Holder and movable platform

Abstract

The utility model provides a cradle head and a movable platform, the cradle head comprises an adjusting mechanism and a pre-tightening mechanism, and the adjusting mechanism comprises a first part and a second part; the second component can slide along a preset guide direction relative to the first component so as to adjust the pose of the load of the holder; the pre-tightening mechanism comprises a rolling piece which can rotate around the axis of the first shaft so that the rolling piece can roll on the surface abutting against the second component. The pressing and holding piece is connected with the first shaft, and the first shaft can do translational motion under the limiting action of the pressing and holding piece; the elastic piece is connected with the pressing and holding piece and used for providing elastic force for the pressing and holding piece; the pressing and holding piece can rotate around the axis of the second shaft under the elastic force effect of the elastic piece so as to drive the first shaft to conduct translational motion, and the rolling piece conducts translational motion along with the first shaft and keeps abutting against the second component. According to the holder and the movable platform, the stability of relative sliding of the first component and the second component can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of a gimbal, and in particular to a gimbal and a movable platform. BACKGROUND

[0002] In order to reduce the friction between two components of the adjusting mechanism of the gimbal, such as a sliding component and a guide component, a rolling component is usually arranged on the sliding component, and the rolling component rolls relative to the guide component to reduce the friction between the sliding component and the guide component. However, due to the non-uniformity of the gap caused by the manufacturing and assembly errors of the two components, or the change of the gap caused by vibration and the like, the rolling component cannot be in good abutment with the guide component during the relative sliding of the two components, which causes the two components to shake easily during the relative sliding, and greatly reduces the stability of the relative sliding. CONTENT OF THE UTILITY MODEL

[0003] The present application provides a gimbal and a movable platform, and aims to improve the stability of the relative sliding of two components, such as a first component and a second component, of the adjusting mechanism of the gimbal.

[0004] An embodiment of the present application provides a gimbal, comprising:

[0005] An adjusting mechanism, comprising:

[0006] A first component;

[0007] A second component, which is capable of sliding along a preset guide direction relative to the first component to adjust the pose of a load of the gimbal;

[0008] A pre-tightening mechanism, comprising:

[0009] A rolling component, which is movably connected to the first component through a first shaft and is used to abut against the second component; the rolling component is capable of rotating around the axis of the first shaft, so that the rolling component rolls on the surface abutting against the second component;

[0010] A pressing component, which is rotatably connected to the first component through a second shaft, and the pressing component is capable of rotating around the axis of the second shaft; the pressing component is connected to the first shaft, and the first shaft is capable of performing translational motion under the limiting action of the pressing component;

[0011] An elastic component, which is connected to the pressing component and is used to provide an elastic force to the pressing component;

[0012] The pressing component is capable of rotating around the axis of the second shaft under the elastic force of the elastic component, so as to drive the first shaft to perform translational motion, and the rolling component keeps abutting against the second component by following the translational motion of the first shaft.

[0013] In the gimbal according to the embodiments of the present application, the pressing member comprises a first end and a second end away from the first end, and the first end of the pressing member is connected with the first shaft.

[0014] In the gimbal according to the embodiments of the present application, the gimbal further satisfies any one of the following conditions:

[0015] Condition one: the middle part or the second end of the pressing member is connected with the second shaft, and the elastic member is connected with the first shaft;

[0016] Condition two: the middle part or the second end of the pressing member is connected with the second shaft, and the elastic member is connected with the part of the pressing member close to the first shaft;

[0017] Condition three: the middle part or the second end of the pressing member is connected with the second shaft, and the elastic member is connected with the second shaft;

[0018] Condition four: the middle part of the pressing member is connected with the second shaft, and the second end of the pressing member is connected with the elastic member;

[0019] Condition five: the second end of the pressing member is connected with the second shaft, and the elastic member is connected with the middle part of the pressing member.

[0020] In the gimbal according to the embodiments of the present application:

[0021] In condition one: the elastic member comprises a tensile elastic member, and the first end of the pressing member keeps a tendency of approaching the second part under the pulling force of the tensile elastic member; or,

[0022] In condition two: the elastic member comprises a tensile elastic member, and the first end of the pressing member keeps a tendency of approaching the second part under the pulling force of the tensile elastic member; or,

[0023] In condition three: the elastic member comprises a torsion spring, and the first end of the pressing member keeps a tendency of approaching the second part under the torsion force of the torsion spring; or,

[0024] In condition four: the elastic member comprises a compression elastic member, and the first end of the pressing member keeps a tendency of approaching the second part under the pushing force of the compression elastic member; or,

[0025] In condition five: the elastic member comprises a tensile elastic member, and the first end of the pressing member keeps a tendency of approaching the second part under the pushing force of the tensile elastic member.

[0026] In the gimbal according to the embodiments of the present application, the second component is provided with a guide portion, and the preset guide direction is the extension direction of the guide portion.

[0027] In the gimbal according to the embodiments of the present application, the first component is provided with a limiting portion, and the limiting portion cooperates with the guide portion to enable the first component to slide relative to the second component along the extension direction of the guide portion.

[0028] In the gimbal according to the embodiments of the present application, the limiting portion is a limiting protrusion, and the guide portion is a guide groove, and the limiting protrusion slides in the limiting groove.

[0029] In the gimbal according to the embodiments of the present application, opposite sides of the first component are respectively provided with the limiting portions, opposite sides of the second component are respectively provided with the guide portions, and the limiting portions of the opposite sides of the first component correspondingly cooperate with the guide portions of the opposite sides of the second component.

[0030] In the gimbal according to the embodiments of the present application, the rolling member abuts against the guide portion and rolls on the surface of the guide portion.

[0031] In the gimbal according to the embodiments of the present application, the preset guide direction is a straight line direction.

[0032] In the gimbal according to the embodiments of the present application, the second component slides relative to the first component to adjust the translation position of the load of the gimbal.

[0033] In the gimbal according to the embodiments of the present application, the preset guide direction is a curved line direction.

[0034] In the gimbal according to the embodiments of the present application, the curved line direction is a circular arc direction.

[0035] In the gimbal according to the embodiments of the present application, the gimbal further satisfies at least one of the following conditions:

[0036] Condition one: the first component slides relative to the second component to adjust the attitude angle of the load of the gimbal.

[0037] Condition two: the load of the gimbal is located at the center position of the circular arc direction.

[0038] Condition three: the adjusting mechanism is a pitch shaft mechanism, a roll shaft mechanism, or a translation shaft mechanism of the gimbal; the pitch shaft mechanism is used to adjust the pitch angle of the load, the roll shaft mechanism is used to adjust the roll angle of the load, and the translation shaft mechanism is used to adjust the translation angle of the load.

[0039] In the gimbal according to the embodiments of the present application:

[0040] The linear distance of the connecting position of the elastic member and the pressing member relative to the second shaft is greater than the linear distance of the first shaft relative to the second shaft; or,

[0041] The elastic member comprises at least one of the following: a spring, a torsion spring, a spring sheet, and an elastic column; or,

[0042] The elastic member comprises at least one of the following: a metal elastic member, a plastic elastic member, and a rubber elastic member; or,

[0043] The axis of the first shaft is substantially parallel to the axis of the second shaft; or,

[0044] The rolling member rotates around the first shaft, or the rolling member drives the first shaft to rotate together; or,

[0045] The pressing member is fixedly connected with the first shaft, and the pressing member is rotatably sleeved on the first shaft; or,

[0046] One end of the pressing member is provided with two oppositely spaced lugs, the two lugs are respectively connected with the two ends of the first shaft, and the rolling member is at least partially located between the two lugs and is limited by the two lugs; or,

[0047] The pressing member rotates around the second shaft, or the pressing member drives the second shaft to rotate together; or,

[0048] The first component is provided with a limiting hole, the rolling member is at least partially accommodated in the limiting hole and is movable in the limiting hole, and the limiting hole is used for limiting the movement direction of the rolling member.

[0049] In the cloud platform of the embodiment of the present application, the first component is provided with two spaced supports, and the two ends of the first shaft are movably connected with the two supports respectively.

[0050] In the cloud platform of the embodiment of the present application, the support is provided with a limiting groove, the end of the first shaft is at least partially accommodated in the limiting groove, and the end of the first shaft is movable in the limiting groove, and the limiting groove is used for limiting the translation direction of the first shaft.

[0051] In the cloud platform of the embodiment of the present application, the rolling member comprises a rolling surface surrounding a circle, and the rolling surface comprises a non-contact surface which does not contact the second component when the rolling member rolls.

[0052] In the cloud platform of the embodiment of the present application, the non-contact surface comprises a first non-contact surface and a second non-contact surface, the first non-contact surface and the second non-contact surface do not contact the second component, and the first non-contact surface and the second non-contact surface are located on opposite sides of the rolling surface in the axial direction of the first shaft.

[0053] In the gimbal according to the embodiments of the present application, the first non-contact surface is directly connected with the second non-contact surface, and a convex is formed at the connection position and surrounds the circumference of the rolling member, and the convex abuts against the second component when the rolling member rolls.

[0054] The other embodiments of the present application also provide a movable platform, comprising:

[0055] a body; and

[0056] The gimbal as described above is connected with the body.

[0057] In the movable platform according to the embodiments of the present application, the movable platform comprises at least one of the following: a handheld gimbal device, and an unmanned aerial vehicle.

[0058] The gimbal and the movable platform provided by the embodiments of the present application limit the direction of rotation of the pressing member through the second shaft, and limit the movement direction of the rolling member through the pressing member, so that the rolling member can only translate when moving, and cannot be shaken at will, for example, tilted and swung, thereby greatly improving the stability of the relative sliding of the two components, for example, the first component and the second component, of the adjusting mechanism of the gimbal.

[0059] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0060] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0061] Figure 1 The structural schematic diagram of the movable platform provided by the embodiments of the present application is shown in the figure;

[0062] Figure 2 The structural schematic diagram of the gimbal load provided by the embodiments of the present application is shown in the figure;

[0063] Figure 3 The structural schematic diagram of the gimbal provided by the embodiments of the present application is shown in the figure;

[0064] Figure 4 The structural schematic diagram of the gimbal provided by the embodiments of the present application is shown in the figure;

[0065] Figure 5 The structural schematic diagram of the gimbal provided by the embodiments of the present application is shown in the figure; Figure 4 The local enlarged view of the Ω area in the figure;

[0066] Figure 6 Fig. 1 is a structural schematic diagram of a gimbal according to an embodiment of the present application; Figure 4 Fig. 2 is a structural schematic diagram of different viewing angles of the gimbal in Fig. 1;

[0067] Figure 7 Fig. 3 is a partial structural exploded schematic diagram of the gimbal according to an embodiment of the present application;

[0068] Figure 8 Fig. 4 is a structural exploded schematic diagram of the gimbal according to an embodiment of the present application.

[0069] Legend of reference signs:

[0070] 1000, movable platform; 1001, gimbal load; 100, gimbal; 200, load; 1002, body;

[0071] 10, adjusting mechanism; 101, pitch shaft mechanism; 102, roll shaft mechanism; 103, translation shaft mechanism; 11, first component; 111, limiting portion; 112, limiting hole; 113, bracket; 1131, limiting groove; 12, second component; 121, guiding portion; 122, rigid portion; 123, shaft arm portion;

[0072] 20, pre-tightening mechanism; 21, rolling element; 211, rolling surface; 2111, non-contact surface; 2112, protrusion; 212, sleeving portion; 22, pressing element; 221, lug; 23, elastic element; 24, first shaft; 25, second shaft; 26, fastener;

[0073] A, axis of the pitch shaft mechanism; B, axis of the roll shaft mechanism; C, axis of the translation shaft mechanism; D, preset guiding direction. DETAILED DESCRIPTION

[0074] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0075] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0076] It should also be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and the appended claims of the present application, the singular forms "a", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise.

[0077] It should be further understood that the term "and / or" used in the specification and the appended claims of the present application means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0078] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0079] Figure 1 is a structural schematic block diagram of the movable platform 1000 provided by the embodiments of the present application. Please refer to Figure 1 The movable platform 1000 can specifically include a gimbal load 1001 and a body 1002, and the gimbal load 1001 is connected to the body 1002.

[0080] The movable platform 1000 can not be provided with a power device by itself, for example, a handheld gimbal, etc. The movable platform 1000 can also be provided with a power device by itself, which can drive the movable platform 1000 to move. In some embodiments, the movable platform 1000 needs an external device to drive it to move. The above is only an example, and the embodiments of the present application do not specifically limit the specific implementation of the movement of the movable platform 1000. The movable platform 1000 can be a manned platform device or an unmanned platform device. The movable platform 1000 can be an aircraft, a ground movable platform, a water surface movable platform, or a movable platform in other scenarios.

[0081] For example, the aircraft can include, but is not limited to, any one of manned aircraft, logistics aircraft, aerial photography aircraft, agricultural plant protection aircraft, industry rescue aircraft, and performance aircraft. The above is only an example, and the embodiments of the present application do not specifically limit the type of aircraft. The aircraft includes manned aircraft or unmanned aircraft. The ground movable platform includes an autonomous moving vehicle, an autonomously movable robot, a handheld gimbal, a motion camera, etc. The water surface movable platform includes a ship.

[0082] For example, the aircraft can include a rotorcraft, a fixed-wing aircraft, a helicopter, or a fixed-wing-rotor hybrid aircraft, etc. The rotorcraft includes a single-rotor aircraft or a multi-rotor aircraft. The multi-rotor aircraft includes a two-rotor unmanned aircraft, a three-rotor unmanned aircraft, a four-rotor unmanned aircraft, a six-rotor unmanned aircraft, an eight-rotor unmanned aircraft, a ten-rotor unmanned aircraft, or a twelve-rotor unmanned aircraft, etc. The number of rotors can be an odd number or an even number, and the embodiments of the present application do not specifically limit it.

[0083] For example, the movable platform 1000 includes at least one of the following: a handheld gimbal device, an unmanned aerial vehicle.

[0084] Figure 2 A structure diagram of the gimbal load 1001 provided by the embodiments of the present application is provided. Please refer to Figure 2 The gimbal load 1001 can specifically include a gimbal 100 and a load 200 connected to the gimbal 100.

[0085] For example, the load 200 includes, but is not limited to, at least one of a shooting device, an acoustic detection device, a surveying device, a spraying device, an infrared detection device, a radar device, a lighting device, a communication device, and a robotic arm. Specifically, the shooting device may have a camera capable of capturing images or videos, and the shooting device includes, but is not limited to, a camera, a video camera, or a terminal device with imaging capabilities. This application embodiment only uses the load 200 as an example of a shooting device; other types of loads 200 can be implemented similarly. The gimbal 100 can rotate or move as needed, thereby allowing the load 200 to cover a wider field of view or operating range, or to maintain the stable posture of the load 200. For example, the gimbal 100 can be used to stabilize the shooting device by compensating for changes in the angle / position of the shooting device through one or more rotational / linear motion axes, thereby achieving stable shooting and improving image quality.

[0086] For example, gimbal 100 may include a single-axis gimbal, a dual-axis gimbal, or a three-axis gimbal. A single-axis gimbal can achieve rotation on one axis, such as a panoramic shooting gimbal that rotates around the yaw axis. A dual-axis gimbal can achieve rotation on two axes, such as rotation around the yaw axis and rotation around the pitch axis. A three-axis gimbal can achieve three-dimensional stabilization by rotating around three axes: the yaw axis, the pitch axis, and the roll axis. This application does not specifically limit the type of gimbal 100.

[0087] like Figure 2 As shown, the gimbal 100 may include an adjustment mechanism 10. In the illustrated embodiment, the adjustment mechanism 10 is a translation axis mechanism 103 of the gimbal 100. The translation axis mechanism 103 is used to adjust the translation angle of the load 200. Optionally, the translation axis mechanism 103 can drive the load 200 to rotate around the axis C of the translation axis mechanism 103 to adjust the translation angle of the load 200.

[0088] In some optional embodiments of this application, the adjustment mechanism 10 is the roll axis mechanism 102 of the gimbal 100, which is used to adjust the roll angle of the load 200. Optionally, the roll axis mechanism 102 is used to drive the load 200 to rotate around the axis B of the roll axis mechanism 102 to adjust the roll angle of the load 200.

[0089] In some optional embodiments of this application, the adjustment mechanism 10 is the pitch axis mechanism 101 of the gimbal 100, which is used to adjust the pitch angle of the load 200. Optionally, the pitch axis mechanism 101 is used to drive the load 200 to rotate around the axis A of the pitch axis mechanism 101 to adjust the pitch angle of the load 200.

[0090] In the illustrated embodiment, the pitch axis mechanism 101 is connected to opposite sides of the load 200, the pitch axis mechanism 101 is connected to the translation axis mechanism 103, and the translation axis mechanism 103 is connected to the roll axis mechanism 102 of the gimbal 100. The translation axis mechanism 103 can be a hollow arc-shaped rotating structure with a receiving space on one side, and at least part of the load 200 can be arranged in the receiving space. In this way, the load 200 of the gimbal 100 can cover a wider operating range, for example, in the case of a shooting device, the shooting angle can be increased. At the same time, the size of the gimbal 100 can be reduced, the modal frequency and stiffness of the gimbal 100 can be improved, the inertia coupling can be reduced, and the control performance can be improved.

[0091] Figure 3 A structural schematic diagram of the gimbal 100 provided by the embodiments of the present application is shown in FIG. 1. Please refer to FIG. 1 Figure 2 and Figure 3 The adjustment mechanism 10 can specifically include a first component 11 and a second component 12. For example, the second component 12 can slide relative to the first component 11 along a preset guide direction D to adjust the pose of the load 200 of the gimbal 100.

[0092] In the illustrated embodiment, the preset guide direction D is a curved direction. For example, the curved direction can be a circular arc direction. Optionally, the load 200 of the gimbal 100 can be located at the center position of the circular arc direction. Optionally, the load 200 of the gimbal 100 can be located at the intersection position of the axis A of the pitch axis mechanism 103, the axis B of the roll axis mechanism 102, and the axis C of the translation axis mechanism 101.

[0093] Of course, in some optional embodiments of the present application, the preset guide direction D can also be a straight line direction.

[0094] In the illustrated embodiment, the second component 12 slides relative to the first component 11 to adjust the attitude angle of the load 200 of the gimbal 100. Of course, in some optional embodiments of the present application, the second component 12 slides relative to the first component 11 to adjust the translation position of the load 200 of the gimbal 100.

[0095] The second component 12 slides relative to the first component 11. In some optional embodiments, the first component 11 can be fixed, and the second component 12 slides relative to the first component 11. In other optional embodiments, the second component 12 can be fixed, and the first component 11 slides relative to the second component 12.

[0096] For example, the first component 11 is a sliding component, and the second component 12 is a guiding component. Alternatively, the first component 11 can be a guiding component, and the second component 12 can be a sliding component.

[0097] For example, the output end of the driving assembly of the roll axis mechanism 102 can be connected with the first component 11 to drive the first component 11 to rotate around the axis B of the roll axis mechanism 102, so as to adjust the operation range of the load 200 by rotating the first component 11 to drive the load 200 to rotate around the axis B of the roll axis mechanism 102. The translation axis mechanism 103 can be connected with the first component 11, and the output end of the driving assembly of the translation axis mechanism 103 can be connected with the second component 12 to drive the second component 12 to rotate around the axis A of the translation axis mechanism 103, so as to adjust the operation range of the load 200 by rotating the second component 12 to drive the load 200 to rotate around the axis of the translation axis mechanism 103. The pitch axis mechanism 101 can be connected with the second component 12, and the output end of the driving assembly of the pitch axis mechanism 101 can be connected with the load 200 to drive the load 200 to rotate around the axis C of the pitch axis mechanism 101, so as to adjust the operation range of the load 200. For example, the first component 11 can serve as a base for the second component 12 to slide relative to the first component 11, providing a stable and accurate mounting reference, and also serving as an adapter for the roll axis mechanism 102 and the translation axis mechanism 103.

[0098] In order to reduce the friction between the two components of the adjustment mechanism of the gimbal, such as the sliding component and the guiding component, a rolling component is usually arranged on the sliding component to reduce the friction between the sliding component and the guiding component by rolling relative to the guiding component. However, due to the non-uniformity of the gap caused by the manufacturing and assembly errors of the two components, or the change of the gap caused by vibration and the like, the rolling component cannot be in good abutment with the guiding component during the relative sliding of the two components, which causes the two components to shake easily during the relative sliding, greatly reducing the stability of the relative sliding.

[0099] Therefore, the conventional solution is provided with a pre-tightening mechanism to ensure the good contact between the rolling component and the guiding component. The pre-tightening mechanism generally adopts a part size interference fit to eliminate the small gap in extrusion and generate a pre-tightening force. However, this belongs to strong micro-deformation, which is suitable for structures with relatively precise parts, relatively consistent materials and large stiffness. When the size of one of the parts changes slightly or the assembly error is large, a lot of pre-tightening force will be lost, and the automatic compensation function is lacking. For example, when the cumulative error of the guiding component is large and local micro-deformation occurs, the pre-tightening force provided by the technical solution will fail.

[0100] To this end, some conventional solutions adopt weak force large deformation to pre-tighten. For example, a pre-tightening mechanism adopts an elastic member to exert a pre-tightening force, ensuring that the pre-tightening force hardly changes under micro-deformation, effectively reducing the problem of poor contact caused by local micro-deformation, and reducing the requirements for part processing and assembly. For example, in order to solve the problem of gap change of two components, the traditional solution sets a rolling member movably, and installs an elastic member on the rolling member, so that the rolling member always abuts against the guide component under the elastic force of the elastic member, avoiding disengagement due to gap change.

[0101] However, the rolling member in the above-mentioned conventional solution cannot be well limited, and when the rolling member deviates due to gap change, it is easy to sway, for example, to tilt and swing, causing the stability of the relative sliding of the sliding component and the guide component to be affected.

[0102] Figure 4 To Figure 3 FIG. 1 is a schematic structural diagram of a gimbal 100 according to an embodiment of the present application, Figure 5 FIG. 2 is a schematic structural diagram of a pre-tightening mechanism 20 according to an embodiment of the present application, Figure 4 FIG. 3 is a partial enlarged view of the Ω area in FIG. 2. Please refer to Figure 3 , Figure 4 and Figure 5 To solve the above-mentioned technical problems in the conventional solution, in the embodiments of the present application, the gimbal 100 can further include a pre-tightening mechanism 20. For example, the pre-tightening mechanism 20 can include a rolling member 21, a pressing member 22, and an elastic member 23.

[0103] For example, the rolling member 21 is movably connected with the first component 11 through a first shaft 24, and is used to abut against the second component 12. The rolling member 21 can rotate around the axis of the first shaft 24, so that the rolling member 21 rolls on the surface abutting against the second component 12. For example, the pressing member 22 is rotatably connected with the first component 11 through a second shaft 25, and the pressing member 22 can rotate around the axis of the second shaft 25. The pressing member 22 is connected with the first shaft 24, and under the limiting action of the pressing member 22, the first shaft 24 can perform translational motion. For example, the elastic member 23 is connected with the pressing member 22, and is used to provide an elastic force to the pressing member 22.

[0104] For example, the pressing member 22 can rotate around the axis of the second shaft 25 under the elastic force of the elastic member 23, thereby driving the first shaft 24 to perform translational motion, and the rolling member 21 follows the first shaft 24 to perform translational motion while maintaining abutment against the second component 12.

[0105] In the embodiments of the present application, the rotation direction of the pressing member 22 can be limited by the second shaft 25, and the movement direction of the rolling member 21 can be limited by the pressing member 22, so that the rolling member 21 can only translate when moving, and cannot be shaken at will, for example, inclined swing, etc., thereby greatly improving the stability of the relative sliding of the first component 11 and the second component 12, improving the rigidity of the adjusting mechanism 10, and further improving the modal characteristics of the gimbal 100, so that the stability augmentation performance of the gimbal 100 can be further improved.

[0106] In the illustrated embodiments, the translational movement includes a curved translational movement. In some optional embodiments of the present application, the translational movement can include a straight translational movement. The specific type of translational movement is not specifically limited in the present application.

[0107] In the illustrated embodiments, the pressing member 22 can rotate around the second shaft 25. In some optional embodiments of the present application, the pressing member 22 can drive the second shaft 25 to rotate together. For example, the pressing member 22 is fixedly connected with the first shaft 24, and the pressing member 22 is rotatably sleeved on the first shaft 24.

[0108] In the illustrated embodiments, the rolling member 21 can rotate around the first shaft 24. In some optional embodiments of the present application, the rolling member 21 can drive the first shaft 24 to rotate together.

[0109] In the illustrated embodiments, the axis of the first shaft 24 is substantially parallel to the axis of the second shaft 25. Alternatively, the first shaft 24 and the second shaft 25 are both cylindrical. Of course, the shapes of the first shaft 24 and the second shaft 25 can also be other shapes, which are not specifically limited in the present application.

[0110] In the illustrated embodiments, the pre-tightening mechanism 20 includes two. Alternatively, the two pre-tightening mechanisms 20 can be symmetrically arranged to improve the stability of the relative sliding of the first component 11 and the second component 12. Of course, in some optional embodiments of the present application, the number of pre-tightening mechanisms 20 can be more, thereby providing better support for the relative sliding of the first component 11 and the second component 12.

[0111] For example, the multiple pre-tensioning mechanisms 20 are decoupled from each other. Compared to configuring a single clamping member 22 and elastic member 23 for multiple rolling elements 21, this avoids the problem of poor contact between each rolling element 21 and the second component 12. The decoupling of the multiple pre-tensioning mechanisms 20, with each rolling element 21 individually equipped with a clamping member 22 and elastic member 23, effectively solves the problem of elastic pre-tensioning failure caused by poor contact due to local micro-deformation of the first component 11 and / or the second component 12. This reduces the requirements for parts processing and assembly, obtains a more stable pre-tensioning effect, and ensures that the rolling element 21 always maintains contact with the second component 12, thereby improving the rigidity of the adjustment mechanism 10 and thus enhancing the modal characteristics of the gimbal 100.

[0112] Figure 6 for Figure 4 The diagrams of the gimbal 100 from different perspectives are shown in the image, where 6A represents... Figure 4 Top view of gimbal 100, 6B is Figure 4 The image shows a bottom view of the gimbal 100. Please refer to the attached image as well. Figure 4 and Figure 6 The holding member 22 and the elastic member 23 can be provided only on one side of the opposite sides of the first component 11, while the other side is not provided, thereby avoiding over-positioning caused by providing them on both sides, which would prevent the rolling member 21 from reliably abutting against the second component 12.

[0113] For example, in response to a change in the gap between the first component 11 and the second component 12, the holding member 22 rotates around the axis of the second shaft 25 under the elastic force of the elastic member 23, thereby driving the first shaft 24 to perform a translational motion. The rolling member 21 follows the translational motion of the first shaft 24 and remains in contact with the second component 12. The change in the gap between the first component 11 and the second component 12 includes, but is not limited to, uneven gaps between the first component 11 and the second component 12, or gaps that change over time. This reduces the manufacturing difficulty of the first component 11 and the second component 12, allowing for automatic compensation even when the gap changes, ensuring that the rolling member 21 always maintains close contact with the second component 12. This guarantees the rigidity and modal characteristics of the gimbal 100, allowing for relatively relaxed tolerances for the corresponding parts, improving the yield rate of processing and assembly, and saving manufacturing costs.

[0114] Please refer to the following: Figure 3 , Figure 4 and Figure 5 The pressing member 22 includes a first end and a second end away from the first end. The middle part of the pressing member 22 is connected to the second shaft 25, and the first end of the pressing member 22 is connected to the first shaft 24.

[0115] Specifically, in the illustrated embodiment, the second end of the pressing member 22 is connected with the elastic member 23. Illustratively, the elastic member 23 comprises a compression elastic member 23, and the first end of the pressing member 22 keeps a tendency of approaching the second component 12 under the pushing force of the compression elastic member 23, so that the rolling member 21 can always stably and closely abut against the second component 12, and the support rigidity of the gimbal 100 is improved.

[0116] In some optional embodiments of the present application, the elastic member 23 is connected with the first shaft 24. Illustratively, the elastic member 23 comprises a compression elastic member 23, and the first end of the pressing member 22 keeps a tendency of approaching the second component 12 under the pushing force of the compression elastic member 23, so that the rolling member 21 can always stably and closely abut against the second component 12, and the support rigidity of the gimbal 100 is improved.

[0117] In some optional embodiments of the present application, the elastic member 23 is connected with the part of the pressing member 22 close to the first shaft 24. Illustratively, the elastic member 23 comprises a tensile elastic member 23, and the first end of the pressing member 22 keeps a tendency of approaching the second component 12 under the pulling force of the tensile elastic member 23, so that the rolling member 21 can always stably and closely abut against the second component 12, and the support rigidity of the gimbal 100 is improved.

[0118] In some optional embodiments of the present application, the elastic member 23 is connected with the second shaft 25. Illustratively, the elastic member 23 comprises a torsion spring, and the first end of the pressing member 22 keeps a tendency of approaching the second component 12 under the torsion force of the torsion spring, so that the rolling member 21 can always stably and closely abut against the second component 12, and the support rigidity of the gimbal 100 is improved. Optionally, the torsion spring is sleeved on the second shaft 25, and one leg of the torsion spring is connected with the pressing member 22.

[0119] In some optional embodiments of the present application, the second end of the pressing member 22 is connected with the second shaft 25, and the first end of the pressing member 22 is connected with the first shaft 24.

[0120] Specifically, in some optional embodiments of the present application, the elastic member 23 is connected with the first shaft 24. Illustratively, the elastic member 23 comprises a tensile elastic member 23, and the first end of the pressing member 22 keeps a tendency of approaching the second component 12 under the pulling force of the tensile elastic member 23, so that the rolling member 21 can always stably and closely abut against the second component 12, and the support rigidity of the gimbal 100 is improved.

[0121] In some optional embodiments of the present application, the elastic member 23 is connected to the pressing member 22 near the first shaft 24. For example, the elastic member 23 is a tensile spring, and the first end of the pressing member 22 has a tendency to move towards the second component 12 under the tension of the tensile spring, so that the rolling member 21 can always stably and closely abut against the second component 12, and the support stiffness of the gimbal 100 is improved.

[0122] In some optional embodiments of the present application, the elastic member 23 is connected to the middle part of the pressing member 22, so that the rolling member 21 can always stably and closely abut against the second component 12.

[0123] In some optional embodiments of the present application, the elastic member 23 is connected to the second shaft 25. For example, the elastic member 23 is a torsion spring, and the first end of the pressing member 22 has a tendency to move towards the second component 12 under the torsion of the torsion spring, so that the rolling member 21 can always stably and closely abut against the second component 12, and the support stiffness of the gimbal 100 is improved. Optionally, the torsion spring is sleeved on the second shaft 25, and one leg of the torsion spring is connected to the pressing member 22.

[0124] It is worth mentioning that the connection modes of the components of the pre-tightening mechanism 20 described above can be combined without conflict.

[0125] Please refer to Figure 3 , Figure 4 and Figure 5 , the pressing member 22 and the second shaft 25 can form a lever structure. The second shaft 25 is the fulcrum of the lever structure, and the pressing member 22 is the lever body. The first shaft 24 and the elastic member 23 are respectively located at the two ends of the lever body. The lever structure can reverse the force generated by the elastic member 23 and transmit it forward to the first shaft 24, so that the first shaft 24 is driven to rotate as a whole around the second shaft 25 under the action of the elastic member 23, thereby limiting the movement direction of the first shaft 24, which is beneficial to improve the stability when the first component 11 slides relative to the second component 12. For example, the pressing member 22 is made of a non-elastic material to prevent the pressing member 22 from elastically acting on the first shaft 24 and causing the first shaft 24 to tilt. For example, the pressing member 22 can be made of a steel sheet punched.

[0126] For example, the elastic member 23 is connected to the pressing member 22 at a position which is farther away from the second axis 25 than the first axis 24. In this way, the elastic member 23 has a larger force arm than the first axis 24, so that the elastic force of the elastic member 23 can be reduced, thereby reducing the size of the elastic member 23 and improving the rigidity of the connection between the first part 11 and the second part 12 of the adjusting mechanism 10, further improving the stability of the sliding. In particular, when the size of the elastic member 23 is reduced, the height of the adjusting mechanism 10 can be reduced, so that the adjusting mechanism 10 can cover a wider range of operation of the load 200 of the gimbal 100, thereby increasing the shooting angle of the load 200.

[0127] In the illustrated embodiment, the elastic member 23 comprises a spring. Optionally, the spring can be a coil spring. The spring is used to provide an elastic pre-tightening force, so that the elastic pre-tightening force provided by the spring can remain almost unchanged when the first part 11 and / or the second part 12 is slightly deformed or the gap between the first part 11 and the second part 12 changes, thereby providing a stable and reliable pre-tightening force and improving the rigidity and modal characteristics of the gimbal 100.

[0128] In some optional embodiments of the present application, the elastic member 23 can further comprise at least one of the following: a torsion spring, a spring plate, and an elastic column. The type of the elastic member 23 can be reasonably selected according to actual needs, and the present application does not specifically limit the type of the elastic member 23.

[0129] For example, the elastic member 23 can comprise at least one of the following: a metal elastic member, a plastic elastic member, and a rubber elastic member. The material of the elastic member 23 can be reasonably selected according to actual needs, and the present application does not specifically limit the material of the elastic member 23.

[0130] Figure 7 A partial structure exploded view of the gimbal 100 according to an embodiment of the present application is provided. Please refer to Figure 2 , Figure 4 and Figure 7 , the second part 12 is provided with a guide portion 121, and the predetermined guide direction D is the extension direction of the guide portion 121. For example, the first part 11 is provided with a limiting portion 111, and the limiting portion 111 cooperates with the guide portion 121 to enable the first part 11 to slide relative to the second part 12 along the extension direction of the guide portion 121, thereby accurately and reliably adjusting the pose of the load 200 of the gimbal 100. For example, in the illustrated example, the angle of rotation of the load 200 of the gimbal 100 about the axis A of the translation axis mechanism 103 can be accurately adjusted.

[0131] Exemplarily, the opposite two side edges of the first component 11 are respectively provided with limiting portions 111, the opposite two side edges of the second component 12 are respectively provided with guiding portions 121, and the limiting portions 111 of the opposite two side edges of the first component 11 are respectively correspondingly matched with the guiding portions 121 of the opposite two side edges of the second component 12. Exemplarily, the rolling member 21 abuts against the guiding portions 121 and rolls on the surface of the guiding portions 121. Optionally, the limiting portions 111 can be limiting protrusions 2112, and the guiding portions 121 can be guiding grooves, and the limiting protrusions 2112 slide in the limiting grooves. Exemplarily, the limiting protrusions 2112 are provided with limiting holes 112, and the rolling member 21 is at least partially accommodated in the limiting holes 112. Exemplarily, the rolling member 21 abuts against the inner wall of the guiding grooves.

[0132] In this way, the limiting portions 111 and the guiding portions 121 can limit the activity space and the movement direction of the rolling member 21, and when the first component 11 and the second component 12 slide relative to each other, the rolling member 21 will not be randomly tilted and twisted, and can reliably roll on the surface of the guiding portions 121. In this way, the stability of the relative sliding of the first component 11 and the second component 12 can be improved, the frictional resistance of the relative sliding of the first component 11 and the second component 12 can be reduced, the first component 11 and the second component 12 can be more smoothly slid relative to each other, and the control flexibility of the gimbal 100 can be improved.

[0133] As shown in Figure 4 and Figure 7 The first component 11 is also provided with two spaced-apart supports 113, and the two ends of the first shaft 24 are movably connected to the two supports 113, respectively. Exemplarily, the support 113 is provided with a limiting groove 1131, and the end of the first shaft 24 is at least partially accommodated in the limiting groove 1131 and is movable in the limiting groove 1131, and the limiting groove 1131 is used for limiting the translation direction of the first shaft 24. The limiting groove 1131 can limit the translation direction of the first shaft 24, prevent the first shaft 24 from tilting and swinging to make the sliding member tilt and swing, and thus improve the stability when the first component 11 and the second component 12 slide relative to each other.

[0134] Exemplarily, the first component 11 is also provided with a limiting hole 112, and the rolling member 21 is at least partially accommodated in the limiting hole 112 and is movable in the limiting hole 112, and the limiting hole 112 is used for limiting the activity direction of the rolling member 21. The limiting hole 112 can limit the activity direction of the rolling member 21, prevent the sliding member from tilting and swinging, and thus improve the stability when the first component 11 and the second component 12 slide relative to each other.

[0135] Exemplarily, one end of the pressing piece 22 is provided with two oppositely spaced lugs 221, the two lugs 221 are connected with the two ends of the first shaft 24 respectively, and the rolling piece 21 is at least partially located between the two lugs 221 and is limited by the two lugs 221. The lugs 221 can limit the moving direction of the rolling piece 21, prevent the sliding piece from tilting and swinging arbitrarily, and further improve the stability when the first part 11 and the second part 12 slide relative to each other.

[0136] Exemplarily, the pressing piece 22 can be arranged along the tangent of the preset guide direction D, can limit the rolling piece 21, prevent the rolling piece 21 from tilting and twisting, and further improve the stability when the first part 11 and the second part 12 slide relative to each other, improve the control accuracy of the gimbal 100. At the same time, it can also prevent the rolling piece 21 from tilting and deviating to generate sliding friction, reduce the resistance of the first part 11 and the second part 12 relative to each other, and improve the control flexibility of the gimbal 100.

[0137] It is worth noting that the above-mentioned limiting mode of the rolling piece 21 by the limiting part 111, the guide part 121, the limiting groove 1131, the limiting hole 112, the pressing piece 22 and the like can be combined arbitrarily without conflict. The combination of multiple modes can further improve the limiting effect of the rolling piece 21, ensure the stability and / or smoothness when the first part 11 and the second part 12 slide relative to each other, improve the rigidity and / or control flexibility of the gimbal 100, and further improve the stabilization effect of the gimbal 100.

[0138] Figure 8 The structure exploded view of the gimbal 100 provided by the embodiments of the present application is provided. Please refer to Figure 5 、 Figure 7 and Figure 8 , the rolling piece 21 can include a rolling surface 211 around a circumference. Further, the rolling piece 21 can further include a sleeving part 212, the sleeving part 212 is sleeved on the first shaft 24, and the rolling surface 211 surrounds the sleeving part 212. Optionally, the sleeving part 212 can include a bearing, a shaft sleeve or the like. The sleeving part 212 can support the rotation of the rolling surface 211, and ensure that the rolling surface 211 remains stable during rotation around the axis of the first shaft 24. In addition, the sleeving part 212 can reduce the friction of the rolling surface 211, so that the rotation of the rolling surface 211 is more smooth and efficient.

[0139] Exemplarily, the rolling piece 21 can be made of high-hardness steel. Of course, in some optional embodiments of the present application, the rolling piece 21 can also include at least one of a rubber wheel and a plastic wheel. The material of the rolling piece 21 can be reasonably selected according to actual needs, and the present application does not make specific limitations on the material of the rolling piece 21.

[0140] The first shaft 24 can connect the pressing member 22 and the sleeve 212. The first shaft 24 can be in clearance fit with the inner hole of the sleeve 212, in clearance fit and interference fit with one side of the pressing member 22. The first shaft 24 can be made of steel.

[0141] The rolling surface 211 includes a non-contact surface 2111 which does not contact the second part 12 when the rolling member 21 rolls. The non-contact surface 2111 includes a first non-contact surface and a second non-contact surface which do not contact the second part 12 and are located on opposite sides of the rolling surface 211 in the axial direction of the first shaft 24. The first non-contact surface and the second non-contact surface are directly connected and form a protrusion 2112 which surrounds the rolling member 21 in the circumferential direction and contacts the second part 12 when the rolling member 21 rolls.

[0142] In the conventional solution, the rolling member only includes the sleeve which is generally ring-shaped. In the embodiment of the present application, the rolling surface 211 is arranged around the sleeve 212, and the rolling member 21 can be spindle-shaped. During the relative sliding of the first part 11 and the second part 12, the contact mode of the rolling member 21 and the second part 12 is changed from the conventional linear contact mode to the point contact mode, thereby reducing the sliding friction caused by the manufacturing error of the adjusting mechanism 10, such as the sliding friction caused by the difference in curvature of the second part 12, thereby reducing the resistance of the relative sliding of the first part 11 and the second part 12. Therefore, the pre-tightening mechanism 20 can reduce the resistance of the relative sliding of the first part 11 and the second part 12 as much as possible while being pre-tightened, thereby preventing the occurrence of the creeping phenomenon, improving the control flexibility of the gimbal 100 while improving the rigidity of the gimbal 100, thereby improving the stabilization effect of the gimbal 100.

[0143] Please refer to Figure 4 and Figure 8 The rolling member 21 can be arranged along the tangent of the preset guide direction D, which can further reduce the resistance of the relative sliding of the first part 11 and the second part 12.

[0144] Please refer to Figure 8The end of the second shaft 25 is provided with a fixing groove. Exemplarily, the pre-tightening mechanism 20 further comprises a fastener 26 which cooperates with the fixing groove and can be used to lock the second shaft 25 on the first part 11, so as to ensure that the position of the gimbal 100 relative to the first part 11 does not change during the working process of the gimbal 100, thereby facilitating more reliable limiting of the movement direction of the rolling member 21. Alternatively, the second shaft 25 can be made of a steel short shaft. In the embodiment shown in the figure, the fastener 26 is a screw. Of course, in some alternative embodiments of the present application, the fastener 26 can also be a pin, a welding part, etc.

[0145] Exemplarily, the second part 12 can further comprise a shaft arm part 123 which can be used to support the load 200 of the gimbal 100. Further, the shaft arm part 123 can be further provided with one or more of a driving member, a counterweight, a receiving groove for the cable of the gimbal 100. Alternatively, the shaft arm part 123 can be the shaft arm part 123 of the translation shaft mechanism 103, and the opposite ends of the shaft arm part 123 can be connected to the shaft arm parts of the pitch shaft mechanism 101, thereby forming a circular arc-shaped shaft arm assembly, for example, a C-shaped shaft arm, to play a role of double-end supporting the load 200.

[0146] Exemplarily, the second part 12 can further comprise a rigid part 122. The rigid part 122 can be connected to the opposite sides of the shaft arm part 123, and the rolling member 21 can roll on the rigid part 122 to reduce friction and enhance constraint accuracy, thereby improving the control flexibility and control accuracy of the relative sliding of the first part 11 and the second part 12. For example, in the case that the material of the shaft arm part 123 is not wear-resistant, if the rolling member 21 directly contacts the shaft arm part 123, a large friction will be generated, thereby causing a large deformation of the shaft arm part 123 and affecting the control flexibility and control accuracy of the relative sliding of the first part 11 and the second part 12.

[0147] Alternatively, the rigid part 122 can be a steel sheet which can be bonded to the shaft arm part 123. The abutment of the rolling member 21 and the second part 12 can comprise the abutment of the rolling member 21 and the steel sheet.

[0148] Please refer to Figure 5 , Figure 7 and Figure 8 , when implementing the above-mentioned various embodiments, one or more of the following component parts can be selectively used to implement:

[0149] (1) Rolling member 21: can be made of high-hard steel, which can change the contact form of the sleeve part 212 and the rigid part 122 from traditional line contact to point contact, thereby reducing the sliding friction caused by the different curvatures of the second part 12 when the first part 11 and the second part 12 slide relative to each other.

[0150] (2) The pressure holding piece 22 is essentially a lever, which reverses the elastic pre-tightening force generated by the elastic piece 23 and transmits it forward. The pressure holding piece 22 can be punched from a steel sheet, and is positioned along the tangent direction of the rigid portion 122, which can prevent the rolling piece 21 from deviating and generating large sliding friction.

[0151] (3) The elastic piece 23 can be a spring. The upper end of the spring is pressed into the punched protrusion between the pressure holding piece 22 and the turned edge, and the lower end is pressed into the limiting groove of the first component 11.

[0152] (4) The first shaft 24 can be a steel shaft, which serves to connect the pressure holding piece 22 and the sleeving portion 212 of the rolling piece 21. The first shaft 24 is in clearance fit with the inner hole of the sleeving portion 212, and is in clearance fit on one side and interference fit on the other side with the pressure holding piece 22.

[0153] (3) The second shaft 25 is essentially the fulcrum of a lever, which can be made of a steel shaft. The end of the second shaft 25 is provided with a fixing groove, which can be used to lock it on the first component 11.

[0154] (4) The fastener 26 can be a mechanical screw, which cooperates with the fixing groove to lock the second shaft 25 on the first component 11.

[0155] (5) The first component 11 can serve as a rack, which couples the pre-tightening mechanism to enable it to generate a pre-tightening force normally. For example, the first component 11 can be the drive assembly of the pan-tilt mechanism 100. Optionally, the drive assembly can include the stator seat of the drive motor.

[0156] (6) The rigid portion 122 can include a steel sheet, which can be composed of a steel sheet and a titanium nitride coating on the surface, for reducing friction and increasing constraint accuracy.

[0157] (6) The shaft arm portion 123 can be used to support the load 200 of the pan-tilt mechanism 100. Further, the shaft arm portion 123 can further be provided with one or more of a drive, a counterweight, and a cable storage groove of the pan-tilt mechanism 100.

[0158] Optionally, the position and layout of the pressure holding piece 22 and the elastic piece 23 are not limited to any one or more of the pan-tilt mechanism 100, the roll mechanism 102, and the tilt mechanism 101. For example, when there is no physical shaft in the pan-tilt mechanism 100, the roll mechanism 102, and the tilt mechanism 101, but only a virtual shaft, the pressure holding piece 22 and the elastic piece 23 can be arranged correspondingly.

[0159] Through the above one or more component parts, one or more of the following beneficial technical effects can be achieved:

[0160] For example, the stable pre-tightening force is applied to the opposite sides of the shaft arm part 123, the rigidity of the shaft arm part 123 around the corresponding direction is improved without increasing or slightly increasing the rotation resistance of the shaft arm part 123, and the rigidity and the mode of the gimbal 100 are effectively improved.

[0161] For example, the manufacturing difficulty of the position degree of the rigid part 122 can be relaxed, the rigid part 122 can still be in close abutment with the rolling member 21 when local deformation or parallelism error occurs, and a certain pre-tightening force can be ensured. Thus, the rigidity and the mode of the gimbal 100 in the corresponding direction are ensured, the tolerance of the corresponding parts is relatively relaxed, the assembly precision does not need to be too high, the processing and assembly yield is improved, and the manufacturing and production cost is saved.

[0162] For example, the height direction size of the adjusting assembly can be compressed, the smaller the height direction size, the smaller the shielding range of the operating range of the load 200 of the gimbal 100, and the wider the operating range of the load 200.

[0163] For example, the resistance of the relative sliding between the first part 11 and the second part 12 is as small as possible while pre-tightening, and the crawling phenomenon is prevented. The rolling member 21 is arranged along the tangent of the preset guide direction D, and the rolling member 21 is in a spindle shape. The traditional line contact is changed to point contact, the line speed difference caused by different curvatures is eliminated, and the resistance of the rolling member 21 is effectively reduced. At the same time, the movement direction of the rolling member 21 is limited by the pressing member 22 and the limiting hole 112, the sliding friction or even the crawling caused by the deviation of the rolling member 21 from the tangent position of the preset guide direction is effectively avoided, the rigidity of the gimbal 100 is improved, and the control flexibility is ensured.

[0164] It should be noted that various technical features in the above embodiments can be combined arbitrarily, as long as the combination of the features does not conflict or contradict, and thus any combination of the various technical features in the above embodiments also falls within the scope disclosed by the present specification.

[0165] In the description of the present application, unless otherwise explicitly specified and limited, "mounting", "connection", "connection", "mechanical coupling", "coupling" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected. It can be mechanically connected or electrically connected. It can be directly connected or indirectly connected through an intermediate medium. It can be the communication inside two elements or the interaction relationship between two elements. The mechanical coupling or coupling of two components includes direct coupling and indirect coupling, for example, direct fixed connection, connection through a transmission mechanism, etc. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0166] In the present application, unless specifically defined otherwise, the phrase "on" or "under" a first feature with respect to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Also, "on", "above" and "on top of" a first feature with respect to a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Under", "below" and "underneath" a first feature with respect to a second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0167] The above disclosure provides many different embodiments or examples for implementing different structures of the present application. For the purpose of simplification, the components and arrangements of the specific examples are described in the above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeatedly refer to the numbers and / or letters in different examples, and such repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0168] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" and the like means that the specific method steps, features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific method steps, features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0169] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any skilled person in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A gimbal, characterized in that, include: The regulating mechanism includes: First component; The second component can slide along a preset guide direction relative to the first component to adjust the load orientation of the gimbal. Pre-tensioning mechanism, including: A rolling element is movably connected to the first component via a first shaft and is used to abut against the second component; the rolling element is rotatable about the axis of the first shaft, so that the rolling element rolls on the surface abutting against the second component; A holding member is rotatably connected to the first component via a second shaft, and the holding member is capable of rotating about the axis of the second shaft; the holding member is connected to the first shaft, and under the limiting action of the holding member, the first shaft is capable of translational movement; An elastic element, connected to the pressing element, is used to provide an elastic force to the pressing element; The pressing member can rotate around the axis of the second shaft under the elastic force of the elastic member, thereby driving the first shaft to perform translational motion. The rolling member follows the translational motion of the first shaft and remains in contact with the second component.

2. The gimbal according to claim 1, characterized in that, The pressing member includes a first end and a second end away from the first end, and the first end of the pressing member is connected to the first shaft.

3. The gimbal according to claim 2, characterized in that, The gimbal also satisfies any of the following conditions: Scenario 1: The middle part or the second end of the pressing member is connected to the second shaft, and the elastic member is connected to the first shaft; Scenario 2: The middle part or the second end of the pressing member is connected to the second shaft, and the elastic member is connected to the part of the pressing member near the first shaft; Scenario 3: The middle part or the second end of the pressing member is connected to the second shaft, and the elastic member is connected to the second shaft; Scenario 4: The middle part of the pressing member is connected to the second shaft, and the second end of the pressing member is connected to the elastic member; Scenario 5: The second end of the pressing member is connected to the second shaft, and the elastic member is connected to the middle part of the pressing member.

4. The gimbal according to claim 3, characterized in that: In scenario one: the elastic element includes a tension elastic element, and the first end of the pressing element, under the tension of the tension elastic element, tends to move toward the second component; or, In scenario two: the elastic element includes a tension elastic element, and the first end of the pressing element, under the tension of the tension elastic element, tends to move closer to the second component; or, In scenario three: the elastic element includes a torsion spring, and the first end of the pressing element, under the torsion of the torsion spring, tends to move toward the second component; or, In scenario four: the elastic element includes a compression elastic element, and the first end of the holding element, under the thrust of the compression elastic element, tends to move toward the second component; or, In scenario five: the elastic element includes a tension elastic element, and the first end of the pressing element, under the thrust of the tension elastic element, tends to move toward the second component.

5. The gimbal according to claim 1, characterized in that, The second component is provided with a guide portion, and the preset guide direction is the extension direction of the guide portion.

6. The gimbal according to claim 5, characterized in that, The first component is provided with a limiting part, which cooperates with the guide part to allow the first component to slide relative to the second component along the extending direction of the guide part.

7. The gimbal according to claim 6, characterized in that, The limiting part is a limiting protrusion, and the guiding part is a guiding groove. The limiting protrusion slides within the limiting groove.

8. The gimbal according to claim 1, characterized in that, The first component has a limiting portion on each of its opposite sides, and the second component has a guiding portion on each of its opposite sides. The limiting portions on the opposite sides of the first component correspond to and cooperate with the guiding portions on the opposite sides of the second component.

9. The gimbal according to claim 8, characterized in that, The rolling element abuts against the guide portion and rolls on the surface of the guide portion.

10. The gimbal according to claim 1, characterized in that, The preset guiding direction is a straight line.

11. The gimbal according to claim 10, characterized in that, The second component slides relative to the first component to adjust the translational position of the load on the gimbal.

12. The gimbal according to claim 1, characterized in that, The preset guide direction is a curved direction.

13. The gimbal according to claim 12, characterized in that, The curve direction is the direction of an arc.

14. The gimbal according to claim 13, characterized in that, The gimbal also satisfies at least one of the following conditions: Scenario 1: The first component slides relative to the second component to adjust the attitude angle of the load on the gimbal; Scenario 2: The load of the gimbal is located at the center of the arc direction; Scenario 3: The adjustment mechanism is the pitch axis mechanism, roll axis mechanism, or translation axis mechanism of the gimbal; wherein, the pitch axis mechanism is used to adjust the pitch angle of the load, the roll axis mechanism is used to adjust the roll angle of the load, and the translation axis mechanism is used to adjust the translation angle of the load.

15. The gimbal according to claim 1, characterized in that: The straight-line distance between the connection portion of the elastic element and the pressing element and the second axis is greater than the straight-line distance between the first axis and the second axis; or, The elastic element includes at least one of the following: a spring, a torsion spring, a sheet spring, or an elastic post; or, The elastic element includes at least one of the following: a metal elastic element, a plastic elastic element, or a rubber elastic element; or, The axis of the first axis is substantially parallel to the axis of the second axis; or, The rolling element rotates around the first axis, or the rolling element drives the first axis to rotate together; or, The pressing member is fixedly connected to the first shaft, and the pressing member is rotatably sleeved on the first shaft; or, One end of the pressure-holding member is provided with two lugs that are spaced apart from each other. The two lugs are respectively connected to both ends of the first shaft. The rolling member is at least partially located between the two lugs and is limited by the two lugs; or, The pressing member rotates around the second axis, or the pressing member drives the second axis to rotate together; or, The first component is provided with a limiting hole, and the rolling element is at least partially accommodated in the limiting hole and is movable within the limiting hole. The limiting hole is used to restrict the movement direction of the rolling element.

16. The gimbal according to claim 1, characterized in that, The first component is provided with two spaced-apart brackets, and the two ends of the first shaft are respectively movably connected to the two brackets.

17. The gimbal according to claim 16, characterized in that, The bracket is provided with a limiting groove, at least partially receiving the end of the first shaft within the limiting groove, and the end of the first shaft is movable within the limiting groove. The limiting groove is used to restrict the direction of translation of the first shaft.

18. The gimbal according to claim 1, characterized in that, The rolling element includes a rolling surface around the circumference, and the rolling surface includes a non-contact surface that does not contact the second component when the rolling element rolls.

19. The gimbal according to claim 18, characterized in that, The non-contact surface includes a first non-contact surface and a second non-contact surface, which do not contact the second component. The first non-contact surface and the second non-contact surface are located on opposite sides of the rolling surface in the axial direction of the first shaft.

20. The gimbal according to claim 19, characterized in that, The first non-contact surface is directly connected to the second non-contact surface, and a protrusion is formed at the connection point that surrounds the circumference of the rolling element. The protrusion abuts against the second component when the rolling element rolls.

21. A mobile platform, characterized in that, include: Organism; as well as The gimbal according to any one of claims 1 to 20, wherein the gimbal is connected to the body.

22. The mobile platform according to claim 21, characterized in that, The mobile platform includes at least one of the following: a handheld gimbal device, or an unmanned aerial vehicle.

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