Holder assembly and aircraft

Abstract

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

Description

[0001] CROSS-REFERENCE

[0002] The present disclosure claims priority to Chinese Patent Application No. 202520653658.6, filed on April 8, 2025, the disclosure of which is incorporated herein in its entirety as part of the present disclosure. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of gimbals, in particular to a gimbal assembly and a flying vehicle. BACKGROUND

[0004] Most of the gimbals connected to the existing flying vehicles are not retractable, and the positions of the gimbals are mostly placed outside the flying vehicles, which seriously affects the aerodynamic performance of the flying vehicles.

[0005] However, in order to realize the retracting function of the gimbal, some flying vehicles increase a lifting mechanism to realize the retracting function by the movement of a lead screw or a chain, but the structure is complex, the cost is high, and the weight is increased, which greatly affects the endurance of the flying vehicle.

[0006] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. CONTENT OF THE INVENTION

[0007] The purpose of the present disclosure is to provide a gimbal assembly and a flying vehicle, which realizes the purpose of retracting the gimbal assembly.

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

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

[0010] In an exemplary embodiment of the present disclosure, the gimbal assembly further comprises:

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

[0012] In one exemplary embodiment of this disclosure, the gimbal component further includes:

[0013] The housing is such that when the other end of the first connecting arm is at the lowest point, at least a portion of the camera assembly is located outside the housing; when the other end of the first connecting arm is at the highest point, the camera assembly is located inside the housing.

[0014] In an exemplary embodiment of this disclosure, when the other end of the first connecting arm is at the lowest point, in the axial direction, the other end of the first connecting arm extends toward a side away from the first driver; in the height direction, the other end of the first connecting arm extends toward the lowest point; in the width direction of the gimbal assembly, the first main body portion of the first connecting arm is located on the same side as the first driver and the camera assembly.

[0015] In one exemplary embodiment of this disclosure, the first connecting arm and the camera assembly are provided with a first limiting structure, which is configured to limit the rotation angle of the camera assembly relative to the first connecting arm.

[0016] In one exemplary embodiment of this disclosure, the first limiting structure includes a first limiting protrusion disposed on one of the first connecting arm and the camera assembly, and a first positioning protrusion and a second positioning protrusion disposed on the other; when the camera assembly is rotated to its maximum angle relative to the first connecting arm in the forward direction, the first positioning protrusion abuts against the first limiting protrusion; when the camera assembly is rotated to its maximum angle relative to the first connecting arm in the reverse direction, the second positioning protrusion abuts against the first limiting protrusion.

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

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

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

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

[0021] In one exemplary embodiment of this disclosure, the gimbal component further includes:

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

[0023] In one exemplary embodiment of this disclosure, the first connecting arm and the second connecting arm are provided with a second limiting structure, which is configured to limit the rotation angle of the first connecting arm relative to the second connecting arm.

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

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

[0026] In one exemplary embodiment of this disclosure, the gimbal component further includes:

[0027] A fastener, one side of which is connected to the stator of the third drive, and the other side is configured to be connected to the fuselage of the aircraft.

[0028] In one exemplary embodiment of this disclosure, the second connecting arm and the fixing member are provided with a third limiting structure, which is configured to limit the rotation angle of the second connecting arm relative to the fixing member.

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

[0030] In one exemplary embodiment of this disclosure, the height difference between the other end of the first connecting arm when it is at the lowest point and when it is at the highest point is 25mm to 33mm.

[0031] In one exemplary embodiment of this disclosure, the output shaft of the first driver is parallel to or coincides with the preset rotation center line.

[0032] According to another aspect of this disclosure, an aircraft is provided, the aircraft comprising:

[0033] body;

[0034] The gimbal assembly described in any of the above embodiments is connected to the body of the device.

[0035] The gimbal assembly disclosed herein has a first connecting arm that, driven by a first actuator, has its other end, furthest from the first actuator, positioned at the lowest and highest points, or between the lowest and highest points, along a preset rotation center line in the height direction of the gimbal assembly. In other words, the camera assembly connected to the other end of the first connecting arm can move between the lowest and highest points, or between the lowest and highest points, along the preset rotation center line. The camera assembly can be extended or retracted by rotating the first connecting arm. This structure for extending and retracting the camera assembly is simple, small in size, lightweight, and easy to install and manufacture. It achieves the extension and retraction function while avoiding any impact on the aircraft's range.

[0036] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0038] FIG. 1 This is a schematic diagram of a gimbal assembly provided in one embodiment of the present disclosure.

[0039] FIG. 2 An exploded view of a gimbal assembly provided in one embodiment of this disclosure.

[0040] FIG. 3 This is a schematic diagram showing the gimbal assembly at the bottom of an embodiment of the present disclosure.

[0041] FIG. 4 This is a schematic diagram showing the gimbal assembly at the top, according to one embodiment of the present disclosure.

[0042] FIG. 5 This is a schematic diagram of a gimbal assembly provided in one embodiment of the present disclosure from another perspective.

[0043] FIG. 6 This is a schematic diagram of the rotation angle of a gimbal assembly provided in one embodiment of the present disclosure.

[0044] Explanation of reference numerals in the attached figures:

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

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

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

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

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

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

[0051] X, width direction; Y, axis; Z, height direction. Detailed Implementation

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

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

[0054] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0055] This disclosure first provides a gimbal component, such as... FIGS. 1-4 As shown, the gimbal assembly includes a first connecting arm 11 and a first driver 21. One end of the first connecting arm 11 is connected to the first driver 21. The first driver 21 is used to drive the first connecting arm 11 to rotate around a preset rotation center line. The angle A between the length direction of the first connecting arm 11 and the axial direction Y of the preset rotation center line toward the other end of the first connecting arm 11 is an acute angle, so that the other end of the first connecting arm 11 can be located at the lowest and highest points of the preset rotation center line and between the lowest and highest points in the height direction Z of the gimbal assembly.

[0056] In the gimbal assembly disclosed herein, the first connecting arm 11, driven by the first driver 21, has its other end, away from the first driver 21, positioned along a preset rotation center line in the height direction Z of the gimbal assembly. FIG. 3 The bottom and as shown FIG. 4The positions shown are the topmost and the positions between the bottommost and topmost. In other words, the camera component 30, which is connected to the other end of the first connecting arm 11, can move between the bottommost and topmost and the positions between the bottommost and topmost of the preset rotation center line. The camera component 30 can be retracted and extended by rotating the first connecting arm 11. The structure for retracting and extending the camera component 30 is simple, small in size, light in weight, and easy to install and manufacture. While achieving the retracting and extending function, it avoids affecting the flight endurance of the aircraft.

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

[0058] In one embodiment, such as FIGS. 1-4 As shown, the gimbal assembly also includes a camera assembly 30 and a second driver 22. The camera assembly 30 is connected to the other end of the first connecting arm 11 via the second driver 22, which drives the camera assembly 30 to rotate. Through the first driver 21 and the second driver 22, dual-axis adjustment of the camera assembly 30 can be achieved.

[0059] The stator of the second driver 22 is connected to the other end of the first connecting arm 11, and the rotor of the second driver 22 is connected to the second connecting arm 12. When the first connecting arm 11 rotates under the drive of the first driver 21, the first connecting arm 11 drives the second driver 22 to rotate, which in turn drives the camera assembly 30 to rotate. When the first connecting arm 11 is at its lowest position, it drives the camera assembly 30 to a lowered position; when the second connecting arm 12 is at its highest position, it drives the camera assembly 30 to a raised position.

[0060] When the second driver 22 drives the camera assembly 30 to rotate, the rotation center line of the camera assembly 30 can be perpendicular to the axis Y and the height direction Z, so that the pitch angle can be adjusted relative to the fuselage of the aircraft.

[0061] The imaging assembly 30 includes a camera for taking photos and / or recording videos. The rotor of the second driver 22 can be directly connected to the camera housing, or the imaging assembly 30 includes a housing, with the camera fixed to the housing, and the rotor of the second driver 22 can be directly connected to the housing of the imaging assembly 30 to drive the camera to rotate. The imaging assembly 30 and the rotor of the second driver 22 can be directly connected or connected via a connector (e.g., a coupling). Furthermore, the imaging assembly 30 may include multiple cameras, which can perform different imaging operations.

[0062] In one embodiment, such as FIGS. 1-4 As shown, the gimbal assembly also includes a second connecting arm 12 and a third driver 23. One end of the second connecting arm 12 is connected to the third driver 23, and the other end is connected to the stator of the first driver 21. The third driver 23 is used to drive the second connecting arm 12 to rotate around the height direction Z. Through the first driver 21, the second driver 22, and the third driver 23, three-axis adjustment of the camera assembly 30 can be achieved, so that the camera assembly 30 can reach the optimal shooting angle for video recording. Specifically, when the second connecting arm 12 is driven to rotate by the third driver 23, the second connecting arm 12 can drive the first connecting arm 11 to rotate synchronously with the camera assembly 30, that is, drive the entire gimbal assembly except for the third driver 23 to rotate left and right, so that the aircraft can observe and shoot around the aircraft through the camera during flight.

[0063] In one embodiment, such as FIG. 2 As shown, the first connecting arm 11 includes a first main body 111, a first mounting part 112, and a second mounting part 113. The second connecting arm 12 includes a second main body 121, a third mounting part 122, and a fourth mounting part 123. The length direction of the first connecting arm 11 can be the direction in which the first main body 111 extends. The first main body 111, the first mounting part 112, and the second mounting part 113 can be an integrally formed structure or connected together by means of bonding, snap-fitting, threaded connection, etc. The first mounting part 112 is connected to the rotor of the first driver 21, and the second mounting part 113 is connected to the stator of the second driver 22. The extension direction of the second main body 121 can be parallel to the height direction Z. The third mounting part 122 is connected to the rotor of the second driver 22, and the fourth mounting part 123 is connected to the stator of the first driver 21. It should be noted that since the rotation of the driver and the stator are relative to each other, the above-mentioned positions of the stator and rotor of the driver can be interchanged to achieve the same driving effect.

[0064] The first mounting part 112 and the fourth mounting part 123 cooperate to form a mounting space for the first driver 21, enabling concealed assembly of the first driver 21 and extending its service life. The output shaft of the first driver 21 is parallel to or coincides with a preset rotation center line, reducing the distance between the first connecting arm 11 and the second connecting arm 12, thus improving the structural compactness and reducing the size of the gimbal assembly. When the first driver 21 is a drive motor, the first mounting part 112 and the fourth mounting part 123 can be cylindrical to match the shape of the drive motor.

[0065] The second mounting portion 113 forms a mounting space for the second driver 22, enabling concealed assembly of the second driver 22 and extending its service life. The output shaft of the second driver 22 is parallel to or coincides with the rotation center line of the camera assembly 30, reducing the distance between the camera assembly 30 and the first connecting arm 11, thereby improving the structural compactness and reducing the size of the gimbal assembly. When the second driver 22 is a drive motor, the second mounting portion 113 is cylindrical in shape to match the shape of the drive motor.

[0066] The third mounting section 122 forms a mounting space for the third driver 23, enabling concealed assembly of the third driver 23 and extending its service life. The output shaft of the third driver 23 is parallel to or coincides with the rotation center line of the second connecting arm 12, reducing the distance between the second connecting arm 12 and the body, thereby improving the structural compactness and reducing the size of the gimbal assembly. When the third driver 23 is a drive motor, the third mounting section 122 can be cylindrical to match the shape of the drive motor.

[0067] like FIGS. 1-3 As shown, when the other end of the first connecting arm 11 is at its lowest point, along the axial direction Y of the preset rotation center line, the other end of the first connecting arm 11 extends toward the side away from the first driver 21; along the height direction Z, the other end of the first connecting arm 11 extends toward the lowest position; along the width direction X of the gimbal assembly, the first main body 111 of the first connecting arm 11 is located on the same side of the first driver 21 and the camera assembly 30, which improves the structural compactness of the gimbal assembly and reduces the volume of the gimbal assembly.

[0068] The second body of the first connecting arm 11 is located on the side of the third mounting part 122 away from the camera assembly 30 in the axial Y direction, thereby forming an installation space below the third mounting part 122 to facilitate the installation of the first driver 21, which can improve the structural compactness of the gimbal assembly and reduce the size of the gimbal assembly.

[0069] In one embodiment, such as FIGS. 1-4As shown, the gimbal assembly may also include a fixing member 50, one side of which is connected to the stator of the third driver 23, and the other side is configured to be connected to the fuselage of the aircraft. Connecting the gimbal assembly to the fuselage of the aircraft via the fixing member 50 facilitates modular design of the fuselage and gimbal assembly, allowing for connection between different fuselages and the gimbal assembly; simultaneously, it enhances the strength and stability of the connection between the gimbal assembly and the fuselage, thereby improving the shooting effect of the camera assembly 30.

[0070] The fixing member 50 can be a plate-like structure, fixedly connected to the body via threaded connections. The fixing member 50 may be provided with a mounting portion that cooperates with the third mounting portion 122 to mount the third driver 23, thereby forming a positioning assembly of multiple third drivers 23 and improving assembly accuracy. Furthermore, through holes can be formed on the fixing plate to allow wiring connecting the first driver 21, the second driver 22, the third driver 23, and the camera to pass through. Each wiring can be correspondingly threaded through the hollowed-out first connecting arm 11 and second connecting arm 12, achieving concealed assembly.

[0071] It is understandable that the second connecting arm 12 can be directly connected to the fuselage of the aircraft via the third actuator 23, that is, the stator of the third actuator 23 is fixedly connected to the fuselage, and the rotor of the third actuator 23 is connected to the second connecting arm 12 to drive the second connecting arm 12 to rotate relative to the fuselage. When the gimbal assembly does not include the second connecting arm 12, the first connecting arm 11 can be directly connected to the fuselage via the first actuator 21.

[0072] In one embodiment, a first limiting structure is provided on the first connecting arm 11 and the camera assembly 30. The first limiting structure is configured to limit the rotation angle of the camera assembly 30 relative to the first connecting arm 11, thereby limiting the pitch rotation angle of the camera assembly 30. Simultaneously, the first limiting structure allows for calibration of the rotation angle of the camera assembly 30 relative to its extreme positions, improving the precise control of the rotation angle of the camera assembly 30. It is understood that the camera assembly 30 can also rotate 360° relative to the first connecting arm 11.

[0073] like FIGS. 3-5As shown, the first limiting structure includes a first limiting protrusion 114 on one of the first connecting arm 11 and the camera assembly 30, and a first positioning protrusion 310 and a second positioning protrusion 320 on the other. When the camera assembly 30 rotates to its maximum angle relative to the first connecting arm 11, the first positioning protrusion 310 abuts against the first limiting protrusion 114. When the camera assembly 30 rotates to its maximum angle relative to the first connecting arm 11, the second positioning protrusion 320 abuts against the first limiting protrusion 114. The first positioning protrusion 310 and the second positioning protrusion 320 limit the rotation range of the first limiting protrusion 114, thereby limiting the rotation angle of the camera assembly 30. The first limiting structure is small in size, highly reliable, and low in cost. Furthermore, the limiting effect at extreme positions is visualized, facilitating future maintenance.

[0074] Among them, such as FIGS. 3-5 As shown, the first limiting protrusion 114 can be disposed on the second mounting portion 113 of the first connecting arm 11, and the first positioning protrusion 310 and the second positioning protrusion 320 can be disposed on the camera assembly 30, such as on the camera housing or the housing of the camera assembly 30, so that when the camera assembly 30 rotates, it drives the first positioning protrusion 310 and the second positioning protrusion 320 to rotate. The rotation angle of the camera assembly 30 can be adjusted by adjusting the positions of the first limiting protrusion 114, the first positioning protrusion 310 and the second positioning protrusion 320, and this disclosure does not limit this.

[0075] Of course, photoelectric sensors, Hall sensors, encoders, etc. can also be used to detect the rotation angle of the camera assembly 30 relative to the first connecting arm 11, thereby controlling the rotation of the second driver 22 through the through hole to control the rotation angle of the camera assembly 30 relative to the first connecting arm 11. This disclosure does not limit this.

[0076] In one embodiment, the first connecting arm 11 and the second connecting arm 12 are provided with a second limiting structure. The second limiting structure is configured to limit the rotation angle of the first connecting arm 11 relative to the second connecting arm 12, thereby limiting the vertical rotation angle of the first connecting arm 11. Simultaneously, the second limiting structure allows for calibration of the rotation angle of the first connecting arm 11 relative to its extreme position, improving the precise control of the rotation angle of the first connecting arm 11. It is understood that the first connecting arm 11 can also rotate 360° relative to the second connecting arm 12.

[0077] like FIG. 5 and FIG. 6As shown, the second limiting structure includes a second limiting protrusion 124 on one of the first connecting arm 11 and the second connecting arm 12, and a third positioning protrusion 115 and a fourth positioning protrusion 116 on the other. When the first connecting arm 11 rotates to its maximum angle relative to the second connecting arm 12, the third positioning protrusion 115 abuts against the second limiting protrusion 124. When the first connecting arm 11 rotates to its maximum angle relative to the second connecting arm 12, the fourth positioning protrusion 116 abuts against the second limiting protrusion 124. The third positioning protrusion 115 and the fourth positioning protrusion 116 limit the rotation range of the second limiting protrusion 124, thereby limiting the rotation angle of the first connecting arm 11. The second limiting structure is small in size, highly reliable, and low in cost. Furthermore, the limiting effect at extreme positions is visualized, facilitating future maintenance.

[0078] Among them, such as FIG. 5 and FIG. 6 As shown, the second limiting protrusion 124 is provided on the second main body portion 121 of the second connecting arm 12, and the third positioning protrusion 115 and the fourth positioning protrusion 116 are provided on the first mounting portion 112 of the first connecting arm 11. When the first connecting arm 11 rotates under the drive of the first driver 21, it drives the third positioning protrusion 115 and the fourth positioning protrusion 116 to rotate. For example, as... FIG. 6 As shown, when the first connecting arm 11 is in its lowest position, the angle between the third positioning protrusion 115 and the second limiting protrusion 124 in the rotation direction is 71°, and the angle between the fourth positioning protrusion 116 and the second limiting protrusion 124 in the rotation direction is 96°. That is, when the first connecting arm 11 is in its lowest position, the first connecting arm 11 can rotate 71° and 96° relative to the second connecting arm 12 in opposite directions, respectively. The rotation angle can be adjusted by adjusting the positions of the second limiting protrusion 124, the third positioning protrusion 115, and the fourth positioning protrusion 116; this disclosure does not impose any limitations on this adjustment.

[0079] It is understood that the second limiting structure may include a second limiting protrusion 124 provided on the second connecting arm 12 and a third positioning protrusion 115 provided on the first connecting arm 11. When the first connecting arm 11 rotates to its maximum angle relative to the second connecting arm 12, the body of the first connecting arm 11 abuts against the second limiting protrusion 124. When the first connecting arm 11 rotates to its maximum angle relative to the second connecting arm 12, the third positioning protrusion 115 abuts against the second limiting protrusion 124. By forming a rotational limit through the abutment between the body of the first connecting arm 11 and the second limiting protrusion 124, the number of positioning protrusions is reduced, which can further improve the reliability of the limiting structure and reduce costs.

[0080] Of course, photoelectric sensors, Hall sensors, encoders, etc. can also be used to detect the rotation angle of the first connecting arm 11 relative to the second connecting arm 12, thereby controlling the rotation of the first driver 21 through the through hole to control the rotation angle of the first connecting arm 11 relative to the second connecting arm 12. This disclosure does not limit this.

[0081] In one embodiment, a third limiting structure is provided on the second connecting arm 12 and the fixing member 50. The third limiting structure is configured to limit the rotation angle of the second connecting arm 12 relative to the fixing member 50, thereby limiting the left and right rotation angle of the second connecting arm 12. Simultaneously, the third limiting structure allows for calibration of the rotation angle of the second connecting arm 12 relative to its extreme position, improving the precise control of the rotation angle of the second connecting arm 12. It is understood that the second connecting arm 12 can also rotate 360° relative to the body.

[0082] like FIGS. 2-4 As shown, the third limiting structure includes a third limiting protrusion 125 on one of the second connecting arm 12 and the fixing member 50, and a fifth positioning protrusion 510 and a sixth positioning protrusion 520 on the other. When the second connecting arm 12 rotates to its maximum angle relative to the fixing member 50 in the forward direction, the fifth positioning protrusion 510 abuts against the third limiting protrusion 125; when the second connecting arm 12 rotates to its maximum angle relative to the fixing member 50 in the reverse direction, the sixth positioning protrusion 520 abuts against the third limiting protrusion 125. The fifth positioning protrusion 510 and the sixth positioning protrusion 520 limit the rotation range of the third limiting protrusion 125, thereby limiting the rotation angle of the second connecting arm 12. The third limiting structure is small in size, highly reliable, and low in cost. Furthermore, the limiting effect at the extreme positions is visualized, facilitating future maintenance.

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

[0084] Of course, photoelectric sensors, Hall sensors, encoders, etc. can also be used to detect the rotation angle of the second connecting arm 12 relative to the body, thereby controlling the rotation of the third driver 23 through the through hole to control the rotation angle of the second connecting arm 12 relative to the body. This disclosure does not limit this.

[0085] In one embodiment, such as FIGS. 1-6As shown, the gimbal assembly also includes a counterweight 40. When the first connecting arm 11 is at its lowest position, in the axial direction Y, the first connecting arm 11 and the counterweight 40 are located on the same side of the first mounting portion 112; in the height direction Z, the first connecting arm 11 and the counterweight 40 extend in opposite directions; in the width direction X, the first main body portion 111 and the counterweight 40 are connected to both sides of the first mounting portion 112. By balancing the center of gravity of the gimbal assembly with the counterweight 40, and by setting the counterweight 40 and the first main body portion 111 of the first connecting arm 11 opposite to the first mounting portion 112, the space below the third mounting portion 122 can be used to accommodate the counterweight 40, thereby improving the structural compactness of the gimbal assembly and reducing its volume.

[0086] like FIGS. 2-6 As shown, the counterweight 40 may include a first counterweight 410 and a second counterweight 420. One end of the first counterweight 410 is connected to the first mounting portion 112, and the other end is connected to one end of the second counterweight 420. When the first connecting arm 11 is at its lowest position, in the axial direction Y, the other end of the first counterweight 410 extends toward the side away from the first driver 21. In the height direction Z, the other end of the first counterweight 410 extends toward the side away from the camera assembly 30. In the width direction X, the first counterweight 410 and the first main body 111 are located on both sides of the first mounting portion 112, and the other end of the second counterweight 420 extends toward the side of the first main body 111. The first counterweight 410 and the first main body 111 of the first connecting arm 11 are positioned opposite the first mounting part 112, and the second counterweight 420 and the camera assembly 30 are positioned opposite the first mounting part 112. This allows full use of the space below the third mounting part 122 to accommodate the counterweight 40, further improving the structural compactness of the gimbal assembly and reducing its size.

[0087] In one embodiment, the height difference between the first connecting arm 11 at its lowest and highest positions is 25mm to 33mm, such as 25mm, 26mm, 26.63mm, 27mm, 28mm, 28.92mm, 29mm, 30mm, 31mm, 32mm, 33mm, etc., which will not be listed here. Of course, depending on the actual needs of the product, the height difference between the first connecting arm 11 at its lowest and highest positions may also be less than 25mm or greater than 33mm, and this disclosure does not impose any restrictions on this.

[0088] like FIG. 3 As shown, when the other end of the first connecting arm 11 is at its lowest point, the distance between the lower contour of the camera assembly 30 and the rotation center of the first mounting portion 112 is h1, for example, 46.62 mm; FIG. 4As shown, when the other end of the first connecting arm 11 is at its highest position, the distance between the lower contour of the counterweight 40 or the first mounting part 112 and the rotation center of the first mounting part 112 is h2, for example, 17.50mm, which means that the gimbal assembly can be extended or retracted by a distance of 28.92mm.

[0089] In one embodiment, the gimbal assembly further includes: a housing, wherein when the other end of the first connecting arm 11 is at its lowest position, at least a portion of the camera assembly 30 is located outside the housing; when the other end of the first connecting arm 11 is at its highest position, the camera assembly 30 is located inside the housing, i.e., when the camera assembly 30 is in the lowered position, at least a portion of it is located outside the housing, so that the camera lens protrudes from the housing to achieve the optimal shooting angle for video recording; when the camera assembly 30 is in the raised position, it is stored in the housing's receiving space without protruding from the housing, thereby improving the aerodynamic performance of the aircraft and thus increasing the aircraft's endurance.

[0090] It is understandable that when the other end of the first connecting arm 11 is at its lowest position, the camera assembly 30 can be entirely located outside the housing. When the camera assembly 30 is in the raised position, the camera assembly 30 is completely retracted into the housing's containment space, without leaking out of the housing, thereby maximizing the improvement of the aircraft's aerodynamic performance.

[0091] The openings provided on the housing for the camera assembly 30 to enter and exit the housing can be shaped and sized to match the shape of the camera assembly 30, so that when the camera assembly 30 passes through the opening during the switching between the raised and lowered positions, the distance between the edge of the opening and the outer contour of the camera assembly 30 is small, for example, less than 5mm, so as to avoid affecting the aerodynamic performance when the opening is large.

[0092] Furthermore, in one embodiment, the gimbal assembly may not include a housing, but the camera assembly 30 may be contained in the raised position by the fuselage housing of the aircraft body, so that it does not protrude from the fuselage housing. This disclosure does not limit this.

[0093] Embodiments of this disclosure also provide an aircraft, which includes a fuselage and a gimbal assembly provided in the above embodiments, the gimbal assembly being connected to the fuselage. This aircraft may be a drone, and its beneficial effects are described in detail in the section on the gimbal assembly, and will not be repeated here.

[0094] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A gimbal assembly, comprising: The first connecting arm (11) and the first driver (21); One end of the first connecting arm (11) is connected with the first driver (21), the first driver (21) is used for driving the first connecting arm (11) to rotate around a preset rotation center line, and the length direction of the first connecting arm (11) and the axial direction (Y) of the preset rotation center line form an acute angle towards the other end of the first connecting arm (11), so that the other end of the first connecting arm (11) can be located at the lowermost and uppermost positions of the preset rotation center line and the positions between the lowermost and uppermost positions in the height direction (Z) of the holder assembly. The holder assembly further comprises:

2. The gimbal assembly of claim 1, wherein, The camera assembly (30) and the second driver (22), the camera assembly (30) is connected with the other end of the first connecting arm (11) through the second driver (22), and the second driver (22) is used for driving the camera assembly (30) to rotate. The holder assembly further comprises:

3. The gimbal assembly of claim 2, wherein, The shell, when the other end of the first connecting arm (11) is at the lowermost position, at least part of the camera assembly (30) is located outside the shell; when the other end of the first connecting arm (11) is at the uppermost position, the camera assembly (30) is located inside the shell. When the other end of the first connecting arm (11) is at the lowermost position, in the axial direction (Y), the other end of the first connecting arm (11) extends towards the side away from the first driver (21); in the height direction (Z), the other end of the first connecting arm (11) extends towards the lowermost position; in the width direction (X) of the holder assembly, the first main body part (111) of the first connecting arm (11) is located on the same side of the first driver (21) and the camera assembly (30).

4. The gimbal assembly of claim 2, wherein, The first connecting arm (11) and the camera assembly (30) are provided with first limiting structures, and the first limiting structures are configured to limit the rotation angle of the camera assembly (30) relative to the first connecting arm (11).

5. The gimbal assembly of claim 2, wherein, The first limiting structure comprises a first limiting protrusion (114) provided on one of the first connecting arm (11) and the camera assembly (30), a first positioning protrusion (310) and a second positioning protrusion (320) provided on the other; when the camera assembly (30) rotates forward relative to the first connecting arm (11) to the maximum angle, the first positioning protrusion (310) abuts against the first limiting protrusion (114); when the camera assembly (30) rotates reversely relative to the first connecting arm (11) to the maximum angle, the second positioning protrusion (320) abuts against the first limiting protrusion (114).

6. The gimbal assembly of claim 5, wherein, The first connecting arm (11) further comprises a first mounting part (112), the first mounting part (112) is connected with the rotor of the first driver (21), and the first main body part (111) is connected with the first mounting part (112); 7. The gimbal assembly of claim 4, wherein, ​ The gimbal assembly further comprises a counterweight (40) connected with the first mounting portion (112); when the first connecting arm (11) is at the lowest position, the first connecting arm (11) and the counterweight (40) are located on the same side of the first mounting portion (112) in the axial direction (Y); the first connecting arm (11) and the counterweight (40) extend in opposite directions in the height direction (Z); the first main body portion (111) and the counterweight (40) are connected on both sides of the first mounting portion (112) in the width direction (X).

8. The gimbal assembly of claim 7, wherein, The counterweight (40) comprises a first counterweight portion (410) and a second counterweight portion (420); one end of the first counterweight portion (410) is connected with the first mounting portion (112), and the other end is connected with one end of the second counterweight portion (420); When the first connecting arm (11) is at the lowest position, the other end of the first counterweight portion (410) extends to the side away from the first driver (21) in the axial direction (Y); the other end of the first counterweight portion (410) extends to the side away from the camera assembly (30) in the height direction (Z); the first counterweight portion (410) and the first main body portion (111) are located on both sides of the first mounting portion (112) in the width direction (X), and the other end of the second counterweight portion (420) extends to the side of the first main body portion (111).

9. The gimbal assembly of claim 1, wherein, The gimbal assembly further comprises: A second connecting arm (12) and a third driver (23); one end of the second connecting arm (12) is connected with the third driver (23), and the other end is connected with the stator of the first driver (21); the third driver (23) is used to drive the second connecting arm (12) to rotate around the height direction (Z).

10. The gimbal assembly of claim 9, wherein, Second limiting structures are arranged on the first connecting arm (11) and the second connecting arm (12), and are configured to limit the rotation angle of the first connecting arm (11) relative to the second connecting arm (12).

11. The gimbal assembly of claim 10, wherein, The second limiting structures comprise a second limiting protrusion (124) arranged on one of the first connecting arm (11) and the second connecting arm (12), and a third limiting protrusion (115) and a fourth limiting protrusion (116) arranged on the other; when the first connecting arm (11) rotates forward relative to the second connecting arm (12) to the maximum angle, the third limiting protrusion (115) abuts against the second limiting protrusion (124); when the first connecting arm (11) rotates reversely relative to the second connecting arm (12) to the maximum angle, the fourth limiting protrusion (116) abuts against the second limiting protrusion (124).

12. The gimbal assembly of claim 10, wherein, The second limiting structure comprises a second limiting protrusion (124) arranged on the second connecting arm (12) and a third limiting protrusion (115) arranged on the first connecting arm (11); when the first connecting arm (11) rotates forward relative to the second connecting arm (12) to the maximum angle, the body of the first connecting arm (11) abuts against the second limiting protrusion (124); when the first connecting arm (11) rotates reversely relative to the second connecting arm (12) to the maximum angle, the third limiting protrusion (115) abuts against the second limiting protrusion (124).

13. The gimbal assembly of claim 9, wherein, The gimbal assembly further comprises: A fixing member (50), one side of which is connected with the stator of the third driver (23) and the other side of which is configured to be connected with the fuselage of the aerial vehicle.

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

15. The gimbal assembly of claim 14, wherein, The third limiting structure comprises a third limiting protrusion (125) arranged on one of the second connecting arm (12) and the fixing member (50), and a fifth limiting protrusion (510) and a sixth limiting protrusion (520) arranged on the other; when the second connecting arm (12) rotates forward relative to the fixing member (50) to the maximum angle, the fifth limiting protrusion (510) abuts against the third limiting protrusion (125); when the second connecting arm (12) rotates reversely relative to the fixing member (50) to the maximum angle, the sixth limiting protrusion (520) abuts against the third limiting protrusion (125).

16. The gimbal assembly of claim 1, wherein, The height difference between the other end of the first connecting arm (11) in the lowermost position and in the uppermost position is 25mm-33mm.

17. The gimbal assembly of claim 1, wherein, The output shaft of the first driver (21) is parallel to or coincides with the preset rotation center line.

18. An aircraft, characterized in that Comprise: A fuselage; The gimbal assembly according to any one of claims 1-17, which is connected to the fuselage.

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