sagging under heavy load, and fundamentally improves the structural reliability of the system under eccentric conditions.

[0112] (3) Achieving a high-rigidity, quick-release, and reliable connection for the camera equipment: Through the cooperation between the connector 42 of the connector 40 and the slot-type quick-release clamping plate 126, the camera equipment can be quickly assembled and disassembled without any micro-gaps; the dual mechanism of the limit strip and limit groove guide + fastening bolt locking ensures both convenient outdoor operation and eliminates the risk of loosening. This connection method ensures that the telephoto camera 20 and the gimbal 10 form a high-rigidity whole, so that the motion commands of the gimbal 10 are accurately transmitted to the camera equipment, avoiding image blurring or tracking lag caused by the flexibility of the connection.

[0113] (4) Integrated human-computer interaction design to improve the efficiency of single-person field operations: The housing of the yaw axis assembly 11 integrates a knob 1123 (zoom), a joystick 1132 (two-dimensional trajectory control), a mode button 1133 (follow shot / lock / panorama switching), a shooting button 1134 (remote trigger), a trigger button 1124 (one-click reset), a power button 1136, an indicator light guide column 1135, and other full-function operation units. Users can complete the entire process of composition, tracking, and shooting without touching the camera body, which greatly improves the success rate of capturing images and the smoothness of operation in dynamic scenarios such as bird watching and ecological observation.

[0114] (5) Fully enclosed protective structure to adapt to complex outdoor environment: The integrated sealed shell composed of upper shell 1121, lower shell 1111, front shell 1131 and rear shell 114 effectively isolates sand, moisture and light rain; internal electronic components (control module, motor, sensor, battery, etc.) are fully protected to ensure the high reliability and durability of the equipment under long-term high load operation in the field.

[0115] (6) Revealing and solving long-overlooked technical pain points: This system directly addresses the industry's long-standing misconception that "3kg" is a "large load," and for the first time constructs a complete technical solution for professional telephoto users with a load capacity of 5kg+. More importantly, it reveals that the blurring of images in long-distance shooting is often mistakenly attributed to the lens or shutter, but actually stems from the fundamental limitations of the gimbal system in terms of load capacity, structural rigidity, and motion accuracy—a highly hidden technical pain point. This invention reconstructs the performance boundaries from the ground up, enabling users to truly obtain a stable imaging experience that is "what you see is what you get."

[0116] In summary, the high-load gimbal system provided in this embodiment not only fills the market gap for high-performance telephoto photography gimbals, but also achieves a systematic breakthrough in mechanical architecture, control logic, and user experience. It is particularly suitable for high-requirement application scenarios such as professional wildlife photography, sports event filming, security monitoring, and scientific research observation.

[0117] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0118] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A high-load pan-tilt system, characterized in that, It includes a control module and a gimbal shooting device (1000) that is communicatively connected to the control module. The gimbal shooting device (1000) includes a gimbal (10) and a camera device mounted on the gimbal (10). The gimbal (10) includes a yaw axis assembly (11) and a pitch axis assembly (12). The pitch axis assembly (12) is located at the output end of the yaw axis assembly (11), and the camera device is located at the output end of the pitch axis assembly (12). The yaw axis assembly (11) includes a yaw axis stepper motor (115), which is used to drive the camera device to rotate around the yaw axis in the yaw direction. It includes a yaw axis stepper motor (1151) and a yaw axis reduction assembly connected to the output shaft of the yaw axis stepper motor (1151). The pitch axis assembly (12) includes a pitch axis stepper motor (125), which is used to drive the camera device to rotate around the pitch axis in the pitch direction. It includes a pitch axis stepper motor (1251) and a pitch axis reduction assembly connected to the output shaft of the pitch axis stepper motor (1251). The pitch axis assembly (12) further includes a pitch axis motor support (121), which is fixedly connected to the output end of the yaw axis stepper motor (115); the pitch axis stepper motor (125) is rotatably connected to the pitch axis motor support (121) around the pitch axis, and the output end of the pitch axis stepper motor (125) is fixedly connected to the pitch axis motor support (121); The camera device is mounted on the pitch axis stepper motor (125), and there is a height difference between the center of gravity of the camera device and the pitch axis.

2. The large-load pan-tilt system according to claim 1, characterized in that, The yaw axis assembly (11) also includes a yaw axis sensor, which is used to detect the angle and speed of the camera device rotating about the yaw axis; And / or, the pitch axis assembly (12) further includes a pitch axis sensor for detecting the angle and speed of rotation of the camera device about the pitch axis.

3. The large-load pan-tilt system according to claim 1, characterized in that, The yaw axis assembly (11) also includes a housing, in which the yaw axis stepper motor (115) is mounted; The outer casing is provided with a knob (1123), which is used to zoom the camera device; The housing contains a position sensor, which is used to detect the rotation angle and speed of the knob (1123).

4. A high-load pan-tilt system according to claim 3, characterized in that, The outer casing is provided with a rocker arm (1132), which is used to control the movement trajectory of the gimbal (10) along the yaw and pitch directions; And / or, the housing is provided with a mode button (1133), the mode button (1133) is used to switch the shooting mode of the camera device; And / or, the housing is provided with a shooting button (1134), which is used to trigger the shooting action of the camera device.

5. A large-load pan-tilt system according to claim 3, characterized in that, The housing contains a battery (1125) that powers the gimbal (10). And / or, the housing is provided with a switch (1136) for controlling the opening and closing of the gimbal (10).

6. A large-load pan-tilt system according to claim 3, characterized in that, The outer casing is provided with a trigger button (1124), which is used to reset the gimbal (10) to a preset initial posture; And / or, the housing is provided with an indicator light guide column (1135), which is used to indicate the operating status of the gimbal (10).

7. A large-load pan-tilt system according to claim 1, characterized in that, The pitch axis assembly (12) also includes a motor housing (122), the pitch axis stepper motor (125) is installed inside the motor housing (122), the motor housing (122) is rotatably connected to the pitch axis motor support (121) about the pitch axis, and the camera device is installed on the motor housing (122).

8. A large-load pan-tilt system according to claim 7, characterized in that, The gimbal shooting device (1000) also includes a connector (40) for mounting the camera device, and the camera device is fixedly connected to the motor housing (122) through the connector (40).

9. A high-load pan-tilt system according to claim 8, characterized in that, The motor housing (122) is provided with a quick-release clamping plate (126), which is assembled and fixed with the connector (40) using a slot-type locking structure.

10. A large-load pan-tilt system according to claim 1, characterized in that, The yaw axis reduction assembly includes a meshing yaw axis turbine (1152) and a yaw axis worm (1153), wherein the yaw axis worm (1153) is connected to the output shaft of the yaw axis stepper motor (1151); And / or, the pitch axis reduction assembly includes a pitch axis worm gear (1252) and a pitch axis worm (1253) meshing with each other, the pitch axis worm (1253) being connected to the output shaft of the pitch axis stepper motor (1251).

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