Gimbal

Abstract

A gimbal (100), comprising a handle (12); and at least two axis assemblies, the at least two axis assemblies comprising a first axis assembly (14) and a second axis assembly (16), the first axis assembly (14) comprising a first motor (18) and a first axis arm (20), and the second axis assembly (16) comprising a second motor (22) and and a second axis arm (24). The first motor (18) is arranged at a handle top (26) in the extending direction of the handle (12) and is separately connected to the handle (12) and the first axis arm (20), and the first axis arm (20) is connected to the second motor (22). The gimbal (100) has a folded state, and in the folded state, the rotation axis of of the second motor (22) does not pass through the first motor (18), the first axis assembly (14) is a pitch axis assembly, and the second axis assembly (16) is a yaw axis assembly.

Description

PTZ Technical Field

[0001] The present application relates to the field of pan-tilt platform technology, and in particular to a pan-tilt platform. Background Art

[0002] Currently, gimbals are used to stabilize payloads and adjust their orientation to suit different scenarios. In related technologies, the design space for gimbal axis sequence and overall configuration is relatively large, and there is still room for further optimization in the specific structural design of gimbals with specific configurations.

[0003] Summary of the Invention

[0004] An embodiment of the present application provides a gimbal.

[0005] In a first aspect, the present application provides a gimbal, comprising:

[0006] handle;

[0007] At least two shaft assemblies, the at least two shaft assemblies including a first shaft assembly and a second shaft assembly, the first shaft assembly including a first motor and a first shaft arm, the second shaft assembly including a second motor and a second shaft arm, the first motor being disposed at the top of the handle along an extension direction of the handle and being respectively connected to the handle and the first shaft arm, and the first shaft arm being connected to the second motor;

[0008] The gimbal has a folded state. In the folded state, the rotation axis of the second motor does not pass through the first motor, the first axis assembly is a pitch axis assembly, and the second axis assembly is a yaw axis assembly.

[0009] In a second aspect, the present application provides a gimbal, which includes:

[0010] handle;

[0011] At least two shaft assemblies, the at least two shaft assemblies including a first shaft assembly and a second shaft assembly, the first shaft assembly including a first motor and a first shaft arm, the second shaft assembly including a second motor and a second shaft arm, the first motor being disposed on the top of the handle and connected to the handle and the first shaft arm respectively, and the first shaft arm being connected to the second motor;

[0012] In which, the gimbal has a folded state, the vertical projection of the second motor on the reference plane does not coincide with the vertical projection of the handle on the reference plane, the reference plane is roughly perpendicular to the extension direction of the handle, the first axis assembly is a pitch axis assembly, and the second axis assembly is a yaw axis assembly.

[0013] In a third aspect, the present application provides a gimbal, comprising:

[0014] handle;

[0015] At least two shaft assemblies, the at least two shaft assemblies including a first shaft assembly and a second shaft assembly, the first shaft assembly including a first motor and a first shaft arm, the second shaft assembly including a second motor and a second shaft arm, the first motor being disposed on the top of the handle and connected to the handle and the first shaft arm respectively, and the first shaft arm being connected to the second motor;

[0016] The gimbal has a folded state and an unfolded state, and the first motor drives the second shaft assembly to move so that the gimbal is in the folded state and the unfolded state;

[0017] In the folded state, the second axis arm is located between the rotation axis of the second motor and the handle, the first axis assembly is a pitch axis assembly, and the second axis assembly is a yaw axis assembly.

[0018] In a fourth aspect, the present application provides a gimbal, comprising:

[0019] handle;

[0020] At least two shaft assemblies, the at least two shaft assemblies including a first shaft assembly and a second shaft assembly, the first shaft assembly including a first motor and a first shaft arm, the second shaft assembly including a second motor and a second shaft arm, the first motor being disposed on the top of the handle and connected to the handle and the first shaft arm respectively, and the first shaft arm being connected to the second motor;

[0021] The gimbal has a folded state and an unfolded state, and the first motor drives the second shaft assembly to move so that the gimbal is in the folded state and the unfolded state;

[0022] In the folded state, the second motor is located on a first side of the handle; in the unfolded state, the second motor is located on a second side of the handle opposite to the first side; the first axis assembly is a pitch axis assembly, and the second axis assembly is a yaw axis assembly.

[0023] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0025] FIG1 is a schematic structural diagram of a pan / tilt platform in a folded state according to an embodiment of the present application;

[0026] Figure 2 is an enlarged view of portion A in Figure 1;

[0027] FIG3 is another structural schematic diagram of the pan / tilt platform in a folded state according to an embodiment of the present application;

[0028] FIG4 is a schematic diagram showing the positional relationship between a vertical projection and a reference surface according to an embodiment of the present application;

[0029] FIG5 is a schematic structural diagram of the pan / tilt platform in an expanded state according to an embodiment of the present application;

[0030] FIG6 is a schematic diagram of a partial structure of a pan / tilt platform according to an embodiment of the present application;

[0031] FIG7 is an enlarged view of portion D in FIG6 ;

[0032] FIG8 is a schematic diagram of the positional relationship between the pan / tilt head and the load according to an embodiment of the present application;

[0033] FIG9 is an enlarged view of portion B in FIG8 ;

[0034] FIG10 is an exploded schematic diagram of a speed reduction mechanism according to an embodiment of the present application;

[0035] FIG11 is a cross-sectional view of the connection between the speed reduction mechanism and the first motor according to an embodiment of the present application;

[0036] FIG12 is a schematic diagram of a module of a pan / tilt platform according to an embodiment of the present application;

[0037] FIG13 is a cross-sectional view of the bracket assembly in the stowed state according to an embodiment of the present application;

[0038] FIG14 is a cross-sectional view of the bracket assembly in an extended state according to an embodiment of the present application;

[0039] FIG15 is a cross-sectional view of the telescopic assembly according to an embodiment of the present application in an extended state.

[0040] Description of the main components: gimbal 100, handle 12, first axis assembly 14, second axis assembly 16, third axis assembly 17, first motor 18, first axis arm 20, second motor 22, second axis arm 24, handle top 26, grip 28, operating part 30, telescopic assembly 32, third motor 34, reduction mechanism 36, two-stage planetary reducer 38, housing 40, inner ring gear 42, first planetary mechanism 44, second planetary mechanism 46, first sun gear 48, first planetary gear 50, first planetary carrier 52, output shaft 54, second planetary gear 56, second planetary carrier 58, shaft lock assembly 60, fixing part 6 2, rotating part 64, locking mechanism 66, locking pin 68, elastic arm 70, guide space 72, clamping space 74, controller 76, detector 78, trigger member 80, spring piece 82, conductive member 84, magnetic sensor 86, magnetic member 88, first limiting portion 90, second limiting portion 92, limiting groove 94, limiting block 96, rotor housing 98, connecting arm 99, load mounting member 97, mounting opening 95, accommodating cavity 93, bracket assembly 91, protrusion 89, slide groove 87, supporting foot 85, connecting member 83, supporting section 81, connecting section 79, battery 77, interface 75, connecting line 73; load 200. DETAILED DESCRIPTION

[0041] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and should not be understood as limiting the present application.

[0042] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0043] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections. They can refer to mechanical connections or electrical connections. They can refer to direct connections or indirect connections through an intermediary. They can refer to internal communication between two components or interactions between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0044] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0045] The disclosure above provides many different embodiments or examples for realizing the different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described above. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0046] In the related art, a gimbal device includes a handle and an axis assembly, and the axis assembly is connected to the handle. To make the gimbal device easy to store, the gimbal device has a folded state and an unfolded state. The gimbal can be in the folded state when not in use and in the unfolded state when in use. To increase the pitch angle, some gimbals directly connect the pitch axis assembly to the motor and connect the yaw axis assembly to the pitch axis assembly. However, when the gimbal device of this configuration is in the folded state, the yaw axis assembly of the gimbal will occupy part of the space of the handle, which is not conducive to the structural configuration of the handle.

[0047] In addition, the movement angle of the first axis (i.e., the pitch axis) of the gimbal of the above-mentioned configuration will still be limited due to the structural interference of the pitch axis motor, axis arm and handle. That is, in some cases, the pitch movement angle range of the gimbal will still be subject to many restrictions, thereby limiting the usage scenarios.

[0048] Based on this, please refer to Figures 1 to 5. In the first aspect, a gimbal 100 provided in an embodiment of the present application includes a handle 12 and at least two axis assemblies, the at least two axis assemblies include a first axis assembly 14 and a second axis assembly 16, the first axis assembly 14 includes a first motor 18 and a first axis arm 20, the second axis assembly 16 includes a second motor 22 and a second axis arm 24, the first motor 18 is arranged at the top 26 of the handle along the extension direction of the handle 12, and is respectively connected to the handle 12 and the first axis arm 20, and the first axis arm 20 is connected to the second motor 22.

[0049] The gimbal 100 has a folded state. In the folded state, the rotation axis Y of the second motor 22 does not pass through the first motor 18, the first axis assembly 14 is a pitch axis assembly, and the second axis assembly 16 is a yaw axis assembly.

[0050] In the gimbal 100 of the first aspect, since the rotation axis Y of the second motor 22 does not pass through the first motor 18, and the first motor 18 is arranged at the top 26 of the handle along the extension direction of the handle 12, the distance between the rotation axis Y of the second motor 22 and the handle 12 can be increased in the folded state, thereby reducing the space occupied by the second motor 22 on the handle 12, which is beneficial to the structural configuration of the handle 12.

[0051] On the second aspect, a gimbal 100 provided in an embodiment of the present application includes a handle 12 and at least two axis assemblies, the at least two axis assemblies include a first axis assembly 14 and a second axis assembly 16, the first axis assembly 14 includes a first motor 18 and a first axis arm 20, the second axis assembly 16 includes a second motor 22 and a second axis arm 24, the first motor 18 is arranged at the top 26 of the handle, and is respectively connected to the handle 12 and the first axis arm 20, and the first axis arm 20 is connected to the second motor 22.

[0052] In which, the gimbal 100 is in a folded state, the vertical projection 400 of the second motor 22 on the reference plane 300 does not overlap with the vertical projection 500 of the handle 12 on the reference plane 300, the reference plane 300 is roughly perpendicular to the extension direction of the handle 12, the first axis assembly 14 is a pitch axis assembly, and the second axis assembly 16 is a yaw axis assembly.

[0053] In the gimbal 100 of the second aspect, since the vertical projection 400 of the second motor 22 on the reference surface 300 does not overlap with the vertical projection 500 of the handle 12 on the reference surface 300, and the reference surface 300 is perpendicular to the extension direction of the handle 12, the distance between the second motor 22 and the handle 12 can be increased in the folded state, reducing the space occupied by the second motor 22 on the handle 12, which is beneficial to the structural configuration of the handle 12.

[0054] On the third aspect, a gimbal 100 provided in an embodiment of the present application includes a handle 12 and at least two axis assemblies, the at least two axis assemblies include a first axis assembly 14 and a second axis assembly 16, the first axis assembly 14 includes a first motor 18 and a first axis arm 20, the second axis assembly 16 includes a second motor 22 and a second axis arm 24, the first motor 18 is arranged at the top 26 of the handle, and is respectively connected to the handle 12 and the first axis arm 20, and the first axis arm 20 is connected to the second motor 22.

[0055] The gimbal 100 has a folded state and an unfolded state. The first motor 18 drives the second axis assembly 16 to move the gimbal 100 between the folded and unfolded states. In the folded state, the second axis arm 24 is located between the rotation axis Y of the second motor 22 and the handle 12. The first axis assembly 14 is the pitch axis assembly, and the second axis assembly 16 is the yaw axis assembly.

[0056] In the gimbal 100 of the third aspect, the first motor 18 can drive the second axis assembly 16 to move so that the gimbal 100 is in a folded state and an unfolded state. In the folded state, the second axis arm 24 is located between the rotation axis Y of the second motor 22 and the handle 12, making the structure in the folded state more compact. At the same time, the second axis arm 24 is closer to the handle 12, which is more conducive to placing the load 200 in the folded state.

[0057] Fourthly, a gimbal 100 provided in an embodiment of the present application includes a handle 12 and at least two axis assemblies, the at least two axis assemblies include a first axis assembly 14 and a second axis assembly 16, the first axis assembly 14 includes a first motor 18 and a first axis arm 20, the second axis assembly 16 includes a second motor 22 and a second axis arm 24, the first motor 18 is arranged at the top 26 of the handle, and is respectively connected to the handle 12 and the first axis arm 20, and the first axis arm 20 is connected to the second motor 22.

[0058] The gimbal 100 has a folded state and an unfolded state, and the first motor 18 drives the second shaft assembly 16 to move so that the gimbal 100 is in the folded state and the unfolded state;

[0059] In the folded state, the second motor 22 is located on a first side of the handle 12 . In the unfolded state, the second motor 22 is located on a second side of the handle 12 opposite to the first side. The first axis assembly 14 is a pitch axis assembly, and the second axis assembly 16 is a yaw axis assembly.

[0060] In the fourth aspect of the gimbal 100, the first motor 18 can be arranged at the top 26 of the handle, and the first motor 18 can drive the second axis assembly 16 to move so that the gimbal 100 is in a folded state and an unfolded state. In the two states, the second motor 22 is located on different sides of the handle 12. Since there is less structural interference between the first motor 18 and the handle 26 during the unfolding process of the gimbal 100, the angle range of the pitch movement of the gimbal 100 can be increased.

[0061] In one embodiment, referring to Figures 1 and 5, a gimbal 100 may include a handle 12 and at least two axis assemblies, the at least two axis assemblies including a first axis assembly 14 and a second axis assembly 16. The first axis assembly 14 includes a first motor 18 and a first axis arm 20, and the second axis assembly 16 includes a second motor 22 and a second axis arm 24. The first motor 18 is disposed at a top 26 of the handle along the extension direction of the handle 12 and is connected to the handle 12 and the first axis arm 20, respectively. The first axis arm 20 is connected to the second motor 22. The gimbal 100 has a folded state and an unfolded state. The first motor 18 drives the second axis assembly 16 to move, thereby enabling the gimbal 100 to be in the folded state and the unfolded state. In the folded state, the rotation axis Y of the second motor 22 does not pass through the first motor 18. The vertical projection 400 of the second motor 22 on the reference plane 300 does not coincide with the vertical projection 500 of the handle 12 on the reference plane 300. The reference plane 300 is substantially perpendicular to the extension direction of the handle 12. The second shaft arm 24 is located between the rotation axis Y of the second motor 22 and the handle 12. In the folded state, the second motor 22 is located on a first side of the handle 12. In the unfolded state, the second motor 22 is located on a second side of the handle 12, opposite the first side. The first shaft assembly 14 is the pitch shaft assembly, and the second shaft assembly 16 is the yaw shaft assembly.

[0062] Thus, when the handle 12 is first connected to the first axis assembly 14 (the pitch axis), by positioning the first motor 18 at the top 26 of the handle along the extension direction of the handle 12, interference between the first axis assembly 14 and the handle 12 can be reduced. This allows the second motor 22 to be located on a first side of the handle 12 in the folded state, and on a second side of the handle 12 opposite the first side in the unfolded state. This increases the angular range of the pitch motion of the first axis assembly 14, thereby enhancing the usability of the gimbal. Furthermore, in the folded state, the rotation axis Y of the second motor 22 does not pass through the first motor 18. The vertical projection 400 of the second motor 22 on the reference plane 300 does not coincide with the vertical projection 500 of the handle 12 on the reference plane 300. The reference plane 300 is substantially perpendicular to the extension direction of the handle 12. This increases the distance between the second motor 22 and the handle 12, preventing interference from the second motor 22 on the handle 12 and facilitating the structural configuration of the handle 12. The second axis arm 24 is located between the rotation axis Y of the second motor 22 and the handle 12, making the folded structure more compact. Furthermore, gimbal 100 includes a third axis assembly 17. A first motor 18 drives the second and third axis assemblies 16 and 17 to move gimbal 100 between a folded and unfolded state. A third motor 34 is connected to the end of the second arm 24 facing away from the second motor 22. The payload 200 is mounted on the side of the third motor 34 facing away from the handle 12. This facilitates placement of the payload 200 in the folded state, allowing the user to store the payload without having to remove it.

[0063] Specifically, the folded state can be the state of the gimbal 100 when it is stored, put away, transported, not in use, or turned off. In the folded state, the gimbal 100 is relatively regular as a whole, or the gimbal is in a state where the volume or length in a certain direction (such as height) is the smallest in each usage state. The gimbal 100 also has an unfolded state, and the unfolded state and the folded state are two relative states. In one embodiment, the unfolded state can be the default state (also referred to as the zero position state) that the gimbal 100 is in after it is turned on. In one embodiment, the gimbal 100 can have multiple unfolded states. Different unfolded states are different from the angles at which the first motor 18 drives the second axis assembly 16 to rotate from the folded state.

[0064] The handle 12 allows the user to hold the gimbal 100. Optionally, the handle 12 also includes a grip portion 28, connected to the handle top 26. The grip portion 28 can be held by the user's palm to reduce vibration during use of the gimbal 100, thereby minimizing vibration caused by user hand tremors.

[0065] In one embodiment, the top portion 26 of the handle may include an operating portion 30 that can be operated by a user to control the gimbal 100. The operating portion 30 may include multiple buttons and / or a touch screen. The multiple buttons include, but are not limited to, a power button, a joystick, a camera button, etc. This application does not impose specific limitations on this.

[0066] In one embodiment, referring to FIG15 , the handle 12 further includes an operating portion 30, which is connected to the grip portion 28. The handle top 26 and the operating portion 30 are connected via a telescopic assembly 32. Optionally, the handle 12 can extend in a direction substantially along the surface of the grip portion 28 or the operating portion 30.

[0067] The first motor 18 is located at the top 26 of the handle 12, extending along the direction in which the handle 12 extends. That is, of all the motors in the axis assemblies of the gimbal 100, the first motor 18 is the closest motor to the handle 12, and the first axis assembly 14 is the closest axis assembly to the handle 12, along the direction from the load 200 to the handle 12. The first axis arm 20 can be made shorter, reducing the space occupied by the gimbal 100 and also reducing its weight.

[0068] Optionally, the gimbal 100 includes two axis assemblies: a first axis assembly 14 and a second axis assembly 16. The gimbal 100 is a two-axis gimbal 100, and the payload 200 can be mounted on the second axis arm 24. In one embodiment, the gimbal 100 includes three axis assemblies: a first axis assembly 14, a second axis assembly 16, and a third axis assembly 17. The second axis assembly 16 connects the third axis assembly 17 to the second axis assembly 16. The third axis assembly 17 is configured to mount the payload 200, and the third axis assembly 17 can be a roll axis assembly. The third axis assembly 17 includes a third motor 34, which is connected to the second axis arm 24. The payload 200 is mounted on the side of the third motor 34 facing away from the handle 12. This allows for a RYP-configured gimbal 100. Optionally, the payload 200 can be a camera, including but not limited to a mobile phone, tablet computer, camera, etc., which is not specifically limited in this application.

[0069] In the gimbal 100 of the first aspect, the rotation axis Y of the second motor 22 does not pass through the first motor 18. Since the first motor 18 is arranged at the top 26 of the handle, the second motor 22 can be arranged away from the handle 12, thereby increasing the distance between the rotation axis Y of the second motor 22 and the handle 12, reducing the space occupied by the second motor 22 on the handle 12, and facilitating the structural configuration of the handle 12.

[0070] In the second aspect of the gimbal 100, referring to FIG4 , since the vertical projection of the second motor 22 on the reference surface does not coincide with the vertical projection of the handle 12 on the reference surface, and the reference surface and the extension direction of the handle 12 are substantially perpendicular, the distance between the second motor 22 and the handle 12 can be increased in the folded state, reducing the space occupied by the second motor 22 on the handle 12, which also facilitates the structural configuration of the handle 12. Substantially perpendicular can mean that the angle between the two is 90 degrees, or that the difference between the angle and 90 degrees is within a desired range.

[0071] In the third aspect of the gimbal 100, the first motor 18 drives the second axis assembly 16 to move the gimbal 100 between a folded state and an unfolded state. The first motor 18 acts as the active actuator for the folding and unfolding axis, eliminating the need for an additional motor for both. This reduces the cost of the gimbal 100. In the folded state, the second axis arm 24 is located between the rotation axis Y of the second motor 22 and the handle 12, making the gimbal 100 more compact in the folded state. Furthermore, the second axis arm 24 is located closer to the handle 12 than the second motor 22, allowing the load 200 to be placed on the side of the second axis arm 24 facing away from the handle 12, further facilitating placement of the load 200 in the folded state. Furthermore, the gimbal 100 also includes a third axis assembly 17. The first motor 18 drives the second axis assembly 16 and the third axis assembly 17 to move the gimbal 100 between a folded state and an unfolded state. The third motor 34 is connected to an end of the second shaft arm 24 away from the second motor 22 , and the load 200 is installed on a side of the third motor 34 away from the handle 12 , which is more conducive to placing the load 200 in a folded state.

[0072] In the fourth aspect of the gimbal 100, the first motor 18 drives the second axis assembly 16 to move, allowing the gimbal 100 to be in a folded state and an unfolded state. The first motor 18 acts as the motor that actively drives folding and unfolding, eliminating the need for additional motors for these functions and reducing the cost of the gimbal 100. In the folded and unfolded states, the second motor 22 is located on different sides of the handle 12. For example, referring to Figure 3, in the folded state, the second motor 22 is located on the right side (first side) of the handle 12. In the unfolded state, referring to Figure 5, the second motor 22 is located on the left side (second side) of the handle 12, thereby increasing the angular range of the gimbal 100's pitch motion. Furthermore, the gimbal 100 also includes a third axis assembly 17. The first motor 18 drives the second axis assembly 16 and the third axis assembly 17 to move, allowing the gimbal 100 to be in a folded state and an unfolded state. In the folded and unfolded states, the second motor 22 and the third motor 34 are located on different sides of the handle 12. For example, referring to FIG. 3 , in the folded state, the second motor 22 and the third motor 34 are located on the right side of the handle 12 ; referring to FIG. 5 , in the unfolded state, the second motor 22 and the third motor 34 are located on the left side of the handle 12 .

[0073] The configurations of the gimbal 100 described in the above aspects may all have the following specific implementations. The following implementations may be combined with each other without conflict:

[0074] On one hand, in order to avoid interference of the second axis assembly 16 with the structure of the handle 12 , the second axis assembly 16 of the gimbal 100 can be eccentrically arranged.

[0075] In one embodiment, the rotation axis Y of the second shaft assembly 16 does not pass through the center of mass of the first shaft assembly 14. As a result, the center of mass of the first shaft assembly 14 can be offset from the rotation axis Y of the second shaft assembly 16, which helps reduce the space occupied by the second motor 22 in the handle 12 when stored.

[0076] Specifically, in Figure 1, the gimbal 100 is in the stored state, and the center of mass of the first axis assembly 14 is located on the left side of the rotation axis Y of the second axis assembly 16, so that the second axis assembly 16 can be located on the right side of the handle 12, reducing the space occupied by the second axis assembly 16 on the handle 12, which is beneficial to the spatial configuration of the handle 12.

[0077] In one embodiment, when the gimbal 100 includes the third axis assembly 17, the rotation axis P of the first axis assembly 14 does not pass through the combined center of mass of the second axis assembly 16 and the third axis assembly 17. This allows the combined center of mass of the second axis assembly 16 and the third axis assembly 17 to deviate from the rotation axis P of the first axis assembly 14, thereby reducing the space occupied by the second motor 22 and the third motor 34 on the handle 12 when the gimbal 100 is stored.

[0078] Specifically, in Figure 1, the gimbal 100 is in the stored state, and the overall center of mass of the second axis assembly 16 and the third axis assembly 17 is located on the right side of the rotation axis P of the first axis assembly 14. The second axis assembly 16 and the third axis assembly 17 can be located on the right side of the handle 12, reducing the space occupied by the second axis assembly 16 and the third axis assembly 17 on the handle 12, which is beneficial to the spatial configuration of the handle 12.

[0079] On the other hand, there is a demand to further increase the pitch motion range of the payload 200 to adapt to more usage scenarios.

[0080] In one embodiment, the rotation axis Y of the second motor 22 is located on opposite sides of the handle 12 when the gimbal 100 is in the folded and unfolded states. Specifically, referring to Figure 3 , in the folded state, the rotation axis Y of the second motor 22 is located on the right side of the handle 12. Referring to Figure 5 , in the unfolded state, the rotation axis Y of the second motor 22 is located on the left side of the handle 12. Thus, the first motor 18 can drive a wide range of motion of the second shaft assembly 16.

[0081] In one embodiment, in the folded state, the rotation axis Y of the second motor 22 is substantially parallel to the extension direction of the handle 12 .

[0082] Therefore, in the folded state, the gimbal 100 is more regular as a whole and is easier to store.

[0083] Specifically, substantially parallel may mean that the two are completely parallel, or may mean that the difference between the angle formed between the two and 0 degrees is within a desired range.

[0084] In one embodiment, in the folded state, the first shaft arm 20 extends from the first motor 18 in a direction away from the handle 12 .

[0085] Thus, in the folded state, the second motor 22 can be positioned away from the handle 12, which is beneficial for the structural configuration of the handle 12. For example, it is beneficial to increase the internal space of the handle 12, so that while the handle 12 remains compact, more components or parts can be accommodated inside the handle 12, thereby realizing more functions of the gimbal 100.

[0086] In FIG. 3 , in the folded state, the first shaft arm 20 extends from the first motor 18 toward the right side of the handle 12 , so that in the folded state, the second shaft assembly 16 is located on the right side of the handle 12 .

[0087] On the other hand, there is a demand that the gimbal 100 automatically unfolds when the user triggers power on, and automatically folds when the user triggers power off.

[0088] In one embodiment, the gimbal 100 has an unfolded state and is configured to switch between the folded and unfolded states by controlling the rotation direction and angle of the first motor 18. Thus, the first motor 18 can serve as an active motor for both unfolding and folding, eliminating the need for an additional motor for both folding and unfolding, thereby reducing the cost of the gimbal 100.

[0089] Specifically, referring to Figures 3 and 5 , the gimbal 100 has a folded state and an unfolded state. When the gimbal 100 switches from the folded state to the unfolded state, the first motor 18 rotates clockwise, and the rotation angle may be greater than 180 degrees. When the gimbal 100 switches from the unfolded state to the folded state, the first motor 18 rotates counterclockwise, and the rotation angle may be greater than 180 degrees. It is understood that in other embodiments, the gimbal 100 has multiple unfolded states and / or multiple folded states. When switching from a folded state to one of the unfolded states, the rotation direction of the first motor 18 remains the same, but the rotation angle of the first motor 18 is different. When switching from an unfolded state to one of the folded states, the rotation direction of the first motor 18 remains the same, but the rotation angle of the first motor 18 is different. The rotation angle of the first motor 18 when switching from the folded state to the unfolded state is opposite to the rotation direction of the first motor 18 when switching from the unfolded state to the folded state. The rotation angles may be the same or different, and this application does not specifically limit this.

[0090] Optionally, in the folded state, when the gimbal 100 is powered off, the user only needs to press the power button or unfold the arm to automatically unfold the gimbal 100. In the unfolded state, when the gimbal 100 is in operation, the user only needs to press the power button to automatically fold the gimbal 100, greatly improving user convenience.

[0091] In one embodiment, when the gimbal 100 is in the folded state, the rotation angle of the first arm 20 around the rotation axis P of the first motor 18 is greater than or equal to 150° compared to when the gimbal 100 is in the unfolded state.

[0092] Therefore, the pitch angle rotation range of the gimbal 100 is relatively large, which is conducive to capturing more environments on the pitch axis.

[0093] Specifically, in FIG3 , the gimbal 100 is in a folded state, and the rotation angle of the first arm 20 about the rotation axis P of the first motor 18 is 0 degrees. In FIG5 , the gimbal 100 is in an unfolded state. From the folded state, the first arm 20 rotates about the rotation axis P of the first motor 18 by an angle A, so that the gimbal 100 is in an unfolded state. Angle A is greater than or equal to 150°. In some examples, angle A can be 150°, 155°, 160°, 165°, 170°, 175°, 180°, 185°, 190°, 200°, or other angles greater than or equal to 150°, and this application does not impose any specific limitation thereto.

[0094] In one embodiment, when the gimbal 100 is in the folded state, the second axis arm 24 rotates 180° around the rotation axis of the second motor 22 compared to when the gimbal 100 is in the unfolded state.

[0095] Therefore, between the folded state and the unfolded state, the second axis arm 24 can be driven by the second motor 21 to rotate 180 degrees, so that the orientation of the load 200 remains basically unchanged. The user can face the load 200 when the gimbal 100 is in the unfolded state and the folded state, which makes it convenient for the user to operate the load 200.

[0096] Specifically, the orientation of the load 200 may refer to the direction in which the load 200 faces the user when the load 200 is mounted on the gimbal 100. For example, when the load 200 is a mobile phone or tablet computer with a camera function, the orientation of the load 200 is the direction in which the display screen of the load 200 faces the user.

[0097] It should be understood that when the gimbal 100 switches between the deployed and folded states, the first motor 18 and the second motor 21 may rotate simultaneously or sequentially. Specifically, in one embodiment, when the gimbal 100 switches from the deployed state to the folded state, the first motor 18 and the second motor 21 may rotate simultaneously to reduce the time required for storage. When the gimbal 100 switches from the folded state to the deployed state, the first motor 18 may rotate before the second motor 21 to prevent the second motor 21 from rotating prematurely and causing the load 200 to collide with components of the gimbal 100.

[0098] When the gimbal 100 switches between the folded and unfolded states, the first arm 20 rotates about the rotation axis P of the first motor 18 by an angle greater than or equal to 150°. The second arm 24 rotates 180° about the rotation axis of the second motor 22. This ensures that the orientation of the payload 200 remains essentially unchanged between the folded and unfolded states. The gimbal 100 no longer needs to adjust the orientation of the payload 200. In other words, when switching between the folded and unfolded states, the gimbal 100 only needs to be unfolded / folded in one step. After switching from the folded state to the unfolded state, the user can directly use the payload 200, improving the user experience.

[0099] On the other hand, because the first motor 18 of the gimbal 100 in the above configuration drives the remaining shaft arms and the payload 200, a relatively high output torque is required from the first motor 18. Furthermore, the center of mass of the second shaft assembly 16 can be offset from the rotation axis P of the first motor 18, requiring a higher output torque from the first motor 18 to drive the second shaft assembly 16.

[0100] In one embodiment, the first shaft assembly 14 includes a reduction gear mechanism 36 that connects the first motor 18 and the second shaft assembly 16 .

[0101] Thus, the speed reduction mechanism 36 can increase the output of the first motor 18 and reduce the cost of the gimbal 100 .

[0102] Specifically, the first motor 18 is provided at the top 26 of the handle. The first motor 18 is the motor closest to the handle 12 among all the axis assemblies. In the embodiment shown in FIG1 , the first motor 18 can drive the second axis assembly 16 and the third axis assembly 17 to move so that the gimbal 100 can switch between a folded state and an unfolded state. The first motor 18 needs to drive a large mass. If a high-torque motor is used for the first motor 18, the cost of the gimbal 100 will be high. In the embodiment of the present application, a reduction mechanism 36 is connected to the first motor 18 and the second axis assembly 16. The reduction mechanism 36 can increase the output of the first motor 18, thereby increasing the torque of the first motor 18, thereby avoiding the problem of high cost of the gimbal 100 caused by the use of a high-torque motor. Moreover, increasing the torque of the first motor 18 can also enhance the stabilization function of the gimbal 100 for the load 200, especially large loads 200 (loads 200 with a larger mass).

[0103] In one embodiment, the reduction mechanism 36 includes a two-stage planetary reducer 38 .

[0104] Thus, stabilization of a large load 200 can be achieved in a small volume.

[0105] Specifically, a planetary gear reducer features planetary gears. The advantages of planetary gears include high load capacity, compact size, pure torque transmission, and smooth operation. Furthermore, multiple planetary gears can be combined to function together. Because planetary gears transmit pure torque, they offer excellent transmission efficiency. Efficiency losses between each gear stage are minimal (e.g., 3%). Therefore, planetary gears can ensure a very high power output / input ratio. Furthermore, because each external gear in a planetary gear system receives equal power, the power output is very smooth.

[0106] Optionally, in this embodiment, the two-stage planetary reducer 38 includes a housing 40 , an inner ring gear 42 , a primary planetary mechanism 44 , and a secondary planetary mechanism 46 . The inner ring gear 42 , the primary planetary mechanism 44 , and the secondary planetary mechanism 46 are all accommodated in the housing 40 .

[0107] The primary planetary mechanism 44 includes a primary sun gear 48, primary planetary gears 50, and a primary planetary carrier 52. Both the primary sun gear 48 and the primary planetary gears 50 are rotatably mounted on the primary planetary carrier 52. The primary planetary gears 50 mesh with the primary sun gear 48. The primary sun gear 48 can be riveted and assembled to the output shaft of the first motor 18.

[0108] The secondary planetary mechanism 46 includes secondary planetary gears 56 and a secondary planetary carrier 58. The secondary planetary gears 56 are rotatably mounted on the secondary planetary carrier 58. The secondary planetary gears 56 mesh with the inner ring gear 42 and are connected to the primary planetary carrier 52. In the embodiment shown in FIG10 , there are three primary planetary gears 50 and three secondary planetary gears 56. It will be appreciated that this application does not impose any specific limitation on the number of planetary gears.

[0109] The housing 40 is fixedly connected to the inner gear ring 42 and the outer shell of the first shaft arm 20. The rotation of the inner gear ring 42 can drive the housing 40 and the first shaft arm 20 to rotate together.

[0110] When the two-stage planetary reducer 38 is running, the output shaft 54 ​​of the first motor 18 drives the first-stage sun gear 48 to rotate, the first-stage sun gear 48 drives the first-stage planetary gear 50 to rotate, the first-stage planetary gear 50 drives the first-stage planetary carrier 52 to rotate, the first-stage planetary carrier 52 drives the second-stage planetary gear 56 to rotate, the second-stage planetary gear 56 drives the inner ring gear 42 to rotate, and then the inner ring gear 42 drives the first shaft arm 20 to rotate.

[0111] It can be understood that in other embodiments, the reduction mechanism 36 may include but is not limited to a planetary reducer with a small tooth difference, a planetary reducer with an NGWN configuration, a harmonic reducer, a cycloid pinwheel reducer T, etc. to meet the torque and volume requirements of this application.

[0112] Optionally, the gimbal 100 of the present application can be combined with the large torque of a two-stage planetary reduction gearbox, and can adapt to a larger-sized load 200 to switch between horizontal and vertical shooting with one click during shooting.

[0113] On the other hand, there is a need to lock the position of the axis arm when the gimbal 100 is folded or stored.

[0114] In one embodiment, the gimbal 100 is capable of switching between a folded state and an unfolded state. The axis assembly includes a fixed part 62 and a rotating part 64. The fixed part 62 and the rotating part 64 are rotatably connected. The gimbal 100 includes an axis lock assembly 60. In the folded state, the axis lock assembly 60 locks the relative positions of the fixed part 62 and the rotating part 64.

[0115] In this way, the angle of the axis assembly can be constrained when the gimbal 100 is in the folded state, reducing the burden of manual locking by the user when storing the gimbal 100.

[0116] Specifically, the fixed portion 62 of the first shaft assembly 14 may refer to the portion of the first shaft assembly 14 that is fixedly connected to the handle top 26, such as the stator and stator housing of the first motor 18. The rotating portion 64 of the first shaft assembly 14 may refer to the portion of the first shaft assembly 14 that is rotatable relative to the fixed portion 62, such as the rotor and rotor housing of the first motor 18, the first shaft arm 20, the output shaft of the first motor 18, etc.

[0117] The fixed portion 62 of the second shaft assembly 16 may refer to the portion of the second shaft assembly 16 that is fixedly connected to the first shaft arm 20, such as the stator of the second motor 22, the housing 40 of the second motor 22, etc. The rotating portion 64 of the second shaft assembly 16 may refer to the portion of the second shaft assembly 16 that is rotatable relative to the fixed portion 62, such as the rotor of the second motor 22, the second shaft arm 24, the output shaft of the second motor 22, etc.

[0118] In the embodiment shown in FIG. 8 and FIG. 9 , the axis lock assembly 60 can lock the relative positions of the fixed portion 62 and the rotating portion 64 of the first axis assembly 14 when the platform 100 is in the folded state.

[0119] In one embodiment, the shaft lock assembly 60 can lock the relative positions of the fixed portion 62 and the rotating portion 64 of the second shaft assembly 16 when the platform 100 is in a folded state.

[0120] In one embodiment, the axis lock assembly 60 can lock the relative positions of the fixed portion 62 and the rotating portion 64 of the first axis assembly 14 and the fixed portion 62 and the rotating portion 64 of the second axis assembly 16 when the gimbal 100 is in a folded state.

[0121] Optionally, when the gimbal 100 is in the folded state, the gimbal 100 is in the powered-off state, thereby also achieving angle constraint on the axis assembly when the gimbal 100 is in the powered-off state, thereby preventing the axis assembly from rotating unexpectedly.

[0122] In one embodiment, when the external torque applied to the fixed portion 62 or the rotating portion 64 is greater than the unlocking torque of the shaft lock assembly 60, the shaft lock assembly 60 unlocks the fixed portion 62 and the rotating portion 64, allowing the gimbal 100 to switch from a folded state to an unfolded state.

[0123] Thus, the shaft lock assembly 60 can unlock the fixed part 62 and the rotating part 64, so that the pan-tilt platform 100 can switch states.

[0124] Specifically, when the shaft lock assembly 60 is in the locked state, the shaft lock assembly 60 locks the fixed portion 62 and the rotating portion 64 of the shaft assembly, preventing the two from rotating relative to each other, and the pan / tilt head 100 can be stably in the folded state.

[0125] When the external torque applied to the fixed part 62 or the rotating part 64 is greater than the unlocking torque of the shaft lock assembly 60, the shaft lock assembly 60 can unlock the fixed part 62 and the rotating part 64, and the fixed part 62 and the rotating part 64 of the shaft assembly can rotate relative to each other, thereby enabling the gimbal 100 to switch from a folded state to an unfolded state.

[0126] In one embodiment, after the axis lock assembly 60 unlocks the fixed portion 62 and the rotating portion 64 of the first axis assembly 14, the first motor 18 can drive the second axis assembly 16 and the third axis assembly 17 to move, so that the gimbal 100 switches from a folded state to an unfolded state.

[0127] Optionally, the external torque applied to the fixed portion 62 or the rotating portion 64 can be applied to the fixed portion 62 or the rotating portion 64 by a user, or by other devices or equipment, which is not specifically limited in this application. For example, a user can hold the first shaft arm 20 and apply a torque to the first shaft arm 20 that is greater than the decoupling torque of the shaft lock assembly 60, causing the shaft lock assembly 60 to unlock the fixed portion 62 and the rotating portion 64.

[0128] In one embodiment, the shaft lock assembly 60 includes an actuator and a locking mechanism 66 , wherein the actuator is configured to drive the locking mechanism 66 to be in an unlocked state and a locked state.

[0129] Thereby, unlocking and locking of the locking mechanism 66 can be automatically achieved.

[0130] Specifically, when the locking mechanism 66 is in the locked state, the shaft lock assembly 60 locks the relative positions of the fixed portion 62 and the rotating portion 64. When the locking mechanism 66 is in the unlocked state, the shaft lock assembly 60 unlocks the fixed portion 62 and the rotating portion 64, allowing the gimbal 100 to switch from the folded state to the unfolded state.

[0131] An actuator can be connected to the locking mechanism 66. Optionally, the actuator includes a motor. Rotation of the motor in a first direction can drive the locking mechanism 66 into an unlocked state, and rotation of the motor in a second direction can drive the locking mechanism 66 into a locked state. Optionally, the actuator includes an elastic member. When the elastic member extends, the locking mechanism 66 can be unlocked, and when the elastic member contracts, the locking mechanism 66 can be locked. The actuator can also include other actuators such as an electromagnet, which is not specifically limited in this application.

[0132] Optionally, the locking mechanism 66 may include a convex portion and a concave portion, one of which is provided on the fixed portion 62 and the other is provided on the rotating portion 64. The convex portion is at least partially located in the concave portion, so that the locking mechanism 66 is in a locked state. The convex portion is separated from the concave portion, so that the locking mechanism 66 is in an unlocked state. The actuator can drive one of the convex portion and the concave portion to move relative to the other, so that the locking state switches between a locked state and an unlocked state. In one embodiment, the convex portion includes a locking pin 68, and the concave portion includes a locking hole. The locking pin 68 can be provided on the motor stator, and the locking hole can be provided on the motor rotor.

[0133] In addition to providing the shaft lock assembly 60 at the motor, a limit piece may be provided at the shaft arm to limit the movement of the shaft arm.

[0134] In one embodiment, the gimbal 100 includes a first limiting portion 90 and a second limiting portion 92. The first limiting portion 90 is provided on the first motor 18 or the handle 12, and the second limiting portion 92 is provided on the rotating portion 64 of the second axis assembly 16. In the folded state, the first limiting portion 90 is cooperatively connected with the second limiting portion 92 to limit the rotation of the rotating portion 64 of the second axis assembly 16.

[0135] In this way, the second axis assembly 16 can be angle-constrained when the gimbal 100 is in the folded state.

[0136] Specifically, in one embodiment, the rotating portion 64 of the second axis assembly 16 includes a second axis arm 24, a second stop 92 disposed on the second axis arm 24, and a first stop 90 disposed on the handle top 26. When the gimbal 100 is folded, the first stop 90 and the second stop 92 cooperate to limit the rotation of the second axis arm 24, thereby constraining the angle of the second axis assembly 16.

[0137] In one embodiment, the first limiting portion 90 includes one of the limiting slot 94 and the limiting block 96, and the second limiting portion 92 includes the other of the limiting slot 94 and the limiting block 96. In the folded state, the limiting block 96 is embedded in the limiting slot 94, and the gimbal 100 has an unfolded state. In the unfolded state, the limiting block 96 is disengaged from the limiting slot 94.

[0138] Therefore, the cooperation between the limiting block 96 and the limiting groove 94 constrains the angle of the second shaft assembly 16, and the structure is simple.

[0139] 1 and 2 , the first limiting portion 90 includes a limiting groove 94, and the second limiting portion 92 includes a limiting block 96. In other embodiments, the first limiting portion 90 may include a limiting block 96, and the second limiting portion 92 may include a limiting groove 94.

[0140] The limiting groove 94 includes two opposing side walls that are spaced apart along the circumferential side of the second shaft arm 24. When the pan / tilt platform 100 is in the folded state, the limiting block 96 on the second shaft arm 24 is embedded in the limiting groove 94. The two side walls of the limiting groove 94 limit the limiting block 96 along the circumference of the second shaft arm 24, preventing the second shaft arm 24 from rotating, thereby achieving angular constraint on the second shaft assembly 16. Optionally, the two side walls of the limiting groove 94 are in contact with the limiting block 96.

[0141] When the gimbal 100 switches from a folded state to an unfolded state, the first motor 18 drives the second axis assembly 16 and the third axis assembly 17 to rotate in a direction away from the handle 12, such as rotating counterclockwise in Figure 1, driving the limit block 96 to disengage from the limit slot 94, and the gimbal 100 switches to the unfolded state.

[0142] In one embodiment, the second limiting portion 92 is disposed on a side of the second shaft arm 24 away from the rotation axis Y of the second motor 22 .

[0143] Therefore, the second limiting portion 92 is more easily matched and connected with the first limiting portion 90 .

[0144] Specifically, the second shaft arm 24 may include a rotor housing 98 and a connecting arm 99 of the second motor 22. The rotation axis Y of the second motor 22 passes through the rotor housing 98 of the second motor 22. The connecting arm 99 deviates from the rotation axis Y of the second motor 22. The second limiting portion 92 is provided on the connecting arm 99. In the folded state, the connecting arm 99 is closer to the handle 12 and the first shaft assembly 14, so that the second limiting portion 92 is easier to cooperate with the first limiting portion 90 to improve the reliability of the angle constraint on the second shaft assembly 16.

[0145] On the other hand, there is a need to automatically detect the status of the gimbal 100 and automatically lock and unlock the axis arm position.

[0146] In one embodiment, the actuator comprises a motor configured to perform at least one of the following:

[0147] In response to the deployment instruction of the pan / tilt platform 100 , the locking mechanism 66 is driven to unlock;

[0148] In response to the instruction that the folding of the platform 100 is completed, the locking mechanism 66 is driven to lock.

[0149] Thereby, the lock mechanism 66 can be controlled to be unlocked and locked.

[0150] Specifically, in one embodiment, the deployment instruction may be generated when the gimbal 100 is in the off state and the user presses the power button to turn it on. In one embodiment, the gimbal 100 includes a force sensor, and the deployment instruction may also be triggered when the force sensor detects that the force of the user bending the shaft arm reaches a preset value. It can be understood that the deployment instruction is not limited to the triggering of the above embodiment, and can also be triggered in other ways, and this application does not make specific limitations on this. In response to the deployment instruction, the motor can drive the locking mechanism 66 to unlock, for example, drive the lock pin 68 out of the lock hole, and then unlock the fixed part 62 and the rotating part 64.

[0151] In one embodiment, gimbal 100 includes an angle sensor. When gimbal 100 is in the unfolded state, locking mechanism 66 is unlocked. When the angle sensor detects that the rotation angle of the motor of the shaft assembly exceeds a preset angle, a command indicating that gimbal 100 has been folded can be triggered. In response to the command indicating that gimbal 100 has been folded, the motor can drive locking mechanism 66 to lock, for example, by driving locking pin 68 into a lock hole, thereby locking fixed portion 62 and rotating portion 64. Optionally, the angle sensor includes a Hall effect sensor.

[0152] In one embodiment, the shaft lock assembly 60 is disposed proximate to the first motor 18 and is configured to lock and unlock the first motor 18 .

[0153] Thus, the first electric machine 18 can be locked and unlocked by the shaft lock assembly 60 .

[0154] Specifically, the first motor 18 can be used as a motor to switch the gimbal 100 between the folded state and the unfolded state. The axis lock assembly 60 is located at the position of the first motor 18 and can unlock and lock the first motor 18, so that when the gimbal 100 is in the folded state, the axis lock assembly 60 can angularly constrain the first axis assembly 14.

[0155] Optionally, the shaft lock assembly 60 may be built into the first motor 18. By using the built-in shaft lock assembly 60, the influence of an external locking structure on the structure and appearance is avoided.

[0156] In one embodiment, the shaft lock assembly 60 is disposed near the second motor 22 and is configured to lock and unlock the second motor 22 .

[0157] Thus, the second motor 22 can be locked and unlocked by the shaft lock assembly 60 .

[0158] Specifically, the axis lock assembly 60 is arranged at the position of the second motor 22, and can unlock and lock the second motor 22, so that when the gimbal 100 is in the folded state, the axis lock assembly 60 can constrain the angle of the second axis assembly 16.

[0159] When the gimbal 100 switches from the folded state to the unfolded state, the second motor 22 adjusts the orientation of the payload 200, keeping it substantially unchanged. In the folded state, to facilitate installation and removal of the payload 200, the third shaft assembly 17 typically needs to remain substantially stationary. The third shaft assembly 17 is mounted on the second shaft assembly 16, and the shaft lock assembly 60 locks the second motor 22 in the folded state, allowing the third shaft assembly 17 to remain stationary, facilitating installation and removal of the payload 200.

[0160] Furthermore, when switching from the folded state to the unfolded state, to maintain the orientation of the payload 200, the second motor 22 must simultaneously adjust the orientation of the payload 200. The shaft lock assembly 60 unlocks the second motor 22, allowing it to drive the third shaft assembly 17 and the payload 200 to rotate, thereby adjusting the orientation of the payload 200. This ensures that the orientation of the payload 200 in the folded state remains essentially unchanged from that in the unfolded state. This allows the user to face the payload 200 in both the unfolded and folded states, facilitating user operation of the payload 200.

[0161] Optionally, the shaft lock assembly 60 can be built into the second motor 22. By using the built-in shaft lock assembly 60, the influence of the external locking structure on the structure and appearance is avoided.

[0162] In one embodiment, the shaft lock assembly 60 includes a locking pin 68 and a resilient clamping portion, wherein the locking pin 68 is fixed to one of the fixed portion 62 and the rotating portion 64, and the clamping portion is fixed to the other of the fixed portion 62 and the rotating portion 64;

[0163] In the folded state, the clamping portion clamps the locking pin 68 to lock the relative positions of the fixed portion 62 and the rotating portion 64;

[0164] When the external torque applied to the fixed part 62 or the rotating part 64 is greater than the unlocking torque of the clamping part clamping the locking pin 68, the locking pin 68 disengages from the clamping part to unlock the fixed part 62 and the rotating part 64, allowing the gimbal 100 to switch from the folded state to the unfolded state.

[0165] Thus, the shaft lock assembly 60 can lock the fixed portion 62 and the rotating portion 64 , and unlock the fixed portion 62 and the rotating portion 64 , by the positional relationship between the lock pin 68 and the clamping portion.

[0166] Specifically, the clamping portion includes two elastic arms 70 facing each other. In the embodiment shown in Figures 8 and 9, the two elastic arms 70 are provided on the fixed portion 62, and the locking pin 68 is provided on the rotating portion 64. Optionally, the locking pin 68 is cylindrical, and a guide space 72 and a clamping space 74 are formed between the two elastic arms 70. Towards the direction approaching the clamping space 74, the guide space 72 is in a gradually shrinking shape, and the clamping space 74 is in a circular shape. In the folded state, the two elastic arms 70 clamp the locking pin 68 in the clamping space 74 to lock the fixed portion 62 and the rotating portion 64. The clamping space 74 can fit well with the locking pin 68, ensuring the stability of the clamping portion clamping the locking pin 68.

[0167] When the external torque applied to the fixed part 62 or the rotating part 64 is greater than the unlocking torque of the clamping lock pin 68 of the clamping part, the rotating part 64 can rotate in the clockwise direction, thereby driving the lock pin 68 to move from the clamping space 74 to the guide space 72. The lock pin 68 stretches the two elastic arms 70, and then the lock pin 68 can be disengaged from the clamping space 74 and disengaged from the clamping part through the guide space 72, thereby unlocking the fixed part 62 and the rotating part 64, and the two elastic arms 70 are reset. The gimbal 100 can be switched from the folded state to the unfolded state.

[0168] When the gimbal 100 is folded from its unfolded state, the rotating portion 64 rotates counterclockwise, driving the locking pin 68 toward the clamping space 74. As the guide space 72 tapers toward the clamping space 74, the locking pin 68 can more easily enter the guide space 72. As the rotating portion 64 continues to rotate, the locking pin 68 can open the two elastic arms 70, allowing the locking pin 68 to enter the clamping space 74. The clamping portion then clamps the locking pin 68, locking the fixed portion 62 and the rotating portion 64.

[0169] On the other hand, there is a need to control the gimbal 100 to automatically turn on after unfolding and automatically turn off after folding.

[0170] In one embodiment, the gimbal 100 has an unfolded state. Referring to FIG. 12 , the gimbal 100 includes a controller 76 and a detector 78 . The controller 76 is electrically connected to the detector 78 . In the folded state, at least two axis assemblies are configured to place the detector 78 in a first state. The controller 76 is configured to control the gimbal 100 to shut down when the detector 78 is in the first state.

[0171] In the deployed state, at least two axis assemblies are configured to place the detector 78 in a second state, and the controller 76 is configured to control the pan-tilt head 100 to power on when the detector 78 is in the second state.

[0172] Thus, the gimbal 100 can be turned on and off by switching between the folded state and the unfolded state.

[0173] Specifically, the detector 78 has a first state and a second state. When the detector 78 is in the first state, the controller 76 can control the pan-tilt platform 100 to be turned off. When the detector 78 is in the second state, the controller 76 can control the pan-tilt platform 100 to be turned on.

[0174] The switching of the detector 78 between the first state and the second state can be determined by the configuration of the axis assembly in the folded state and the unfolded state. In one embodiment, the detector 78 includes an angle sensor. For the first axis assembly 14, the angle of the first motor 18 can be set to A1 degrees in the folded state, and the angle of the first motor 18 can be set to A2 degrees in the unfolded state. Thus, when the detector 78 detects that the angle of the first motor 18 is A1, it can switch to the first state, and the controller 76 can control the gimbal 100 to shut down based on the detector 78 in the first state. When the detector 78 detects that the angle of the second motor 22 is A2, it can switch to the second state, and the controller 76 can control the gimbal 100 to turn on based on the detector 78 in the second state.

[0175] It is understood that in other embodiments, the detector 78 may include but is not limited to vision, magnetic, piezoelectric / distance, position and other sensors, and the detector 78 may be configured to detect at least one of the three axis components.

[0176] In one embodiment, the pan / tilt platform 100 further includes a trigger member 80 , and the detector 78 is configured to switch between the first state and the second state based on the trigger member 80 .

[0177] Thus, the detector 78 can be switched between the first state and the second state.

[0178] Optionally, the trigger member 80 can be fixed to the rotating portion 64 or the fixed portion 62. When the trigger member 80 is fixed to the rotating portion 64, when the pan / tilt platform 100 switches between the folded state and the unfolded state, the trigger member 80 can rotate with the rotating portion 64, thereby switching the detector 78 between the first state and the second state.

[0179] In one embodiment, the first shaft assembly 14 includes a fixed portion 62 and a rotating portion 64, the fixed portion 62 is rotatably connected to the rotating portion 64, the fixed portion 62 is connected to the handle 12, and the second shaft assembly 16 is connected to the rotating portion 64. The detector 78 includes a spring piece 82 and a conductive member 84, the spring piece 82 and the conductive member 84 are provided on one of the fixed portion 62 and the rotating portion 64, and the trigger member 80 is provided on the other of the fixed portion 62 and the rotating portion 64.

[0180] In the folded state, the trigger member 80 abuts against the spring piece 82 so that the spring piece 82 contacts the conductive member 84, and the detector 78 is in the first state; in the unfolded state, the trigger member 80 disengages from the spring piece 82 so that the spring piece 82 and the conductive member 84 are separated, and the detector 78 is in the second state; or, in the folded state, the trigger member 80 abuts against the spring piece 82 so that the spring piece 82 and the conductive member 84 are separated, and the detector 78 is in the first state; in the unfolded state, the trigger member 80 disengages from the spring piece 82 so that the spring piece 82 and the conductive member 84 are contacted, and the detector 78 is in the second state.

[0181] Thus, the gimbal 100 can be turned on and off by the contact and separation between the spring 82 and the conductive member 84 .

[0182] Specifically, in the embodiment shown in Figures 6 and 7, the trigger member 80 is disposed on the rotating portion 64, and the spring piece 82 and the conductive member 84 are disposed on the fixed portion 62. When the pan / tilt head 100 switches between the folded state and the unfolded state, the trigger member 80 can rotate with the rotating portion 64, thereby causing the spring piece 82 to contact and separate from the conductive member 84, causing the detector 78 to switch between the first state and the second state, and the controller 76 to control the pan / tilt head 100 to turn on and off.

[0183] Optionally, the trigger member 80 may include a protrusion 89 provided on the inner surface of the housing of the rotating portion 64 .

[0184] In one embodiment, the detector 78 includes a magnetic sensor 86 , the trigger 80 includes a magnetic member 88 , the magnetic sensor 86 is disposed on one of the second shaft assembly 16 and the handle 12 , and the magnetic member 88 is disposed on the other of the second shaft assembly 16 and the handle 12 ;

[0185] In the folded state, the distance between the magnetic member 88 and the magnetic sensor 86 is less than or equal to the preset threshold, and the detector 78 is in the first state; in the unfolded state, the distance between the magnetic member 88 and the magnetic sensor 86 is greater than the preset threshold, and the detector 78 is in the second state.

[0186] Therefore, the gimbal 100 can be turned on and off by adjusting the distance between the magnetic member 88 and the magnetic sensor 86 .

[0187] Specifically, in one embodiment, the magnetic sensor 86 is disposed in the second shaft assembly 16, such as within the second shaft arm 24, and the magnetic member 88 is disposed in the handle 12, such as within the grip portion 28. Referring to Figure 3 , in the folded state, the second shaft assembly 6 is relatively close to the handle 12, and the distance between the magnetic sensor 86 and the magnetic member 88 is less than or equal to a predetermined threshold. Therefore, the detector 78 can be in the first state, and the controller 76 controls the gimbal 100 to shut down.

[0188] Please refer to Figure 5. In the unfolded state, the second axis assembly 16 is driven to the unfolded position by the first axis assembly 14. The second axis assembly 16 is far away from the handle 12. The distance between the magnetic sensor 86 and the magnetic part 88 is greater than the preset threshold. The detector 78 can be in the second state, and the controller 76 controls the gimbal 100 to turn on.

[0189] It is understood that the preset threshold value can be set according to the distance between the magnetic sensor 86 and the magnetic member 88 when the gimbal 100 is in the folded state, or the distance between the magnetic sensor 86 and the magnetic member 88 can be set according to the preset threshold value when the gimbal 100 is in the folded state. This application does not specifically limit this.

[0190] On the other hand, there is a need for three-axis stabilization.

[0191] In one embodiment, the gimbal 100 includes a third axis assembly 17 , the second axis assembly 16 connects the third axis assembly 17 and the second axis assembly 16 , the third axis assembly 17 is configured to mount the load 200 , and the third axis assembly 17 is a roll axis assembly.

[0192] In this way, a three-axis gimbal 100 can be realized.

[0193] Specifically, the load 200 can be installed on the third axis assembly 17, and the first motor 18 can drive the second axis assembly 16 and the third axis assembly 17 to move, so that the gimbal 100 can switch between the folded state and the unfolded state.

[0194] In one embodiment, the rotation axis R of the third shaft assembly 17 is perpendicular to the rotation axis Y of the second shaft assembly 16 .

[0195] As a result, the center of gravity of the load 200 can pass through the rotation axis Y of the second shaft assembly 16 and the rotation axis R of the third shaft assembly 17 at the same time, reducing the output requirements of the second motor 22 and the third motor 34.

[0196] Specifically, the load 200 is installed on the third shaft assembly 17, and the rotation axis R of the third shaft assembly 17 passes through the load 200. The weight of the load 200 falls on the third shaft assembly 17. The rotation axis Y of the second shaft assembly 16 is perpendicular to the rotation axis R of the third shaft assembly 17, so that part of the weight of the load 200 can fall on the second shaft assembly 16, thereby making the weight of the load 200 shared by the second shaft assembly 16 and the third shaft assembly 17, reducing the output requirements of the second motor 22 and the third motor 34.

[0197] In one embodiment, the third axis assembly 17 may include a third motor 34 and a mounting opening 95. The aforementioned axis lock assembly 60 may also be disposed proximate to the third motor 34 and configured to lock and unlock the third motor 34. Specifically, the third motor 34 may be locked when the gimbal 100 is in a folded state, and the mounting opening 95 may be locked such that the payload 200 is in the state shown in FIG8 , i.e., the extension direction of the payload 200 is substantially parallel to the extension direction of the second axis arm 24. This prevents the payload 200 from rotating about the rotation axis R of the third axis assembly 17 when the gimbal 100 is stored, and facilitates user installation of the payload 200.

[0198] On the other hand, there is a need for the PTZ to power the load.

[0199] In one embodiment, the third shaft assembly 17 is provided with an interface 75 , and the interface 75 is configured to be connected to the load 200 via a power line to supply power to the load 200 .

[0200] Therefore, when the user is storing the gimbal 100, the gimbal 100 can simultaneously charge the load 200, thereby increasing the battery life of the load 200 and improving the user experience.

[0201] Specifically, the gimbal 100 includes a battery 77 housed within the grip 28. When the gimbal 100 is equipped with a payload 200, the interface 75 utilizes the battery 77 via a power cable to power the payload 200, thereby increasing the battery life of the payload 200 and enhancing the user experience.

[0202] Furthermore, the interface 75 can also be connected to the load 200 via a control line to control the load 200 (the interface design here can reduce the distance between the load 200 and the interface 75, thereby reducing the length of the required wire). The interface 75 can also be connected to a charging device to charge the gimbal 200. In Figure 8, the control line and power line can be integrated into the connecting line 73.

[0203] The interface 75 may include but is not limited to a USB interface, a TYPE-C interface, etc.

[0204] In FIG8 , the interface 75 is provided on the housing of the third motor 34 of the third shaft assembly 17 . It is understandable that the interface 75 may also be provided at other positions of the third shaft assembly 17 , and this application does not make any specific limitation thereto.

[0205] On the other hand, there is a need to store the payload 200 and the pan / tilt head 100 together.

[0206] In one embodiment, the gimbal 100 includes a load mounting member 97 , which is connected to the third axis assembly 17 . The load mounting member 97 has a mounting opening 95 , which is configured to connect the load 200 . When the gimbal 100 is in a folded state, the mounting opening 95 is set back to the handle 12 .

[0207] Thus, in the folded state, the mounting opening 95 of the load mounting member 97 is arranged outward, which facilitates the assembly and disassembly of the load 200 .

[0208] Specifically, in the folded state, the mounting opening 95 of the payload mount 97 faces away from the handle 12. This means that the mounting opening 95 of the payload mount 97 faces outward. When the user installs the payload 200, they can directly attach it to the payload mount 97 through the mounting opening 95. When the user removes the payload 200, they can remove it directly from the payload mount 97 without rotating the arm of the pan / tilt head 100.

[0209] In addition, in the folded state, the mounting opening 95 of the load mounting member 97 is set outward. When the gimbal 100 is temporarily stored, the load 200 and the load mounting member 97 can also be stored together, avoiding the problem that the load mounting member 97 is easily lost and the load 200 needs to be removed during temporary storage.

[0210] Optionally, the load mounting member 97 can mount the load 200 by means of magnetism, clamping, etc., which is not specifically limited in this application.

[0211] In one embodiment, when the platform 100 is in the folded state, the third axis assembly 17 and the second axis assembly 16 are located on the same side of the handle 12 .

[0212] This facilitates storage of the pan / tilt platform 100 .

[0213] Specifically, referring to Figure 1 , when the gimbal 100 is in the folded state, the second axis assembly 16 and the third axis assembly 17 are located on the right side of the handle 12. This eliminates the need for additional connecting structures that would otherwise be required due to the second axis assembly 16 and the third axis assembly 17 being on different sides (for example, in Figure 1 , there are no connecting structures connecting the second axis assembly 16 and the third axis assembly 17 on the front and back sides of the handle 12). This makes the gimbal 100 more compact in the folded state, facilitating storage, while also reducing its weight and improving its portability. On the other hand, there is a need to reduce the number of accessories (such as tripods and extension poles) that are required to be carried with the gimbal 100.

[0214] In one embodiment, a receiving cavity 93 is defined within the handle 12, and the gimbal 100 includes a support assembly 91 that can be switched back and forth between a stowed state and an extended state. In the stowed state, the support assembly 91 is located within the receiving cavity 93, and in the extended state, the support assembly 91 is at least partially located outside the receiving cavity 93.

[0215] The gimbal 100 is configured such that when the bracket assembly 91 is in the retracted state, the bracket assembly 91 moves in a direction away from the handle 12 at one end of the handle 12 away from the first axis assembly 14 to switch to the extended state;

[0216] When the bracket assembly 91 is in the extended state, the bracket assembly 91 moves toward the handle 12 at one end of the handle 12 away from the first shaft assembly 14 to switch to the stored state.

[0217] Therefore, the gimbal 100 comes with the bracket assembly 91, which avoids the user from carrying the bracket assembly 91 separately, improves convenience, and makes it easier for the user to use the gimbal 100 in different scenarios.

[0218] Specifically, when the gimbal 100 needs to be supported on a fixed object, the bracket assembly 91 can be in an extended state, and the bracket assembly 91 is at least partially located outside the accommodating cavity 93, so that the gimbal 100 can be supported on a fixed object for use, further reducing the shaking of the shooting device.

[0219] When the bracket assembly 91 is not needed, the bracket assembly 91 can be in a storage state. The bracket assembly 91 is located in the accommodating cavity 93, which reduces the space occupied by the gimbal 100 and facilitates the holding and storage of the gimbal 100.

[0220] When the bracket assembly 91 is in the storage state, the end of the bracket assembly 91 away from the handle 12 can move in a direction away from the handle 12, so that a portion of the bracket assembly 91 extends out of the accommodating cavity 93, and the bracket assembly 91 switches to the extended state.

[0221] When the bracket assembly 91 is in the extended state, the end of the bracket assembly 91 away from the handle 12 can move toward the handle 12, so that the part of the bracket assembly 91 extending outside the accommodating cavity 93 is retracted into the accommodating cavity 93, so that the bracket assembly 91 is switched to the storage state.

[0222] In one embodiment, the sidewall of the accommodating cavity 93 is provided with either a protrusion 89 or a slide groove 87. The support assembly 91 includes a support foot 85, which is provided with the protrusion 89 and the other of the slide grooves 87. The protrusion 89 is partially received in the slide groove 87. The protrusion 89 and the slide groove 87 can slide relative to each other to enable the support assembly 91 to switch between the stowed state and the extended state. Thus, the cooperation between the protrusion 89 and the slide groove 87 makes the support assembly more stable when switching between the two states.

[0223] Specifically, in the embodiment shown in FIG13 , a protrusion 89 is provided on the support foot 85, and a slide groove 87 is provided on the sidewall of the accommodating cavity 93. The protrusion 89 is partially accommodated in the slide groove 87, and the slide groove 87 can define the direction of movement of the support foot 85 through the protrusion 89. Optionally, the support surface of the support foot 85 can be flush with the bottom surface of the handle 12. It is understood that in other embodiments, the sidewall of the accommodating cavity is provided with a protrusion 89, and the slide groove 87 is provided on the support foot 85.

[0224] When the bracket assembly 91 switches from the storage state to the extended state, the protrusion 89 slides relative to the slide groove 87 along the bottom direction close to the handle 12, so that the support foot 85 moves in the direction away from the bottom surface of the handle 12, and the support foot 85 partially extends out of the accommodating cavity 93. When the protrusion 89 slides to the end of the slide groove 87, the protrusion 89 is limited by the end of the slide groove 87 and can no longer slide. The support foot 85 has a maximum length extending out of the accommodating cavity 93, and the bracket assembly 91 is in the extended state.

[0225] During the process of switching the bracket assembly 91 from the extended state to the stored state, the protrusion 89 slides relative to the slide groove 87 in the direction away from the bottom of the handle 12, so that the support foot 85 moves toward the bottom surface of the handle 12, and the support foot 85 is gradually retracted into the accommodating cavity 93. When the protrusion 89 slides to the other end of the slide groove 87, the protrusion 89 is limited by the end of the slide groove 87 or the support foot 85 is supported on the handle 12, the support foot 85 and the protrusion 89 can no longer continue to slide, and the bracket assembly 91 is in the stored state.

[0226] Optionally, the protrusion 89 and the slide groove 87 can be connected in a tight fit manner, and the support leg 85 can remain stationary when it is only subjected to gravity but not other external forces.

[0227] In one embodiment, the number of the supporting legs 85 is at least three, and the sliding grooves 87 and the protrusions 89 are in a one-to-one correspondence with the supporting legs 85 .

[0228] This allows for relatively stable support of the pan / tilt platform 100. Specifically, in the embodiment shown in Figures 13 and 14, there are three support legs 85, and the bracket assembly 91 formed by the three support legs 85 can form a tripod. The three support legs 85 are arranged in a roughly isosceles triangle configuration. Each support leg 85 is equipped with a protrusion 89, which engages with a corresponding slide groove 87 to guide and limit the movement of the support leg 85.

[0229] It can be understood that in other embodiments, the number of supporting legs 85 can be single, two, or more than three, and the arrangement of the three supporting legs 85 is not limited to an isosceles triangle, and this application does not make specific limitations on this.

[0230] Optionally, a battery 77 is provided in the accommodating cavity 93 , and a plurality of supporting legs 85 are arranged around the circumference of the battery, further rationalizing the configuration of the internal space of the handle 12 .

[0231] In one embodiment, the bracket assembly 91 includes a connecting member 83, one end of the supporting foot 85 is rotatably connected to the connecting member 83, and a protrusion 89 or a slide groove 87 is provided on the connecting member 83. When the bracket assembly 91 is in an extended state, one end of the supporting foot 85 connected to the connecting member 83 is located outside the accommodating cavity 93 so that the supporting foot 85 can rotate relative to the connecting member 83.

[0232] Therefore, when the supporting legs 85 are extended, they can rotate relative to the connecting member 83 to adjust the angle, thereby supporting the pan / tilt platform 100 more stably.

[0233] Specifically, the bracket assembly 91 may include at least two support legs 85. In Figures 13 and 14, the bracket assembly 91 includes three support legs 85. When the bracket assembly 91 is extended, one end of the support leg 85 connected to the connector 83 is located outside the accommodating cavity 93. This allows the support leg 85 to rotate relative to the connector 83 to adjust the angle between the support leg 85 and the connector 83. The connector 83 and the handle 12 are relatively fixed, and the angle between the support leg 85 and the handle 12 can also be adjusted accordingly. With reference to the extension direction of the chute 87 on the side wall of the accommodating cavity 93, in the stowed state, the length direction of the support leg 85 is substantially parallel to the extension direction of the chute 87. In the extended state, the support leg 85 can rotate outward from the connector 83, increasing the angle between the length direction of the support leg 85 and the extension direction of the chute 87. This increases the support surface area formed by the three support legs 85, thereby more stably supporting the pan / tilt head 100. In Figure 13, a protrusion 89 is provided on the connector 83.

[0234] In one embodiment, the support assembly 91 includes a support leg 85, which includes at least two support segments 81, and the at least two support segments 81 are slidably connected. Therefore, the length of the support leg 85 can be adjusted by the slidably connected support segments 81.

[0235] Specifically, in the embodiment shown in FIG14 , the support leg 85 includes two support segments 81 slidably connected. One support segment 81 can be at least partially accommodated within the other support segment 81. During use, one support segment 81 can be pulled out of the accommodating cavity 93, while the other support segment 81 remains within the accommodating cavity 93. Alternatively, the support leg 85 can be pulled out of the accommodating cavity 93 without separating the two support segments 81. Alternatively, both support segments 81 can be pulled out of the accommodating cavity 93, and then one support segment 81 can be pulled out of the other support segment 81, as shown in FIG14 . It should be understood that the support leg 85 achieves a primary extension and retraction by cooperating with the slide groove 87, and a secondary extension and retraction by its own two-stage structure, thereby extending the length of the support frame 85. Furthermore, because different support legs 85 can engage with the slide groove 87 on the inner wall of the handle, less space is occupied within the pan / tilt head 100, allowing the support legs 85 to be longer.

[0236] It is understood that the present application does not impose any specific limitation on the number of support segments 81. In other embodiments, the support legs 85 may not be segmented structures.

[0237] In one embodiment, referring to FIG. 15 , the gimbal 100 includes a telescopic assembly 32 , which connects the operating portion 30 of the handle 12 and the top 26 of the handle.

[0238] Therefore, the telescopic component 32 can be used to facilitate users to use the gimbal 100 to take selfies.

[0239] Specifically, when using the gimbal 100 to take a selfie, the user can hold the operating portion 30 or the grip portion 28 with one hand and the handle top 26 with the other hand. The user can then pull apart the handle top 26 and / or the operating portion 30 (or the grip portion 28), extending the telescopic assembly 32 and thereby increasing the distance between the handle top 26 and the operating portion 30. Because the payload 200 is mounted on the third axis assembly 17, the distance between the payload 200 and the operating portion 30 can also be increased, making it easier for the user to take selfies using the gimbal 100.

[0240] After taking a selfie, the user can push the operating portion 30 and the top 26 of the handle closer together to shorten the telescopic assembly 32 and directly contact the top 26 of the handle with the operating portion 30 .

[0241] Optionally, the gimbal 100 further includes a driver, which can be connected to the telescopic assembly 32. The controller 76 is electrically connected to the driver. The controller 76 can control the driver to extend the telescopic assembly 32 in response to a selfie command, and to retract the telescopic assembly 32 in response to a retraction command. The selfie command and the retraction command can be generated by a user operating the operating unit 30, or can be generated by a terminal that is in communication with the gimbal 100, including but not limited to a mobile phone, a tablet computer, a camera, a wearable smart device (such as a smart watch, a smart helmet, smart glasses, etc.), a personal computer, a server, etc.

[0242] In one embodiment, the telescoping assembly 32 is at least partially located within the handle 12 when the telescoping assembly 32 is in the retracted state.

[0243] Thus, the telescopic assembly 32 can be located inside the handle 12 when retracted, reducing space occupancy. At the same time, the offset configuration of the second shaft arm 24 can effectively provide a setting space inside the handle 12 for the telescopic assembly 32 .

[0244] 13 and 14 , when the telescopic assembly 32 is in the retracted state, the telescopic assembly 32 is entirely housed within the operating portion 30. Since the second shaft arm 24 does not occupy space within the handle 12, the operating portion 30 can effectively provide space for the telescopic assembly 32.

[0245] In one embodiment, in the folded state, the extension direction L1 of the telescopic assembly 32 does not pass through the second motor 22 , thereby facilitating the configuration of the telescopic assembly 32 within the handle 12 .

[0246] Specifically, when the telescopic assembly 32 is in the retracted state, the telescopic assembly 32 is located within the operating portion 30. The extension direction L1 of the telescopic assembly 32 does not pass through the second motor 22. In other words, along the extension direction L1 of the telescopic assembly 32, the telescopic assembly 32 and the second motor 22 at least do not overlap. Therefore, when the telescopic assembly 32 is disposed within the handle 12, the influence of the second motor 22 on the telescopic assembly 32 can be reduced.

[0247] In one embodiment, the telescopic assembly 32 includes a plurality of connecting segments 79, each of which is slidably connected to the other. When the telescopic assembly 32 is at its shortest length, the connecting segments 79 are sequentially sleeved together along the radial direction of the handle 12 away from the handle 12. This allows the telescopic assembly 32 to be compact.

[0248] Specifically, referring to Figures 13 and 14 , when the telescopic assembly 32 is at its shortest length, it is accommodated within the interior space of the operating portion 30. The plurality of connecting segments 79 are sequentially nested together along the radial direction of the operating portion 30, moving away from the operating portion 30. This minimizes the structure of the telescopic assembly 32 and makes it compact.

[0249] The telescopic component 32 can be switched between the shortest length state, the longest length state (as shown in Figure 15), and a length between the shortest and longest states. The length of the telescopic component 32 can be configured according to specific needs.

[0250] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0251] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A pan-tilt head, characterized in that, Comprising: A handle; At least two shaft assemblies, said at least two shaft assemblies including a first shaft assembly and a second shaft assembly, said first shaft assembly including a first motor and a first shaft arm, said second shaft assembly including a second motor and a second shaft arm, said first motor being disposed at the top of the handle along the extension direction of the handle and being connected to the handle and the first shaft arm respectively, and said first shaft arm being connected to the second motor; Wherein, the gimbal has a folded state, in which the rotation axis of the second motor does not pass through the first motor, the first shaft assembly is a pitch shaft assembly, and the second shaft assembly is a yaw shaft assembly.

2. A pan-tilt head, characterized in that, Comprising: A handle; At least two shaft assemblies, said at least two shaft assemblies including a first shaft assembly and a second shaft assembly, said first shaft assembly including a first motor and a first shaft arm, said second shaft assembly including a second motor and a second shaft arm, said first motor being disposed at the top of the handle and being connected to the handle and the first shaft arm respectively, and said first shaft arm being connected to the second motor; Wherein, the gimbal has a folded state, the vertical projection of the second motor on the reference plane does not coincide with the vertical projection of the handle on the reference plane, the reference plane is substantially perpendicular to the extension direction of the handle, the first shaft assembly is a pitch shaft assembly, and the second shaft assembly is a yaw shaft assembly.

3. A pan-tilt head, characterized in that, Comprising: A handle; At least two shaft assemblies, said at least two shaft assemblies including a first shaft assembly and a second shaft assembly, said first shaft assembly including a first motor and a first shaft arm, said second shaft assembly including a second motor and a second shaft arm, said first motor being disposed at the top of the handle and being connected to the handle and the first shaft arm respectively, and said first shaft arm being connected to the second motor; Wherein, the gimbal has a folded state and an unfolded state, and the first motor drives the second shaft assembly to move so that the gimbal is in the folded state and the unfolded state; In the folded state, the second shaft arm is located between the rotation axis of the second motor and the handle, the first shaft assembly is a pitch shaft assembly, and the second shaft assembly is a yaw shaft assembly.

4. A pan-tilt head, characterized in that, Comprising: A handle; At least two shaft assemblies, said at least two shaft assemblies including a first shaft assembly and a second shaft assembly, said first shaft assembly including a first motor and a first shaft arm, said second shaft assembly including a second motor and a second shaft arm, said first motor being disposed at the top of the handle and being connected to the handle and the first shaft arm respectively, and said first shaft arm being connected to the second motor; Wherein, the gimbal has a folded state and an unfolded state, and the first motor drives the second shaft assembly to move so that the gimbal is in the folded state and the unfolded state; In the folded state, the second motor is located on the first side of the handle, and in the unfolded state, the second motor is located on the second side of the handle opposite to the first side, the first shaft assembly is a pitch shaft assembly, and the second shaft assembly is a yaw shaft assembly.

5. The pan-tilt according to claim 1, wherein The vertical projection of the second motor on the reference plane does not coincide with the vertical projection of the handle on the reference plane, and the reference plane is substantially perpendicular to the extension direction of the handle.

6. The pan-tilt according to claim 1 or 2, characterized in that, The gimbal has a deployed state, and the first motor drives the second shaft assembly to move the gimbal between the folded state and the deployed state. In the folded state, the second shaft arm is located between the rotation axis of the second motor and the handle.

7. The pan-tilt head according to claim 1 or 2 or 3, characterized in that, The gimbal has a deployed state, and the first motor drives the second shaft assembly to move the gimbal between the folded state and the deployed state. In the folded state, the second motor is located on the first side of the handle, and in the deployed state, the second motor is located on the second side opposite to the first side of the handle.

8. The pan-tilt according to claim 4, wherein, The rotation axis of the second motor is on different sides relative to the handle when the gimbal is in the folded state and the deployed state.

9. The pan-tilt according to any one of claims 1-8, characterized in that, In the folded state, the rotation axis of the second motor is substantially parallel to the extension direction of the handle.

10. The pan-tilt according to any one of claims 1-8, characterized in that, In the folded state, the first shaft arm extends away from the handle by the first motor.

11. The pan-tilt according to claim 1 or 2, characterized in that, The gimbal has a deployed state, and the gimbal is configured to switch between the folded state and the deployed state by controlling the rotation direction and rotation angle of the first motor.

12. The pan-tilt according to claim 3 or 4 or 11, characterized in that, When the gimbal is in the folded state compared to when the gimbal is in the deployed state, the rotation angle of the first shaft arm around the rotation axis of the first motor is greater than or equal to 150°.

13. The pan-tilt according to claim 3 or 4 or 11, characterized in that, When the gimbal is in the folded state compared to when the gimbal is in the deployed state, the second shaft arm rotates 180° around the rotation axis of the second motor.

14. The pan-tilt according to claim 1, 2, 3, 4 or 11, characterized in that, The first shaft assembly includes a reduction mechanism that connects the first motor and the second shaft assembly.

15. The pan-tilt according to claim 14, characterized in that, The reduction mechanism includes a two-stage planetary reducer.

16. The pan-tilt according to claim 1, 2, 3, 4 or 11, characterized in that, The gimbal can switch between the folded state and the deployed state. The shaft assembly includes a fixed part and a rotating part that are rotatably connected. The gimbal includes a shaft locking assembly that locks the relative positions of the fixed part and the rotating part in the folded state.

17. The pan-tilt according to claim 16, characterized in that, When the external torque applied to the fixed part or the rotating part is greater than the unlocking torque of the shaft locking assembly, the shaft locking assembly unlocks the fixed part and the rotating part, enabling the gimbal to switch from the folded state to the deployed state.

18. The pan-tilt according to claim 16, characterized in that, The shaft locking assembly includes an actuator and a locking mechanism, and the actuator is configured to drive the locking mechanism into an unlocked state and a locked state.

19. The pan-tilt head according to claim 18, characterized in that, The actuator includes a motor that is configured to perform at least one of the following: In response to the deployment instruction of the gimbal, drive the locking mechanism to unlock; In response to the instruction indicating the completion of folding of the gimbal, drive the locking mechanism to lock.

20. The pan-tilt according to claim 16, wherein The shaft locking assembly is disposed near the first motor and is configured to lock and unlock the first motor.

21. The pan-tilt head according to claim 16, wherein, The shaft locking assembly is disposed near the second motor and is configured to lock and unlock the second motor.

22. The pan-tilt according to any one of claims 16-21, characterized in that, The shaft locking assembly includes a locking pin and an elastic clamping portion. The locking pin is fixed to one of the fixed portion and the rotating portion, and the clamping portion is fixed to the other of the fixed portion and the rotating portion; In the folded state, the clamping portion clamps the locking pin to lock the relative positions of the fixed portion and the rotating portion; When the external torque applied to the fixed portion or the rotating portion is greater than the unlocking torque of the clamping portion clamping the locking pin, the locking pin disengages from the clamping portion to unlock the fixed portion and the rotating portion, so that the gimbal can be switched from the folded state to the unfolded state.

23. The pan-tilt head according to claim 1, 2, 3, 4 or 11, characterized in that, The gimbal has an unfolded state. The gimbal includes a controller and a detector. The controller is electrically connected to the detector. In the folded state, the at least two shaft assemblies are configured to make the detector in a first state, and the controller is configured to control the gimbal to shut down when the detector is in the first state; In the unfolded state, the at least two shaft assemblies are configured to make the detector in a second state, and the controller is configured to control the gimbal to power on when the detector is in the second state.

24. The pan-tilt according to claim 23, wherein, The gimbal further includes a trigger. The detector is configured to switch between the first state and the second state based on the trigger.

25. The pan-tilt head according to claim 24, wherein The first shaft assembly includes a fixed portion and a rotating portion. The fixed portion is rotatably connected to the rotating portion. The fixed portion is connected to the handle. The second shaft assembly is connected to the rotating portion. The detector includes a shrapnel and a conductive member. The shrapnel and the conductive member are provided on one of the fixed portion and the rotating portion, and the trigger is provided on the other of the fixed portion and the rotating portion; In the folded state, the trigger abuts against the shrapnel to make the shrapnel contact the conductive member, and the detector is in the first state; In the unfolded state, the trigger disengages from the shrapnel to separate the shrapnel from the conductive member, and the detector is in the second state; or, In the folded state, the trigger abuts against the shrapnel to separate the shrapnel from the conductive member, and the detector is in the first state; In the unfolded state, the trigger disengages from the shrapnel to make the shrapnel contact the conductive member, and the detector is in the second state.

26. The pan-tilt according to claim 24, characterized in that, The detector includes a magnetic sensor, and the trigger includes a magnetic member. The magnetic sensor is disposed on one of the second shaft assembly and the handle, and the magnetic member is disposed on the other of the second shaft assembly and the handle; In the folded state, the distance between the magnetic member and the magnetic sensor is less than or equal to a preset threshold, and the detector is in the first state; In the unfolded state, the distance between the magnetic member and the magnetic sensor is greater than the preset threshold, and the detector is in the second state.

27. The pan-tilt according to any one of claims 1-26, characterized in that, The pan-tilt head includes a first limiting portion and a second limiting portion. The first limiting portion is provided on the first motor or the handle, and the second limiting portion is provided on the rotating part of the second shaft assembly. In the folded state, the first limiting portion and the second limiting portion are cooperatively connected to limit the rotation of the rotating part of the second shaft assembly.

28. The pan-tilt according to claim 27, wherein The first limiting portion includes one of a limiting groove and a limiting block, and the second limiting portion includes the other of the limiting groove and the limiting block. In the folded state, the limiting block is inserted into the limiting groove. The pan-tilt head has an unfolded state, and in the unfolded state, the limiting block disengages from the limiting groove.

29. The pan-tilt according to claim 27, characterized in that, The second limiting portion is disposed on a side of the second shaft arm away from the rotation axis of the second motor.

30. The pan-tilt according to any one of claims 1-29, characterized in that, The pan-tilt head includes a third shaft assembly. The second shaft assembly connects the third shaft assembly and the second shaft assembly. The third shaft assembly is configured to mount a load, and the third shaft assembly is a roll shaft assembly.

31. The pan-tilt according to claim 30, characterized in that, The rotation axis of the third shaft assembly is perpendicular to the rotation axis of the second shaft assembly.

32. The pan-tilt according to claim 30, characterized in that, The third shaft assembly includes a third motor and a mounting opening. The pan-tilt head includes an axis locking assembly. The axis locking assembly is disposed near the third motor and is configured to lock and unlock the third motor.

33. The pan-tilt according to claim 30, characterized in that, The rotation axis of the first shaft assembly does not pass through the overall centroid of the second shaft assembly and the third shaft assembly.

34. The pan-tilt according to claim 30, wherein, An interface is provided on the third shaft assembly. The interface is configured to be connected to the load through a power cord to supply power to the load.

35. The pan-tilt according to claim 30, wherein The pan-tilt head includes a load connecting member. The load connecting member connects the third shaft assembly. The load connecting member has a mounting opening, and the mounting opening is configured to connect the load. When the pan-tilt head is in the folded state, the mounting opening faces away from the handle.

36. The pan-tilt according to claim 30, wherein, When the pan-tilt head is in the folded state, the third shaft assembly and the second shaft assembly are located on the same side of the handle.

37. The pan-tilt according to any one of claims 1-36, characterized in that, A receiving cavity is provided inside the handle. The pan-tilt head includes a bracket assembly. The bracket assembly can switch back and forth between a storage state and an extended state. In the storage state, the bracket assembly is located inside the receiving cavity. In the extended state, the bracket assembly is at least partially located outside the receiving cavity; The pan-tilt head is configured such that when the bracket assembly is in the storage state, the bracket assembly moves away from the handle in a direction away from the handle at one end of the handle facing away from the first shaft assembly to switch to the extended state; When the bracket assembly is in the extended state, the bracket assembly moves in a direction close to the handle at one end of the handle facing away from the first shaft assembly to switch to the storage state.

38. The pan-tilt according to claim 37, wherein One of a convex block and a sliding groove is provided on the side wall of the receiving cavity. The bracket assembly includes a support foot. The other of the convex block and the sliding groove is provided on the support foot. The convex block is partially received in the sliding groove, and the convex block and the sliding groove can slide relative to each other so that the bracket assembly can switch between the storage state and the extended state.

39. The pan-tilt head according to claim 38, wherein The number of the support feet is at least three, and the sliding groove and the convex block correspond to the support feet one by one.

40. The pan-tilt according to claim 38, characterized in that, The bracket assembly includes a connecting member, one end of the supporting leg is rotatably connected to the connecting member, the bump or the sliding groove is provided on the connecting member, and in the state where the bracket assembly is in the extended state, one end of the supporting leg connected to the connecting member is located outside the accommodating cavity so that the supporting leg can rotate relative to the connecting member.

41. The pan-tilt according to claim 37, wherein, The bracket assembly includes a supporting leg, the supporting leg includes at least two supporting segments, and the at least two supporting segments are slidably connected.

42. The pan-tilt according to any one of claims 1-41, characterized in that, The pan-tilt head includes a telescopic assembly, and the telescopic assembly connects the operating portion of the handle and the top of the handle.

43. The pan-tilt according to claim 42, characterized in that, In the state where the telescopic assembly is in the contracted state, at least a part of the telescopic assembly is located inside the handle.

44. The pan-tilt according to claim 43, wherein, In the folded state, the extending direction of the telescopic assembly does not pass through the second motor.

45. The pan-tilt according to any one of claims 42-44, characterized in that, The telescopic assembly includes a plurality of connecting segments, and the plurality of connecting segments are slidably connected to each other in pairs. In the state where the telescopic assembly is in the shortest length state, the plurality of connecting segments are sleeved together in sequence along the radial direction of the handle and away from the handle.

46. The pan-tilt according to any one of claims 1-45, characterized in that, The rotation axis of the second shaft assembly does not pass through the centroid of the first shaft assembly.

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