Holder and stability augmentation system with same

Abstract

The utility model provides a cradle head and a stability augmentation system with the cradle head, the cradle head comprises at least one shaft arm assembly and a load installation assembly used for installing a load on the shaft arm assembly, each shaft arm assembly comprises a motor, a shaft arm and a leveling mechanism, and the motor is connected with the shaft arm and used for driving the shaft arm to rotate in the axial direction of the motor so as to adjust the posture of the shaft arm assembly; the leveling mechanism is connected with the shaft arm and used for driving the shaft arm to do translational motion relative to the motor in the target axial direction; the leveling mechanism comprises a first operation part and a transmission part, the first operation part is connected with the transmission part, the first operation part is used for rotating under the action of applied rotating external force, and the rotation of the first operation part drives the transmission part to move so that the shaft arm can do translational motion relative to the motor in the target axial direction; and the shaft arm comprises a second operating part, and the second operating part is used for moving under the action of applied translation external force, so that the shaft arm performs translation motion relative to the motor in the target axial direction. The cloud deck gravity center adjusting operation forms are rich, and shaft arm adjusting is flexible.

Description

Technical Field

[0001] This utility model relates to the field of gimbal technology, and in particular to a gimbal and a stabilization system having the same. Background Technology

[0002] A gimbal can be used to support a load and adjust its height or direction, keeping it in a specific position to achieve preset load functions. For example, when the load is a shooting device, adjusting the gimbal allows for leveling and adjusting the shooting angle of different devices, making the shooting process less prone to shaking, resulting in stable footage and capturing rich, high-quality images.

[0003] When using a gimbal-leveling shooting device, the center of gravity of the gimbal arm and the overall shooting device is usually adjusted to coincide with the motor drive shaft to ensure that the motor output torque is within a controllable range. In related technologies, the adjustment method for the center of gravity is relatively simple, and when this leveling operation is inconvenient for the user, the gimbal may be difficult to level. Utility Model Content

[0004] In view of this, the present invention proposes a gimbal and a stabilization system thereon, aiming to enrich the operation mode of center of gravity adjustment and make the axis arm adjustment more flexible.

[0005] The gimbal according to the first aspect of this utility model includes: a load mounting assembly for mounting a load; at least one arm assembly connected to the load mounting assembly for adjusting the attitude of the load mounting assembly and / or the load; each arm assembly includes a motor, an arm, and a leveling mechanism, the motor being connected to the arm for driving the arm to rotate about the motor's axial direction to adjust the attitude of the arm assembly, and the leveling mechanism being connected to the arm for driving the arm to translate relative to the motor along a target axial direction, the target axial direction being not parallel to the motor's axial direction; wherein, the leveling mechanism includes a first operating member and a transmission member, the first operating member being connected to the transmission member, the first operating member being used to rotate under the action of an applied rotational external force, the rotation of the first operating member driving the transmission member to move, so that the arm translates relative to the motor along the target axial direction; the arm includes a second operating member, the second operating member being used to move under the action of an applied translational external force, so that the arm translates relative to the motor along the target axial direction.

[0006] The gimbal proposed in this utility model allows for operation and translational force application via the second operating component of the axis arm when it is inconvenient for the user to touch the first operating component of the leveling mechanism or to apply rotational force to the first operating component. This enables the axis arm to translate along the target axis. Conversely, when it is inconvenient for the user to touch the second operating component of the axis arm or to apply translational force by moving the second operating component, leveling can be performed by rotating the first operating component of the leveling mechanism, allowing the axis arm to translate along the target axis. By selecting different operating methods, the axis arm can be moved as needed in various usage environments. The rich variety of center of gravity adjustment methods and the more flexible axis arm adjustment enhance the user experience.

[0007] The second aspect of this utility model provides a stabilization system comprising: a load and a gimbal as described in the foregoing embodiments, wherein the gimbal is used to mount the load.

[0008] The stabilization system proposed in this invention, by employing the gimbal in the aforementioned embodiments, possesses the beneficial effects of the aforementioned gimbal. The load mounted on the gimbal can be positioned at the desired orientation and angle after the adjustment arm is moved. Since there are various ways to adjust the movement of the adjustment arm, the forms of load center of gravity adjustment can also be enriched, allowing the load to be flexibly adjusted in different environments.

[0009] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this utility model. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0011] Figure 1 This is a three-dimensional structural diagram of the gimbal proposed in some embodiments of this utility model;

[0012] Figure 2 This is a three-dimensional structural diagram of the gimbal proposed in some embodiments of this utility model from another angle;

[0013] Figure 3 This is a three-dimensional structural diagram of the gimbal proposed in some embodiments of this utility model from another angle;

[0014] Figure 4This is a schematic diagram of the structure of the locking mechanism and the shaft arm assembly in some embodiments of the present invention, wherein the locking mechanism and the shaft arm assembly are in a second cooperation state;

[0015] Figure 5 This is a schematic diagram of the structure of the locking mechanism and the shaft arm assembly in some embodiments of the present invention, wherein the locking mechanism and the shaft arm assembly are in a third engagement state;

[0016] Figure 6 This is an exploded view of part of the structure of the locking mechanism and the shaft arm assembly in some embodiments of this utility model;

[0017] Figure 7 yes Figure 6 A magnified schematic diagram of the structure of a portion of region A in the middle;

[0018] Figure 8 This is an exploded view of part of the structure of the locking mechanism and the shaft arm assembly in some embodiments of this utility model;

[0019] Figure 9 yes Figure 8 A magnified schematic diagram of the local structure of region B in the middle area;

[0020] Figure 10 This is a schematic diagram showing the structure of the locking mechanism and the shaft arm assembly in some embodiments of the present invention.

[0021] Figure 11 This is a partial cross-sectional view of the shaft arm assembly and locking mechanism in some embodiments of this utility model;

[0022] Figure 12 This is a three-dimensional structural schematic diagram of the stabilization system proposed in some embodiments of this utility model.

[0023] Explanation of reference numerals in the attached figures:

[0024] 1000, Stability Enhancement System;

[0025] 100. Gimbal; 200. Load capacity;

[0026] 10. Load-bearing installation components;

[0027] 20. Arm assembly;

[0028] 201. First arm assembly; 202. Second arm assembly;

[0029] 203. Third arm assembly; 2031. First branch arm; 2032. Second branch arm;

[0030] 21. Electric motor;

[0031] 22. Shaft arm; 221. Second operating element;

[0032] 23. Leveling mechanism;

[0033] 231. First operating component; 2311. Connecting part; 2312. Operating part;

[0034] 232. Transmission components; 2321. Lead screw;

[0035] 233. Mating parts; 2331. Nuts;

[0036] 30. Locking mechanism;

[0037] 31. Clamping component; 311. Cover body; 312. Base body;

[0038] 32. Fasteners; 33. Flexible preload components; 34. Operating components;

[0039] 40. Grip section. Detailed Implementation

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are all within the protection scope of the present utility model.

[0041] Where there is no conflict, the following embodiments and features can be combined with each other.

[0042] A pan-tilt head (PTZ) can be used to support loads and adjust their height or direction, keeping them in a specific position to achieve preset load functions. When used in film and television shooting, security surveillance, and other fields, a mobile phone or camera with a camera device is often mounted on a pan-tilt head with rotational freedom to change the shooting direction and counteract image shake, thus facilitating stable footage and capturing rich, high-quality images. When using a camera or mobile phone mounted on a pan-tilt head, it needs to be leveled. Leveling requires aligning the center of gravity of the pan-tilt head's axis and the camera or phone with or approximately aligning it with the motor's drive shaft, ensuring the motor's output torque is within a controllable range.

[0043] In related technologies, the adjustment method for adjusting the center of gravity is relatively simple. When it is inconvenient for the user to perform this leveling operation, the gimbal has difficulty in leveling.

[0044] In view of this, this application proposes a gimbal 100, which aims to solve the aforementioned technical problems.

[0045] Please see Figure 1 , Figure 2 and Figure 3 As shown, a gimbal 100 according to an embodiment of this application includes: a load mounting assembly 10 and at least one shaft arm assembly 20.

[0046] Among them, such as Figure 12 As shown, the load mounting assembly 10 is used to mount the load 200, thereby enabling the load 200 to be connected to the gimbal 100. The load 200 can be a camera, mobile phone, webcam, robot head, etc.

[0047] At least one arm assembly 20 is connected to the load mounting assembly 10, and the arm assembly 20 is used to adjust the attitude of the load mounting assembly 10 and / or the load 200. That is, the arm assembly 20 in this application can be one, two, three, or other required quantities, so that the attitude of the load 200 can be adjusted from one or more directions.

[0048] like Figure 4 , Figure 5 and Figure 6 As shown, each arm assembly 20 includes a motor 21, an arm 22, and a leveling mechanism 23. The motor 21 is connected to the arm 22 and is used to drive the arm 22 to rotate around the axis of the motor 21 to adjust the attitude of the arm assembly 20. For example, the motor 21 can adjust the arm 22 to rotate around the yaw direction of the gimbal 100, the motor 21 can adjust the arm 22 to rotate around the pitch direction of the gimbal 100, or the motor 21 can adjust the arm 22 to rotate along the roll direction of the gimbal 100, thereby changing the attitude of the arm assembly 20.

[0049] Furthermore, such as Figure 4 and Figure 5 As shown, the leveling mechanism 23 is connected to the shaft arm 22 and is used to drive the shaft arm 22 to translate relative to the motor 21 along the target axis. The target axis is not parallel to the axis of the motor 21, so that the shaft arm 22 can adjust its center of gravity relative to the axis of the motor 21, so that the center of gravity of the shaft arm 22 can coincide as much as possible with the axis of the drive shaft of the motor 21. The translational motion can refer to linear motion, rather than curvilinear motion or rotation. The target axis can be the extension direction of at least part of the shaft arm 22.

[0050] Among them, such as Figure 6As shown, the leveling mechanism 23 includes a first operating member 231 and a transmission member 232. The first operating member 231 is connected to the transmission member 232. The first operating member 231 rotates under the action of an applied rotational force. The rotation of the first operating member 231 drives the transmission member 232 to move, so that the shaft arm 22 translates relative to the motor 21 along the target axis. Thus, a person can apply force to the first operating member 231, and the transmission member 232 can convert the rotational force into a translational force and output it to the shaft arm 22, enabling the shaft arm 22 to translate relative to the motor 21. The transmission member 232 can be a gear and rack transmission structure, a belt and chain transmission structure, a crank and slider transmission structure, or a lead screw and nut transmission structure, etc., without specific limitations. Of course, the transmission member 232 can also be the entire transmission structure, as long as it can convert the rotational force into a translational force output. It is understandable that the aforementioned transmission component 232 can increase the output torque by converting the rotational force into the translational force. As a result, when the user adjusts the shaft arm 22 through the first operating component 231, the force required is less than that required by the second operating component 221, making leveling easier.

[0051] like Figure 4 and Figure 5 As shown, the shaft arm 22 includes a second operating member 221, which is used to move under the action of an applied translational force, so that the shaft arm 22 translates relative to the motor 21 along the target axis. For example, the second operating member 221 can be part of the outer wall of the shaft arm 22, or it can be a component specially set on the shaft arm 22 to facilitate manual force application; no specific limitation is made here.

[0052] As can be seen from the above, the gimbal 100 proposed in this utility model allows the user to move the shaft arm 22 relative to the motor 21 along the target axis by selecting to operate the first operating component 231 or the second operating component 221. Therefore, the user can flexibly choose the method of adjusting the position of the shaft arm 22 according to the usage requirements or usage scenario, so that the position of the shaft arm 22 can be changed.

[0053] Specifically, when it is inconvenient for the user to touch the first operating member 231 of the leveling mechanism 23, or to apply rotational force to the first operating member 231, for example, when the first operating member 231 is in a narrow space, and the user's hand is not convenient to touch the first operating member 231 or to perform rotational actions, the second operating member 221 of the moving shaft arm 22 can be used to operate and apply translational force, so that the shaft arm 22 can move translationally along the target axis.

[0054] When it is inconvenient for the user to touch the second operating member 221 of the shaft arm 22, or when it is inconvenient to apply translational force to the second operating member 221, for example, when the second operating member 221 is far from the user's hand, the leveling operation can be performed by rotating the first operating member 231 of the leveling mechanism 23, so that the shaft arm 22 can be translated along the target axis.

[0055] Therefore, by selecting different operating methods, the axis arm 22 can be moved as needed in different usage environments. The load 200 and / or load mounting component 10 and the axis arm 22 have a variety of operation modes for center of gravity adjustment, making the axis arm 22 adjustment more flexible, improving the user experience, and making it more convenient to use the gimbal 100.

[0056] Understandably, compared to related technologies that can only use a single center of gravity adjustment method, this application can achieve the translational movement of the shaft arm 22 along the target axis through multiple adjustment methods, thereby enabling the shaft arm 22 to adapt to the adjustment needs of different usage environments. The position adjustment methods of the shaft arm 22 are rich and flexible, and the adjustment of the shaft arm 22 is not limited to a single adjustment method. When conditions permit, the shaft arm 22 can be translated along the target axis by applying a rotational external force to the first operating member 231; or the shaft arm 22 can be translated along the target axis by applying a translational external force to the second operating member 221.

[0057] The specific features and connection form of the first operating element 231 and the second operating element 221 in this application will now be described.

[0058] In some embodiments of this application, when the first operating member 231 rotates for a first stroke, the stroke by which the first operating member 231 moves to make the shaft arm 22 move along the target axis is the second stroke. The first stroke is greater than the second stroke. That is, the stroke required for the first operating member 231 to rotate is greater than the stroke by which the transmission member 232 can move the shaft arm 22 in translation. The rotation stroke of the first operating member 231 can be roughly calculated by multiplying the circumference of the first operating member 231 along the rotation direction by the number of rotations of the first operating member 231. If the first operating member 231 rotates less than one revolution, the corresponding rotation stroke can be calculated by the arc length corresponding to the arc angle of the first operating member 231's rotation. Since the first operating member 231 can rotate for a greater stroke to make the shaft arm 22 move with a smaller stroke, the translation distance of the shaft arm 22 can be precisely adjusted by rotating the first operating member 231, which is very suitable for fine-tuning the shaft arm 22 and improving the accuracy of the leveling operation.

[0059] In a further embodiment, when the travel of the second operating member 221 during movement is the second stroke, the travel of the second operating member 221 to move the shaft arm 22 along the target axis is also the second stroke. Therefore, by operating the second operating member 221, the shaft arm 22 can achieve the same travel displacement as the second operating member 221. Compared to the first operating member 231, the change in the travel of the shaft arm 22 is greater when it moves the same distance. Thus, the second operating member 221 of this application is suitable for rapid movement of the shaft arm 22 with a larger travel distance. Therefore, this application can be compatible with multiple leveling schemes, supporting both leveling operations by applying force to the second operating member 221 to drag the shaft arm 22 over a large range of travel distances, and precise fine-tuning of the shaft arm 22 within a small range by applying force to the first operating member 231. That is, in actual operation, the user can first drag the second operating member 221 to achieve a large range of adjustment, and then rotate the first operating member 231 to achieve a small range of fine-tuning, thereby effectively improving leveling efficiency.

[0060] Understandably, if only manual dragging of the axis arm for leveling is available, directly dragging the axis arm requires overcoming significant friction, and the adjustment precision is limited, resulting in a poor user experience due to the need for repeated dragging of the axis arm. If only a knob fine-tuning solution is available, users would need to spend a considerable amount of time to adjust the axis arm over a large range. This application addresses this issue by applying an external rotational force to the first operating member 231 when adjusting the displacement of the axis arm 22, thereby achieving effortless adjustment and better adjustment precision. This optimizes the time-consuming and laborious process of leveling the center of gravity of the gimbal 100 and also mitigates the problem of limited adjustment precision.

[0061] In some embodiments of this application, such as Figure 6 As shown, the second operating member 221 is connected to the transmission member 232. When the second operating member 221 moves under the action of an applied translational force, the transmission member 232 moves synchronously. Therefore, applying a force to the second operating member 221 will also cause the transmission member 232 to move and change position. After applying a force to the second operating member 221, both the transmission member 232 and the shaft arm 22 move. In these embodiments, the synchronous movement of the transmission member 232 can be a synchronous rotational movement and / or a synchronous translational movement; no limitation is made here.

[0062] In a more specific embodiment, the first operating member 231 is connected to the shaft arm 22. When the second operating member 221 is moved by the applied translational force, the shaft arm 22 moves along the target axis to drive the first operating member 231 and the transmission member 232 to move together along the target axis. So, although both the first operating member 231 and the second operating member 221 can cause the transmission member 232 to move, the presence of one of them will not hinder the freedom of operation of the other. Therefore, the first operating member 231 and the second operating member 221 are coordinated and can both make the shaft arm 22 move along its own extension direction.

[0063] In some embodiments of this application, combined with Figure 7 and Figure 11 As shown, the first operating member 231 includes a connecting portion 2311 and an operating portion 2312. The connecting portion 2311 is connected to the shaft arm 22 and the operating portion 2312 respectively. When the operating portion 2312 rotates and drives the transmission member 232 to move, the connecting portion 2311 drives the shaft arm 22 to move along the target axis. In these embodiments, through the function of the connecting portion 2311, not only can the shaft arm 22 be connected to the operating portion 2312, but the operating portion 2312 can also be connected to the transmission member 232. When a rotational force is applied to the operating portion 2312, part of the structure of the connecting portion 2311 will transmit the rotational force to the transmission member 232, so that the transmission member 232 can rotate and translate at the same time. During the translation process, the shaft arm 22 can be translated and moved through the connecting portion 2311. Therefore, the connecting portion 2311 of this application makes the transmission member 232, the operating portion 2312, and the shaft arm 22 form a whole with kinematic association. It is understood that when the transmission member 232 of this application moves, the connecting part 2311 drives the shaft arm 22 to move along the target axis, and the second operating member 221 on the shaft arm 22 also moves. Similarly, although the first operating member 231 and the second operating member 221 can both cause the transmission member 232 to move, the presence of one of them will not hinder the freedom of operation of the other. Both the first operating member 231 and the second operating member 221 can make the shaft arm 22 move along its own extension direction.

[0064] In some specific embodiments, such as Figure 8 As shown, in order to apply a rotational force to the operating part 2312 without causing the shaft arm 22 to rotate, the connecting part 2311 can be rotatably engaged with the operating part 2312 via components such as bearings. At this time, when a rotational force is applied to the operating part 2312, the operating part 2312 can rotate relative to the connecting part 2311 while simultaneously driving the transmission member 232 to rotate synchronously.

[0065] When the transmission component 232 is displaced in its axial direction, since the transmission component 232, the connecting part 2311, and the operating part 2312 can transmit translational force in the axial direction of the transmission component 232, the connecting part 2311 can be driven to make axial displacement, which in turn causes the shaft arm 22 connected to it to make axial displacement, so that the shaft arm 22 can move along the target axial direction.

[0066] In some embodiments of this application, applying a rotational force to the first operating member 231 can be done manually or by a rotary motor, and there is no limitation here.

[0067] In some embodiments of this application, applying translational force to the second operating member 221 can be achieved by human power or by a mechanism such as a linear motor, electric cylinder, or pneumatic cylinder; no limitation is made here.

[0068] The structural forms of the transmission component 232 and the mating component 233 in this application will now be described.

[0069] In some embodiments of this application, combined with Figure 6 and Figure 7 As shown, the transmission component 232 includes a lead screw 2321. When the second operating component 221 is subjected to a translational external force that causes the shaft arm 22 to move, the lead screw 2321 rotates under the action of the shaft arm 22. In these embodiments, after the second operating component 221 is subjected to a translational external force, it can transmit the translational external force to the lead screw 2321, which is indirectly connected to it. For example, in a specific embodiment, the indirect connection is achieved through the aforementioned connecting part 2311, thereby enabling the lead screw 2321 to rotate during translation.

[0070] In some embodiments of this application, combined with Figure 6 and Figure 7 As shown, the transmission component 232 includes a lead screw 2321. When the second operating component 221 is subjected to a translational external force that causes the shaft arm 22 to move, the lead screw 2321 rotates under the action of the shaft arm 22. The helix angle of the lead screw 2321 is greater than the equivalent friction angle. That is to say, the lead screw 2321 can be a non-locking lead screw 2321. The lead screw 2321 can be easily rotated and translated along its axial direction.

[0071] In some embodiments of this application, such as Figure 7As shown, the helix angle of the lead screw 2321 is greater than the equivalent friction angle. The lead screw 2321 of this application is a non-locking lead screw, which facilitates flexible translation along the axial direction of the lead screw 2321 and allows it to easily stop at the desired position. That is to say, the lead screw 2321 and the nut 2331 that mates with it can form a threaded engagement, and the lead screw 2321 and the nut 2331 can flexibly rotate and translate relative to each other without self-locking.

[0072] In some embodiments of this application, such as Figure 6 As shown, the leveling mechanism 23 also includes a mating component 233, which mates with the transmission component 232. The transmission component 232, during rotation, is acted upon by the mating component 233 and translates relative to it. Alternatively, the mating component 233, during rotation of the transmission component 232, is acted upon by it and translates relative to it. The structure of the transmission component 232 and the mating component 233 can be a gear and rack transmission structure, a belt and chain transmission structure, a crank-slider transmission structure, or a lead screw and nut transmission structure, etc. No specific limitations are imposed here, as long as the rotational force can be converted into a translational force output.

[0073] This application mainly uses the transmission component 232, which includes the lead screw 2321, and the mating component 233, which includes the nut 2331, as examples for illustration.

[0074] In some embodiments of this application, combined with Figure 6 , Figure 7 , Figure 10 and Figure 11 As shown, the transmission component 232 includes a lead screw 2321, and the mating component 233 includes a nut 2331. The nut 2331 is mounted on the motor 21 (not shown) and threadedly engages with the lead screw 2321. The first operating component 231 is fixedly connected to one end of the lead screw 2321 and is also connected to one end of the shaft arm 22. The rotation of the first operating component 231 drives the lead screw 2321 to rotate, causing the lead screw 2321 to move relative to the nut 2331. The movement of the lead screw 2321 causes the first operating component 231 and the shaft arm 22 to move together along the target axial direction. In these embodiments, by applying a rotational external force to the first operating component 231, the lead screw 2321 can be further driven to rotate. The lead screw 2321 then rotates and translates relative to the nut 2331, thereby causing the first operating component 231 to translate along with the lead screw 2321. The shaft arm 22 also translates along with the first operating component 231, thus realizing the movement of the shaft arm 22 along the target axial direction. This transmission scheme can be applied to the first arm assembly 201 and / or the second arm assembly 202.

[0075] In these embodiments, to facilitate smoother translation of the shaft arm 22 and the lead screw 2321, the axial direction of the lead screw 2321 can be parallel to the extension direction of the shaft arm 22. In this application, the transmission between the lead screw 2321 and the nut 2331 is achieved by increasing the rotational stroke of the lead screw 2321 to obtain a larger driving torque. Therefore, the user can achieve the required stroke of the shaft arm 22 with a smaller external rotational force applied to the first operating member 231.

[0076] In other embodiments of this application, combined with Figure 1 and Figure 2 As shown, the shaft arm 22 in the third shaft arm assembly 203 includes a first branch arm 2031 and a second branch arm 2032 that are movable relative to each other. A load mounting assembly 10 is connected to the second branch arm 2032. The transmission component 232 includes a lead screw 2321, and the mating component 233 includes a nut 2331, which is disposed on the second branch arm 2032. The motor shaft of the motor 21 in the third shaft arm assembly 203 is connected to the first branch arm 2031, and the motor mount of the motor 21 in the third shaft arm assembly 203 is connected to the shaft arm 22 of the second shaft arm assembly 202. The first branch arm 2031... A lead screw 2321 is rotatably provided, and a nut 2331 is threadedly engaged with the lead screw 2321. A first operating member 231 is fixedly connected to one end of the lead screw 2321 and is also connected to one end of the first branch arm 2031. The rotation of the first operating member 231 drives the lead screw 2321 to rotate, so that the nut 2331 moves relative to the lead screw 2321. The movement of the nut 2331 drives the second branch arm 2032 to move along the extension direction of the first branch arm 2031, thereby realizing the adjustment of the center of gravity of the third shaft arm assembly 203 and / or the load 200.

[0077] In some embodiments of this application, the target axis corresponding to the shaft arm 22 is perpendicular to the axis of the motor 21 connected to the shaft arm 22. Therefore, when the position of the shaft arm 22 is adjusted so that its center of gravity is approximately aligned with the axis of the motor 21, the center of gravity of the shaft arm 22 is leveled. Alternatively, in other embodiments of this application, the target axis is the extension direction of at least a portion of the shaft arm 22.

[0078] The structure of the locking mechanism 30 of this application and its cooperation with the shaft arm 22 will be described below.

[0079] In some embodiments of this application, such as Figure 1 , Figure 2 and Figure 3As shown, the gimbal 100 also includes a locking mechanism 30. The locking mechanism 30 cooperates with the shaft arm 22, and the cooperation state includes a first cooperation state. In the first cooperation state, the first operating member 231 can rotate under the action of an applied target rotational external force, and the second operating member 221 can remain stationary under the action of an applied target translational external force. Therefore, in these embodiments, by adjusting the locking mechanism 30, the locking mechanism 30 can lock the shaft arm 22 to different degrees, resulting in different frictional forces between the locking mechanism 30 and the shaft arm 22. Consequently, the external force required to overcome the aforementioned frictional forces also varies, and the degree to which the shaft arm 22 can move under the action of the external force also varies. In the first cooperation state, only the first operating member 231 can be operated to drive the shaft arm 22 to achieve fine-tuning movement along its own axis; rapid movement of the shaft arm 22 along its own axis cannot be achieved by operating the second operating member 221.

[0080] In some embodiments of this application, the locking mechanism 30 and the shaft arm 22 are further engaged in a second engagement state. In this second engagement state, the first operating member 231 can rotate under the action of an applied target rotational force, and the second operating member 221 can move under the action of an applied target translational force. Therefore, in these embodiments, not only the first operating member 231 but also the second operating member 221 can be adjusted. In this case, the locking force of the locking mechanism 30 on the shaft arm 22 is weaker than the locking force of the locking mechanism 30 on the shaft arm 22 in the first engagement state. It should be understood that the target rotational force and the target translational force can refer to rotational and translational forces within a certain range in magnitude. In some scenarios, the target rotational force and the target translational force can refer to forces of approximately equal magnitude. Due to the aforementioned transmission structure (transmission component 232 includes the lead screw 2321, and mating component 233 includes the nut 2331), the target rotational force can generate a larger driving torque, thus enabling the shaft arm 22 to move against friction. However, the target translational force cannot cause the shaft arm 22 to move. Through the first mating state, the user can fine-tune the shaft arm 22 using the first operating component 231, and the shaft arm 22 will not shift due to accidental activation of the second operating component 221, thereby further improving the leveling efficiency.

[0081] In some embodiments of this application, the locking mechanism 30 and the shaft arm 22 are further engaged in a third engagement state. In this third engagement state, the first operating member 231 remains stationary under the action of an applied target rotational force, and the second operating member 221 remains stationary under the action of an applied target translational force. Therefore, in these embodiments, the torque provided by either the first operating member 231 or the second operating member 221 is insufficient to overcome the static friction between the locking mechanism 30 and the shaft arm 22, ensuring that the shaft arm 22 remains stably in a preset position without displacement. This also effectively prevents accidental contact that could cause a change in the position of the shaft arm 22. In this case, the locking force of the locking mechanism 30 on the shaft arm 22 is stronger than the locking force of the locking mechanism 30 on the shaft arm 22 in the first engagement state.

[0082] In some embodiments of this application, such as Figure 6 As shown, the locking mechanism 30 includes a clamping member 31 and a fastener 32. The clamping member 31 is used to cooperate with the shaft arm 22; the fastener 32 is connected to the clamping member 31 so that the locking mechanism 30 is in a first engaged state. That is, in these embodiments, the locking mechanism 30 is in a first engaged state after the fastener 32 is connected to the clamping member 31, and the locking mechanism 30 has a certain locking force on the shaft arm 22, but the position of the shaft arm 22 can still be finely adjusted by applying an external force to the first operating member 231.

[0083] In a further embodiment, the fastener 32 can move relative to the clamping member 31 and act on the clamping member 31 so that the locking mechanism 30 is in different engagement states. That is, in these embodiments, the fastener 32 can be in different connection positions relative to the clamping member 31, so that the clamping force of the clamping member 31 on the shaft arm 22 is different.

[0084] In some embodiments of this application, combined with Figure 6 and Figure 11As shown, the clamping member 31 includes a cover 311 and a base 312. The first end of the cover 311 is rotatably connected to the base 312, and the second end of the cover 311 is connected to the base 312 via a fastener 32. The cover 311 and the base 312 clamp the shaft arm 22. The fastener 32 is used to change the distance between the cover 311 and the base 312 through movement, thereby adjusting the clamping force of the clamping shaft arm 22 to place the locking mechanism 30 in different engagement states. Therefore, the fastener 32 can be displaced relative to the base 312 and / or the cover 311, resulting in different engagement positions between the cover 311 and the base 312. Specifically, in the first engagement state, the distance between the cover 311 and the base 312 is a first distance; in the second engagement state, the distance between the cover 311 and the base 312 is a second distance; and in the third engagement state, the distance between the cover 311 and the base 312 is a third distance. The third distance is less than the first distance, and the first distance is less than the second distance.

[0085] In some specific embodiments, in order to increase the convenience of opening the cover 311, a handle is provided on the surface of the cover 311 to facilitate the hand to pull the cover 311 and adjust the connection position of the fastener 32 between the cover 311 and the seat 312.

[0086] In some embodiments of this application, combined with Figure 6 and Figure 11 As shown, the locking mechanism 30 also includes an elastic preload member 33, which is disposed between the fastener 32 and the cover 311 to provide preload force to the fastener 32. The elastic preload member 33 ensures that the fastener 32 and the cover 311 remain connected and pressed together, thereby making the relative connection between the cover 311 and the seat 312 more stable. The elastic preload member 33 can also absorb dimensional tolerances during the manufacturing process and can also reduce the changes in the locking effect of the locking mechanism 30 on the shaft arm 22 caused by structural deformation or wear of the gimbal 100 when used with different loads 200.

[0087] In other embodiments of this application, an elastic preload 33 is disposed between the fastener 32 and the seat 312 to provide preload force to the fastener 32. In these embodiments, the fastener 32 and the seat 312 can also be kept connected and pressed together at all times, thereby making the relative connection between the cover 311 and the seat 312 more stable.

[0088] In some embodiments of this application, the elastic preload 33 includes structures such as disc springs, springs, or elastic washers. When the fit between the fastener 32 and the clamping member 31 becomes loose, the elastic preload 33 can compensate for the stress difference caused by the loosening, thereby maintaining a reliable connection between the fastener 32 and the clamping member 31 with a certain force. The elastic preload 33 can also compensate for the fit tolerances of mass production equipment. This ensures the locking effect of the locking mechanism 30. When a disc spring is used for the elastic preload 33, the stress distribution of the disc spring decreases uniformly from the inside to the outside, achieving a low-stroke, high-compensation-force effect, thus saving layout space.

[0089] This application utilizes the preload of the disc spring to position the locking mechanism 30 and the arm assembly 20 in a first engagement state. In this state, the user can apply a target rotational force to the first operating member 231, causing it to rotate. The arm assembly 22 can then be leveled by rotating the first operating member 231. Conversely, applying a target translational force to the second operating member 221 keeps the arm assembly 22 stationary, preventing it from being dragged for leveling. By setting the disc spring's preload within a critical range, the user can precisely fine-tune the movement of the arm assembly 22 by applying a rotational force to the first operating member 231 without needing to adjust the locking mechanism 30. With the disc spring's preload within this critical range, the user can use the gimbal 100 for shooting normally without worrying about unexpected movement of the arm assembly 22. The user can also perform fine-tuning operations on the arm assembly 22 without adjusting the locking mechanism 30, eliminating the need to open and close the cover 311. This allows for rapid fine-tuning and quick use of the gimbal 100 and the load 200.

[0090] In some embodiments of this application, combined with Figure 6 and Figure 11 As shown, the locking mechanism 30 also includes an operating member 34, which is connected to the fastener 32 and used to drive the fastener 32 to move. The operating member 34 facilitates the application of force to the fastener 32 by hand, increasing the contact area with the hand; for example, the operating member 34 can be designed as a wrench, connected to the fastener 32, allowing for easy manipulation to change the position of the fastener 32 relative to the clamping member 31, thereby changing the engagement state between the locking mechanism 30 and the shaft arm 22. Figure 4 and Figure 5 As shown, by acting on the operating member 34, the position of the fastener 32 relative to the clamping member 31 can be changed, thereby changing the engagement state between the locking mechanism 30 and the shaft arm 22, for example, switching from the second engagement state to the third engagement state, or switching from the first engagement state to the second engagement state, or switching from the first engagement state to the third engagement state.

[0091] In some specific embodiments, such as Figure 8 and Figure 9 As shown, the fastener 32 is a bolt, and a disc spring (an elastic preload 33) is sleeved on the outside of the bolt. One end of the bolt is connected to the operating member 34, and the other end of the bolt can pass through a through hole on the cover 311 and connect to the bolt hole in the seat 312, thereby connecting the cover 311 and the seat 312 and pressing the disc spring between the operating member 34 and the cover 311. In a more specific embodiment, in order to connect the bolt with the operating member 34, the operating member 34 is provided with a toothed groove, and the end of the bolt is provided with a toothed thread. The toothed thread engages with the toothed groove, so that when the operating member 34 is rotated by hand, the bolt can be rotated to change the connection position of the bolt relative to the cover 311 and the seat 312. Of course, in other embodiments, the fastener 32 can also be in other forms, such as a combination of a rod and a pin. By setting multiple locking slots on the rod, the rod passes through the through holes on the cover 311 and the seat 312, and the pin engages in different locking slots, the connection position of the rod relative to the cover 311 and the seat 312 will change, which is not limited here.

[0092] In some other embodiments of this application, such as Figure 6 As shown, the locking mechanism 30 also includes an elastic preload member 33, which is disposed between the fastener 32 and the cover 311 to provide preload force to the fastener 32. The locking mechanism 30 also includes an operating member 34, which is connected to the fastener 32 and is used to drive the fastener 32 to move.

[0093] In some other embodiments of this application, the elastic preload 33 is disposed between the fastener 32 and the seat 312 to provide preload force to the fastener 32, and as... Figure 6 As shown, the locking mechanism 30 also includes an operating member 34, which is connected to the fastener 32 and is used to drive the fastener 32 to move.

[0094] The gripping part 40 of this application will now be described.

[0095] In some embodiments of this application, such as Figure 1 , Figure 2 and Figure 3 As shown, the gimbal 100 also includes a grip portion 40, which is connected to at least one axis arm assembly 20, thereby facilitating hand gripping and movement of the gimbal 100. In some specific embodiments, the grip portion 40 of the gimbal 100 is connected to a first axis arm assembly 201, for example, to a motor 21 in the first axis arm assembly 201.

[0096] The quantity and arrangement of the arm assemblies 20 in this application are described below.

[0097] In some embodiments of this application, combined with Figure 1 , Figure 2 and Figure 3 As shown, at least one arm assembly 20 includes a first arm assembly 201, a second arm assembly 202, and a third arm assembly 203, which are connected sequentially. The third arm assembly 203 is connected to the load mounting assembly 10 to jointly adjust the attitude of the load mounting assembly 10 and / or the load 200. In these embodiments, by providing three arm assemblies 20, angle and center of gravity adjustments of the load mounting assembly 10 and / or the load 200 in three directions can be achieved, making the adjustment of the load mounting assembly 10 and / or the load 200 more flexible. In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," and "third" may explicitly or implicitly include one or more of the stated features. In other words, the gimbal 100 in these embodiments is three-axis, which can form a three-axis stabilizer for use with cameras and mobile phones.

[0098] In a specific embodiment, such as Figure 2 As shown, the first arm assembly 201 is the arm assembly 20 corresponding to the yaw axis of the gimbal 100, the second arm assembly 202 is the arm assembly 20 corresponding to the roll axis of the gimbal 100, and the third arm assembly 203 is the arm assembly 20 corresponding to the pitch axis of the gimbal 100. Alternatively, the first arm assembly 201 is the arm assembly 20 corresponding to the yaw axis of the gimbal 100, the second arm assembly 202 is the arm assembly 20 corresponding to the pitch axis of the gimbal 100, and the third arm assembly 203 is the arm assembly 20 corresponding to the roll axis of the gimbal 100. Figure 1 For example, the first arm assembly 201 is connected to the grip 40, the second arm assembly 202 is connected to the first arm assembly 201, and the third arm assembly 203 is connected to the second arm assembly 202 and also to the load mounting assembly 10. It should be understood that the arm assemblies 20 corresponding to the roll axis, yaw axis, and pitch axis of the gimbal 100 can be orthogonal or non-orthogonal structures.

[0099] Taking the first arm assembly 201 as the arm assembly 20 corresponding to the yaw axis of the gimbal 100, the second arm assembly 202 as the arm assembly 20 corresponding to the roll axis of the gimbal 100, and the third arm assembly 203 as the arm assembly 20 corresponding to the pitch axis of the gimbal 100 as an example, the user's leveling process is explained. The motor 21 of the first arm assembly 201 is connected to the grip 40. During leveling, the user can vertically level the load 200 by rotating it to an upward direction on the pitch axis of the third arm assembly 203, determining if the center of gravity of the load 200 has shifted vertically, and then adjusting the position of the load mounting assembly 10 on the arm 22 of the pitch axis to achieve vertical leveling (for example, adjusting the position of the second arm 2032 on the first arm 2031 can achieve vertical leveling). Then, the user can level the load 200 forward by rotating it forward on the pitch axis, determining if the center of gravity of the load 200 has shifted horizontally, and then adjusting the position of the load 200 relative to the second arm assembly 202 to achieve forward leveling. Next, the second arm assembly 202 is leveled on the roll axis: this is achieved by moving the corresponding arm 22 on the roll axis left and right. Finally, the first arm assembly 201 is leveled: this is achieved by moving the corresponding arm 22 on the yaw axis. Ultimately, the overall center of gravity of each arm assembly 20 and the load 200 is adjusted to coincide with or approximately coincide with the drive shaft of the motor 21 of the first arm assembly 201, so that the output torque of the motor 21 of the first arm assembly 201 is within a controllable range.

[0100] In other embodiments, the gimbal 100 may also be two-axis, single-axis, or more axes; no specific limitations are imposed here.

[0101] The stability enhancement system 1000 of this application will now be described.

[0102] like Figure 12 As shown, the present invention proposes a stabilization system 1000, comprising: a load 200 and a gimbal 100 as described in the previous embodiment, wherein the gimbal 100 is used to mount the load 200. The stabilization system 1000 of this application can be used in applications such as a stabilization system for a shooting device, a local stabilization system for a robot, or a local stabilization system for a drone.

[0103] The stabilization system 1000 proposed in this utility model, by employing the gimbal 100 in the aforementioned embodiments, possesses the beneficial effects of the aforementioned gimbal 100. The load 200 mounted on the gimbal 100 can be positioned at the desired orientation and angle after the adjustment arm 22 is moved, maintaining the load 200's posture at the expected angle. Since the adjustment methods for moving the adjustment arm 22 are diverse, the forms of load 200 center of gravity adjustment operations can also be enriched, allowing the load 200 to be flexibly adjusted in different environments.

[0104] In some specific embodiments, the load mounting component 10 of the gimbal 100 can be adjusted in position relative to the shaft arm of the shaft arm assembly 20. The specific adjustment structure can be an adjustment structure in the prior art, which will not be described in detail here. The load mounting component 10 is provided with one or more of the following: a snap-fit ​​structure, a plug-in structure, a positioning structure, or a limiting structure, to facilitate connection with the load 200 and to stably connect the load 200 to the load mounting component 10.

[0105] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A gimbal, characterized in that, include: Load mounting component, used to mount loads; At least one arm assembly is connected to the load mounting assembly for adjusting the attitude of the load mounting assembly and / or the load; each arm assembly includes a motor, an arm, and a leveling mechanism, the motor being connected to the arm for driving the arm to rotate about the motor's axis to adjust the attitude of the arm assembly, and the leveling mechanism being connected to the arm for driving the arm to translate relative to the motor along a target axis, the target axis being not parallel to the motor's axis. The leveling mechanism includes a first operating member and a transmission member. The first operating member is connected to the transmission member. The first operating member is used to rotate under the action of an applied rotational force. The rotation of the first operating member drives the transmission member to move, so that the shaft arm translates relative to the motor along the target axis. The shaft arm includes a second operating member. The second operating member is used to move under the action of an applied translational force, so that the shaft arm translates relative to the motor along the target axis.

2. The gimbal as described in claim 1, characterized in that, When the first operating member rotates for a first stroke, the stroke by which the first operating member moves to cause the shaft arm to move along the target axis is the second stroke, and the first stroke is greater than the second stroke; When the stroke of the second operating member is the second stroke, the stroke of the second operating member that causes the shaft arm to move along the target axis is the second stroke.

3. The gimbal as described in claim 1, characterized in that, The target axis corresponding to the shaft arm is perpendicular to the axis of the motor connected to the shaft arm, or the target axis is the extension direction of at least part of the shaft arm.

4. The gimbal as described in claim 1, characterized in that, The second operating member is connected to the transmission member. When the second operating member moves under the action of an applied translational force, the transmission member moves synchronously.

5. The gimbal as described in claim 4, characterized in that, The first operating member is connected to the shaft arm. When the second operating member is moved by an applied translational force, the shaft arm moves along the target axial direction, thereby driving the first operating member and the transmission member to move together along the target axial direction.

6. The gimbal as described in claim 5, characterized in that, The first operating component includes a connecting part and an operating part. The connecting part is connected to the shaft arm and the operating part respectively. When the operating part rotates and drives the transmission component to move, the connecting part drives the shaft arm to move along the target axis.

7. The gimbal as described in claim 4, characterized in that, The transmission component includes a lead screw, and when the second operating component is subjected to a translational external force that causes the shaft arm to move, the lead screw rotates under the action of the shaft arm; and / or, the helix angle of the lead screw is greater than the equivalent friction angle.

8. The gimbal as described in claim 7, characterized in that, The leveling mechanism further includes a mating component that mates with the transmission component. The transmission component can be translated relative to the mating component by the action of the mating component during rotation, or the mating component can be translated relative to the transmission component by the action of the transmission component during rotation.

9. The gimbal as described in claim 8, characterized in that, The transmission component includes a lead screw, and the mating component includes a nut. The nut is disposed on the motor and threadedly engaged with the lead screw. The first operating component is fixedly connected to one end of the lead screw and is also connected to one end of the shaft arm. The rotation of the first operating component drives the lead screw to rotate, thereby causing the lead screw to move relative to the nut. The movement of the lead screw causes the first operating component and the shaft arm to move together along the target axis.

10. The gimbal as described in claim 1, characterized in that, It also includes a locking mechanism, which cooperates with the shaft arm and the cooperation state includes a first cooperation state. In the first cooperation state, the first operating member can rotate under the action of an applied target rotational external force, and the second operating member can remain stationary under the action of an applied target translational external force.

11. The gimbal as described in claim 10, characterized in that, The cooperation state also includes a second cooperation state, in which the first operating member can rotate under the action of the target rotational external force; and the second operating member can move under the action of the target translational external force. And / or, The cooperation state also includes a third cooperation state, in which the first operating member can remain stationary under the action of the applied target rotational external force; and the second operating member can remain stationary under the action of the applied target translational external force.

12. The gimbal as described in claim 10 or 11, characterized in that, The locking mechanism includes a clamping member and a fastener, the clamping member being used to cooperate with the shaft arm; The fastener is connected to the clamping member so that the locking mechanism is in the first engagement state, and / or the fastener is movable relative to the clamping member and acts on the clamping member so that the locking mechanism is in different engagement states.

13. The gimbal as described in claim 12, characterized in that, The clamping member includes a cover and a base. A first end of the cover is rotatably connected to the base, and a second end of the cover is connected to the base via a fastener. The cover and the base clamp the shaft arm. The fastener is used to change the distance between the cover and the base by movement, so that the locking mechanism is in different engagement states by adjusting the clamping force of the shaft arm.

14. The gimbal as described in claim 13, characterized in that, The locking mechanism further includes an elastic preload element disposed between the fastener and the cover, or the elastic preload element disposed between the fastener and the seat to provide a preload force to the fastener; And / or, The locking mechanism further includes an operating element connected to the fastener for driving the fastener to move.

15. The gimbal as described in claim 13, characterized in that, The locking mechanism engages with the shaft arm, and the engagement states include a first engagement state, a second engagement state, and a third engagement state. In the first engagement state, the distance between the cover and the seat is a first distance. In the second engagement state, the distance between the cover and the seat is a second distance. In the third engagement state, the distance between the cover and the seat is a third distance. The third distance is less than the first distance, and the first distance is less than the second distance.

16. The gimbal as described in claim 1, characterized in that, At least one of the arm assemblies includes a first arm assembly, a second arm assembly, and a third arm assembly, which are connected in sequence. The third arm assembly is connected to the load mounting assembly to adjust the attitude of the load mounting assembly and / or the load through the first arm assembly, the second arm assembly, and the third arm assembly.

17. The gimbal as described in claim 16, characterized in that, The first arm assembly is the arm assembly corresponding to the gimbal yaw axis, the second arm assembly is the arm assembly corresponding to the gimbal roll axis, and the third arm assembly is the arm assembly corresponding to the gimbal pitch axis; or, the first arm assembly is the arm assembly corresponding to the gimbal yaw axis, the second arm assembly is the arm assembly corresponding to the gimbal pitch axis, and the third arm assembly is the arm assembly corresponding to the gimbal roll axis.

18. The gimbal as described in claim 1, characterized in that, The gimbal also includes a grip, which is connected to at least one of the arm assemblies.

19. A stability-enhancing system, characterized in that, include: load; The gimbal as described in any one of claims 1 to 18, wherein the gimbal is used to mount the load.

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