Gimbals and gimbal camera

Abstract

Gimbals (10) and a gimbal camera. A gimbal (10) comprises: a support assembly (11); a load mounting assembly (12) configured for mounting of a load (20); at least two shaft assemblies (13), each shaft assembly (13) being individually and rotatably coupled to the load mounting assembly (12) and the support assembly (11), each shaft assembly (13) comprising a motor (1311), and the at least two shaft assemblies (13) being configured to, under the driving of the motors (1311), jointly drive the load mounting assembly (12) to move relative to the support assembly (11), so as to change the orientation of the load (20); and a leveling assembly (14) mechanically coupled to the load mounting assembly (12), the leveling assembly (14) comprising a first leveling mechanism (141) and a second leveling mechanism (142), the first leveling mechanism (141) being configured to enable the load (20) to move in a first axial direction relative to the support assembly (11), and the second leveling mechanism (142) being configured to enable the load (20) to move in a second axial direction relative to the support assembly (11), wherein the first axial direction and the second axial direction are different directions perpendicular to each other.

Description

Gimbal and gimbal camera Technical Field

[0001] This application relates to the field of gimbal technology, and more particularly to a gimbal and a gimbal camera. Background Technology

[0002] A gimbal, generally speaking, refers to a support device used to carry a load, such as a mobile phone, camera, or camcorder. The gimbal can adjust the orientation of the load by changing its own posture to perform shooting from different angles. Currently, the user experience of gimbals still has room for improvement.

[0003] Summary of the Invention

[0004] Based on this, embodiments of this application provide a gimbal and a gimbal camera, aiming to solve the user experience problem during the use of the gimbal.

[0005] In a first aspect, embodiments of this application provide a gimbal, the gimbal comprising:

[0006] Support components;

[0007] The load-mounting component is configured to mount loads;

[0008] At least two shaft assemblies, each shaft assembly being rotatably coupled separately to the load mounting assembly and the support assembly; each shaft assembly includes a motor, and the at least two shaft assemblies are configured to, under the drive of the motor, jointly move the load mounting assembly relative to the support assembly to change the orientation of the load; and

[0009] A leveling assembly is mechanically coupled to the load mounting assembly. The leveling assembly includes a first leveling mechanism and a second leveling mechanism. The first leveling mechanism is configured to allow the load to move relative to the support assembly along a first axis, and the second leveling mechanism is configured to allow the load to move relative to the support assembly along a second axis, wherein the first axis and the second axis are mutually perpendicular directions.

[0010] Secondly, embodiments of this application provide a gimbal, the gimbal comprising:

[0011] Support components;

[0012] The load-mounting component is configured to mount loads;

[0013] At least two shaft assemblies, each shaft assembly being rotatably coupled separately to the load mounting assembly and the support assembly; each shaft assembly includes a motor, and the at least two shaft assemblies are configured to, under the drive of the motor, jointly move the load mounting assembly relative to the support assembly to change the orientation of the load; and

[0014] A leveling assembly, mechanically coupled to the load mounting assembly, is configured to achieve leveling by changing the position of the load relative to the at least two shaft assemblies.

[0015] Thirdly, embodiments of this application provide a gimbal, the gimbal comprising:

[0016] Support components;

[0017] The load-mounting component is configured to mount loads;

[0018] At least two shaft assemblies, each of which is rotatably coupled separately to the load mounting assembly and the support assembly; each shaft assembly includes a motor, and the at least two shaft assemblies are configured to jointly drive the load mounting assembly relative to the support assembly under the drive of the motor, so as to change the orientation of the load;

[0019] The gimbal has an extended state and a retracted state. The gimbal switches between the extended state and the retracted state through the movement of the at least two axis components. In the retracted state, the vertical projection of the axis component on the second target surface is approximately located within the vertical projection of the support component on the second target surface. The second target surface is perpendicular to the pitch axis or the yaw axis of the load.

[0020] Fourthly, embodiments of this application provide a gimbal, the gimbal comprising:

[0021] Support components;

[0022] The load-mounting component is configured to mount loads;

[0023] At least three shaft assemblies, each of which is rotatably coupled separately to the load mounting assembly and the support assembly; each shaft assembly includes a motor, and the at least three shaft assemblies are configured to collectively drive the load mounting assembly relative to the support assembly under the drive of the motor, so as to change the orientation of the load;

[0024] The gimbal has an extended state and a retracted state. The gimbal switches between the extended state and the retracted state through the movement of the at least three axis components. In the retracted state, the rotation axes of all the rotation joints of the at least three axis components are approximately located in the same plane.

[0025] Fifthly, embodiments of this application also provide a gimbal camera, including a shooting device and a gimbal as described in any of the first to fourth aspects.

[0026] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 is one of the structural schematic diagrams of the gimbal in the deployed state provided in an embodiment of this application;

[0029] Figure 2 is a second structural schematic diagram of the gimbal in the deployed state provided in an embodiment of this application;

[0030] Figure 3 is a schematic diagram of the gimbal structure provided in an embodiment of this application;

[0031] Figure 4 is one of the schematic diagrams of the combination of the leveling component and the load provided in the embodiment of this application;

[0032] Figure 5 is a schematic diagram of the leveling component provided in an embodiment of this application;

[0033] Figure 6 is a second schematic diagram of the combination of the leveling component and the load provided in an embodiment of this application;

[0034] Figure 7 is one of the structural schematic diagrams of the shaft arm assembly provided in the embodiment of this application;

[0035] Figure 8 is a second structural schematic diagram of the shaft arm assembly provided in an embodiment of this application;

[0036] Figure 9 is one of the structural schematic diagrams of the gimbal storage state provided in the embodiments of this application;

[0037] Figure 10 is a second structural schematic diagram of the gimbal storage state provided in an embodiment of this application;

[0038] Figure 11 is a third structural schematic diagram of the gimbal in the deployed state provided in an embodiment of this application;

[0039] Figure 12 is a fourth structural schematic diagram of the gimbal deployment state provided in an embodiment of this application;

[0040] Figure 13 is a third structural schematic diagram of the gimbal storage state provided in the embodiments of this application. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0043] The term "comprising" as used throughout the specification and claims is an open-ended term and should therefore be interpreted as "including but not limited to". "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0044] Furthermore, the term "connection" here includes any means of connection, both direct and indirect. Therefore, if the text describes a first device connected to a second device, it means that the first device can be directly connected to the second device, or indirectly connected to the second device through other devices.

[0045] It should be understood that the terms "and / or" and "and / or" used in this document are merely descriptions of the relationships between related objects, indicating that three relationships can exist. For example, A1 and / or B1 can represent: A1 existing alone, A1 and B1 existing simultaneously, and B1 existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0046] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of this application. Without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described herein, as well as the features of those embodiments or examples.

[0047] A gimbal, generally speaking, refers to a support device used to support a load, such as a mobile phone, camera, or camcorder. The gimbal can adjust the orientation of the load by changing its own posture to perform shooting from different angles. Currently, there are still areas for improvement in the handling, leveling, and storage of gimbals.

[0048] For example, current three-axis gimbals typically employ cascaded stacking schemes such as Pitch-Roll-Yaw and Roll-Pitch-Yaw. However, for the gimbal's own motion, the rotation axis of the drive components (such as motors) needs to pass through the overall center of gravity of the component being driven. This results in a relatively small output torque required by the drive components, necessitating manual leveling by the user after loading the load onto the gimbal. During leveling, the user needs to first adjust the center of gravity of the load, and then adjust the overall center of gravity of the load and the axis components connected to it sequentially. Therefore, for multi-axis gimbals, multiple leveling operations in a specific sequence are required, and the leveling experience still needs optimization.

[0049] To address the aforementioned issues, this application provides a gimbal 10 to enhance the user's leveling experience. Referring to Figures 1 to 13, this application provides a gimbal 10, including:

[0050] Support component 11;

[0051] Load mounting component 12 is configured to mount load 20;

[0052] At least two shaft assemblies 13, each shaft assembly 13 being rotatably coupled to a load mounting assembly 12 and a support assembly 11, respectively; the shaft assembly 13 includes a motor 1311, and the at least two shaft assemblies 13 are configured to jointly drive the load mounting assembly 12 relative to the support assembly 11 under the drive of the motor 1311, thereby changing the orientation of the load 20; and

[0053] The leveling assembly 14, mechanically coupled to the load mounting assembly 12, is configured to achieve leveling by changing the relative positions of the load 20 and the support assembly 11, and / or at least two shaft assemblies 13.

[0054] In this embodiment, since at least two shaft assemblies 13 are individually coupled to the load mounting assembly 12 and the support assembly 11, the motor 1311 of a single shaft assembly 13 can directly drive the load mounting assembly 12 and the load 20 to move. During leveling, the overall center of gravity of the load mounting assembly 12 and the load 20 can be adjusted so that the rotation axes of the motors 1311 of each shaft assembly 13 approximately pass through the overall center of gravity of the load mounting assembly 12 and the load 20, thus roughly completing the leveling. Therefore, the user can move the load 20 using the leveling assembly 14 to adjust the overall center of gravity of the load mounting assembly 12 and the load 20 without having to adjust the overall center of gravity of the serially connected shaft assemblies 13 and the load 20 in a specific order, thereby improving the leveling experience.

[0055] The support assembly 11 can be used to support the axis assembly 13, the load mounting assembly 12, and the leveling assembly 14. Further, the support assembly 11 may include brackets or feet for mounting or supporting the gimbal 10 so that it can be placed on a horizontal surface. It should be understood that the support assembly 11 may be connected only to the axis assembly 13 to support other components via the axis assembly 13; of course, the support assembly 11 may also be connected to other components besides the axis assembly 13, which is not limited here.

[0056] The load mounting assembly 12 is configured to detachably mount the load 20. It should be understood that the load 20 can be directly and detachably connected to the load mounting assembly 12, or it can be detachably connected to the load mounting assembly 12 via other components. Specific connection methods include, but are not limited to, snap-fit ​​connections, sliding groove connections, and shaft hole connections. The load 20 may include mobile communication devices such as mobile phones and tablets, as well as shooting equipment such as cameras and camcorders, and may also include spraying devices, spreading devices, infrared emitting devices, radar detection devices, and other devices that require changing the working direction; these will not be listed exhaustively.

[0057] At least two shaft assemblies 13 can be connected in parallel. In some embodiments, there may be no direct mechanical connection between any two shaft assemblies 13. In some embodiments, no other shaft assembly 13 is connected to the load mounting assembly 12, and / or no other shaft assembly 13 is connected to the support assembly 11. In some embodiments, one end of each shaft assembly 13 may be directly connected to the support assembly 11, and the other end may be directly connected to the load mounting assembly 12. Referring to Figure 2, the three shaft assemblies 13 in Figure 2 are individually connected to the support assembly 11 and the load mounting assembly 12, which is one embodiment of parallel connection. In this way, each shaft assembly 13 can be connected to the load mounting assembly 12 without other shaft assemblies 13, thereby directly driving the load mounting assembly 12 and the load 20 to move relative to the support assembly 11, and thus reducing the rotational torque required by the motor 1311 of each shaft assembly 13.

[0058] At least two axis assemblies 13 can jointly drive the load mounting assembly 12 to change its attitude, thereby changing the attitude of the load 20 and thus altering its working orientation. It should be understood that joint driving means that during the adjustment of the load 20's attitude, at least two axis assemblies 13 exert forces on the load mounting assembly 12. That is, the gimbal 10 can have motors 1311 of at least two axis assemblies 13 jointly driving the load 20 to rotate, thereby reducing the output torque required for a single motor 1311, or enabling the support of a larger load 20.

[0059] Optionally, in some embodiments, as the load 20 rotates about one of its yaw axis, pitch axis, or roll axis, the motors 1311 of the two shaft assemblies 13 can rotate synchronously to jointly drive the load 20. Synchronous rotation of the motors 1311 can improve the motion efficiency of the load 20 and also avoid mutual interference between the shaft assemblies 13.

[0060] Furthermore, during the rotation of load 20 around one of its yaw axis, pitch axis, or roll axis, at least two motors 1311 of shaft assemblies 13 rotate synchronously in opposite directions, namely clockwise and counterclockwise. Referring to Figure 2, during the rotation of load 20 around the yaw axis, motor 1311 of shaft assembly 13A rotates clockwise, while motor 1311 of shaft assembly 13B rotates counterclockwise, jointly driving load 20 to move around the yaw axis in the illustrated direction.

[0061] Optionally, the load mounting assembly 12 of the gimbal 10 may be equipped with an inertial measurement unit (IMU). The IMU can be configured to provide the current rotation angle and position of the load 20. The gimbal 10 may also include a controller (not shown), which can control each axis assembly 13 based on the rotation angle and position detected by the IMU to change the attitude of the load 20 or maintain the attitude and position of the load 20. Furthermore, the controller can also control the current attitude and position of the load 20 through other measuring devices. To enable the controller to control the drive axis assembly 13, the gimbal 10 generally also includes an electronic speed controller (not shown). The electronic speed controller is communicatively connected to the motor 1311 in the axis assembly 13, and the controller controls the operation of the motor 1311 in the axis assembly 13 through the electronic speed controller, for example, controlling the rotation angle and rotation speed of the motor 1311.

[0062] The leveling component 14 can directly move the load 20, or it can move components connected to the load 20 to drive the load 20 to move. In some embodiments, the leveling component 14 can drive the load 20 to move along one or more directions, thereby changing the overall center of gravity of the load 20 and the load mounting assembly 12, thus achieving leveling. Further, the leveling component 14 may include a first leveling mechanism 141 and a second leveling mechanism 142. The first leveling mechanism 141 is configured to allow the load 20 to move relative to the support assembly 11 along a first axial direction, and the second leveling mechanism 142 is configured to allow the load 20 to move relative to the support assembly 11 along a second axial direction, wherein the first and second axial directions are mutually perpendicular. In this way, the load 20 can move along the first and second axial directions to change the position of its center of gravity, thereby changing the overall center of gravity position of the load 20 and the load mounting assembly 12, thus achieving leveling. By allowing the load 20 to move along mutually perpendicular axial directions, the center of gravity position of the load 20 can be changed more quickly, and the leveling operation is simpler.

[0063] It should be understood that the first leveling mechanism 141 and the second leveling mechanism 142 can be configured to move only the load 20 relative to the load mounting assembly 12, or they can be configured to move the load 20 and the load mounting assembly 12 as a whole relative to the support assembly 11, so that the overall center of gravity position of the load 20 and the load mounting assembly 12 can be adjusted.

[0064] The first axial direction may be parallel to one of the roll axis, pitch axis, or yaw axis of the load 20, and the second axial direction may be parallel to the other of the roll axis, pitch axis, or yaw axis of the load 20. Further, the first axial direction may be parallel to the pitch axis of the load 20, and the second axial direction may be parallel to the roll axis of the load 20; or, the first axial direction may be parallel to the roll axis of the load 20, and the second axial direction may be parallel to the yaw axis of the load 20; or, the first axial direction may be parallel to the pitch axis of the load 20, and the second axial direction may be parallel to the yaw axis of the load 20.

[0065] It should be understood that, unless otherwise stated, in the embodiments of this application, the roll axis, yaw axis and pitch axis of the load 20 refer to the three axes when the gimbal is in the deployed state and the load is in a horizontal position.

[0066] Please refer to Figure 2. In Figure 2, the first axis X can be parallel to the roll axis of the load 20, and the second axis Z can be parallel to the yaw axis of the load 20. Users can perform leveling by changing the position of the load 20 relative to the support assembly 11 in both directions, making the operation more convenient. Meanwhile, since the load 20 and the load mounting part 12 are typically symmetrical, their overall center of gravity falls on the left and right axes of symmetry. Therefore, the load 20 can be directly positioned at the center of the load mounting assembly 12 along the Y-axis (i.e., the pitch axis direction of the load), so that the left and right axes of symmetry of the load 20 can intersect the rotation axes of the motors 1311 of each axis assembly 13 at a single point without requiring relative movement along the Y-axis. Thus, when the load 20 is installed on the load mounting assembly 12, the Y-axis direction is already in a leveled state, thereby reducing additional leveling operations.

[0067] Optionally, the load 20 can be moved by the sliding structure of the leveling component 14 and / or the sliding structure of the load mounting component 12.

[0068] Referring to Figure 2, the leveling assembly 14 in Figure 2 may include a first component 143 directly connected to the load mounting assembly 12 and a second component 144 directly connected to the load 20. The first component 141 may be provided with a sliding groove, and the second component 144 may slide along the sliding groove of the first component 143 along the X-axis, thereby driving the load to move along the X-axis as well.

[0069] Furthermore, the first leveling mechanism 141 and / or the second leveling mechanism 142 can also achieve leveling by moving the load through a sliding structure.

[0070] In some embodiments, the first leveling mechanism 141 and / or the second leveling mechanism 142 may include a sliding structure; the sliding structure is configured to cause the load 20 to slide along the extension direction of the sliding structure to adjust the center of gravity position of the load 20; and / or,

[0071] The sliding structure is configured such that one of the first leveling mechanism 141 or the second leveling mechanism 142 slides along the extension direction of the sliding structure to adjust the center of gravity position of the load 20.

[0072] Furthermore, the first leveling mechanism 141 is provided with a first slide groove 1411, which extends along a first axial direction and is configured to allow the load 20 to move along the first axial direction; the second slide groove 1412 extends along a second axial direction and is configured to allow the first leveling mechanism 141 to move along the second axial direction.

[0073] As shown in Figure 4, in one embodiment, the first groove 1411 of the first leveling mechanism 141 can make the load 20 move along the X-axis, while the second groove 1421 of the second leveling mechanism 142 can be configured to make the load 20 move along the Z-axis, thereby realizing the movement of the load 20 through the first leveling mechanism 141 and the second leveling mechanism 142.

[0074] As shown in Figure 5, in another embodiment, the second leveling mechanism 142 in Figure 5 can cooperate with the first slide groove 1411 in Figure 4, and the second leveling mechanism 142 can have a second slide groove 1421. The second slide groove 1421 can be directly slidably connected to the load 20, so that the load moves along the Y-axis extending along the second slide groove 1421, and the second leveling mechanism 142 drives the load 20 to move along the X-axis by moving along the X-axis of the first slide groove 1411.

[0075] Of course, in some embodiments, the load mounting assembly 12 may also include a sliding structure configured to allow the leveling assembly 14 to slide along the extension direction of the sliding structure to adjust the center of gravity position of the load 20.

[0076] Optionally, the leveling component 14 can automatically drive the load 20 to move, or it can be moved relative to the leveling component 14 by external force, which is not limited here.

[0077] It should be understood that the leveling assembly 14 may also have a sensing device to detect the movement position of the leveling mechanism and / or the output torque of the motor 1311, so as to determine whether the current load 20 is in a leveling state by the movement position of the leveling mechanism and / or the output torque of the motor 1311, and control the actuator 145 of the leveling assembly 14 to drive the load 20 and / or the leveling assembly 14 to move, thereby automating the gimbal leveling process and reducing the leveling burden on the user. The methods for detecting whether the load 20 is in a leveling state include, but are not limited to, the methods described above, and can also be achieved by detecting the position of the load 20, etc., without further limitation here.

[0078] Optionally, the leveling assembly 14 may include an actuator 145 configured to drive the load to move in order to adjust the center of gravity position of the load.

[0079] Furthermore, the actuator 145 may include a motor 1311. Specifically, the actuator 145 may include a linear motor, or the actuator 145 may include a rotary motor 1451 and a first transmission member 1452, the first transmission member 1452 being configured to convert the rotational motion of the rotary motor 1451 into linear motion. Referring to FIG6 as an example, the rotary motor 1451, through the transmission action of the transmission member 1452, can convert rotational motion into linear motion along the load roll axis direction.

[0080] In some embodiments, the first leveling mechanism 141 and / or the second leveling mechanism 142 may include an actuator 145 configured to drive the load 20 to move along a first axis or a second axis to adjust the center of gravity position of the load 20. Thus, the actuator 145 can respond to user control commands or automatically drive the load 20 to move, avoiding the need for the user to manually move the load 20 for leveling, further improving the leveling experience.

[0081] Optionally, the leveling assembly includes an operating element configured to drive the load along a first or second axis in response to an operator's operation, thereby adjusting the center of gravity position of the load.

[0082] In some embodiments, the first leveling mechanism 141 and / or the second leveling mechanism 142 may also include an operating element (not shown), which is configured to drive the load 20 to move along a first axis or a second axis in response to an operator's operation, so as to adjust the center of gravity position of the load 20.

[0083] Specifically, the operating element can be a lever that responds to a user's push-pull operation, or a knob that responds to a user's rotation operation, etc. The load 20 can be moved by a corresponding external force in response to the user's push-pull or rotation operation. Of course, in some embodiments, the operating element can also be an electric switch or a mechanical switch, etc., to automatically trigger the movement of the load 20 through user operation.

[0084] Furthermore, the leveling assembly 14 may also include a third leveling mechanism configured to allow the load 20 to move relative to the support assembly 11 along a third axis, which may be perpendicular to the first and second axes.

[0085] For example, referring to Figure 3, the first axis X can be parallel to the roll axis of the load 20, the second axis Z can be parallel to the yaw axis of the load 20, and the third axis Y can be parallel to the pitch axis of the load 20. Thus, leveling can be achieved by moving the load 20 along the pitch axis, roll axis, and yaw axis. By moving the load 20 in three directions, the overall center of gravity of the load 20 and the load mounting assembly 12 can be adjusted more accurately to a position that coincides with the rotation axis of the motor 1311 of the shaft assembly 13, thereby improving the accuracy of leveling.

[0086] Optionally, the third axis may be parallel to the yaw axis of the load 20; or, the third axis may be parallel to the pitch axis of the load 20; or, the third axis may be parallel to the roll axis of the load 20.

[0087] Similar to the first leveling mechanism 141 and the second leveling mechanism 142, the third leveling mechanism may include a second transmission member configured to drive the load 20 to move along a third axis when movement occurs, or the second transmission member configured to drive at least one of the first leveling mechanism 141 or the second leveling mechanism 142 to move when movement occurs. Specifically, the second transmission member may include at least one of a lead screw, a gear, or a conveyor belt.

[0088] Similar to the first leveling mechanism 141 and the second leveling mechanism 142, the third leveling mechanism may include an operating element configured to drive the load 20 to move along a first axis or a second axis in response to an operator's operation, so as to adjust the center of gravity position of the load 20.

[0089] Similar to the first leveling mechanism 141 and the second leveling mechanism 142, the third leveling mechanism may also include an actuator 145, which is configured to drive the load 20 to move along a first axis or a second axis to adjust the center of gravity position of the load 20.

[0090] Optionally, at least two shaft assemblies 13 may be disposed between the load mounting assembly 12 and the support assembly 11, thereby facilitating the movement of the load mounting assembly 12 via the shaft assemblies 13.

[0091] In some embodiments, the vertical projection of the load mounting assembly 12 onto the fourth target surface lies within the vertical projection of the support assembly 11 onto the fourth target surface, and the fourth target surface is perpendicular to the roll axis of the load 20.

[0092] Please refer to Figure 2 or Figure 9. In Figures 2 and 9, the load mounting assembly 12, at least two axis assemblies 13, and support assembly 11 can be arranged sequentially from the inside out. In this way, the vertical projections of the load mounting assembly 12 and at least two axis assemblies 13 onto the fourth target plane can all be located within the support assembly 11, thereby reducing the overall space of the gimbal 10. The fourth target plane can be the paper surface shown in Figure 2 or Figure 9.

[0093] In some embodiments, the support assembly 11 can enclose a receiving space, within which at least two axis assemblies 13 and a load mounting assembly 12 are disposed. While reducing the overall size of the gimbal 10, at least two axis assemblies 13 can connect the support assembly 11 and the load mounting assembly 12 in different directions within the receiving space, thereby increasing the connection strength between the support assembly 11 and the load mounting assembly 12. Simultaneously, the center of gravity of the support assembly 11 can be positioned close to the center of gravity of the load 20, thereby improving the support stability of the support assembly 11.

[0094] Alternatively, when the load 20 is in a leveling state, the rotation axes of at least two shaft assemblies 13 pass approximately through the center of gravity of the load 20, which reduces the output torque required by the motor 1311.

[0095] In some embodiments, the rotation axes of the motors 1311 of at least two shaft assemblies 13 intersect at an intersection point. When the load 20 is mounted on the load mounting assembly 12 and is in a leveling state, the vertical projection of the intersection point onto the first target surface is located within the vertical projection of the load 20 onto the first target surface, which is perpendicular to the pitch axis, yaw axis, or roll axis of the load 20.

[0096] In some embodiments, when the load 20 is mounted on the load mounting assembly 12 and is in a leveled state, the intersection point roughly coincides with the center of gravity of the load 20. In some embodiments, when the load 20 is a camera device, the optical axis of the camera device roughly passes through the intersection point. Referring to FIG2, the rotation axes corresponding to the motors 1311 of the three axis assemblies 13 in FIG2 can intersect at the same intersection point O, and the intersection point can roughly coincide with the center of gravity G of the load 20. At the same time, if the load 20 is a camera, the optical axis of the camera can also roughly pass through this intersection point O. In this way, when the axis assembly 13 drives the load mounting assembly 12 and the load 20, it does not need to overcome the gravity of the load mounting assembly 12 and the load 20, which can effectively reduce the output torque requirement of the motor 1311.

[0097] Optionally, each shaft assembly 13 may be composed of a linkage mechanism, and the motor 1311 can drive the load 20 to move by driving the linkage mechanism.

[0098] In some embodiments, the shaft assembly 13 further includes one or more shaft arms 132 and one or more rotary joints 131, the one or more rotary joints 131 being configured to rotatably connect two adjacent shaft arms 132, or rotatably connect the support assembly 11 and the shaft arms 132, or rotatably connect the load mounting assembly 12 and the shaft arms 132; a motor 1311 is disposed on one of the one or more rotary joints 131 and is configured to drive the rotary joint 131 to rotate.

[0099] Specifically, the motor 1311 can be disposed between the support assembly 11 and the shaft arm 132, or the motor 1311 can be disposed between two adjacent shaft arms 132, or the motor 1311 can also be disposed between the load mounting assembly 12 and the shaft arm 132.

[0100] Furthermore, the support assembly 11, shaft assembly 13, and load mounting assembly 12 can be distributed sequentially from the outside to the inside. In this case, the motor 1311 can be located at the rotary joint 131 between the support assembly 11 and the shaft arm 132, thereby providing sufficient space for the arrangement of the motor 1311.

[0101] An electronic speed controller and / or power supply may also be provided on the support assembly 11. In this case, the motor 1311 can be directly connected to the support assembly 11, and it is also more convenient to connect signal lines or power lines from the support assembly 11 to the motor 1311.

[0102] Referring to Figures 2 and 8, each shaft assembly 13 in Figure 2 includes a two-bar linkage consisting of two shaft arms 132. Taking a single shaft assembly 13 in Figure 8 as an example, the shaft assembly may include a first shaft arm 132A and a second shaft arm 132B. Rotary joints 131 may be provided between the support assembly 11 and the first shaft arm 132A, between the first shaft arm 132A and the second shaft arm 132B, and between the second shaft arm 132B and the load mounting assembly 12. A motor 1311 may be located at the rotary joint 131 between the support assembly 11 and the shaft arm 132 as shown in the figure, while the other two rotary joints 131 may be passively rotated in response to the motor's drive; of course, the motor 1311 may also be located at the rotary joint 131 between two adjacent shaft arms 132; or, the motor 1311 may also be located at the rotary joint 131 between the shaft arm 132 and the load mounting assembly 12. It should be understood that the active rotary joint (i.e., the motor 1311) may be a non-virtual constraint rotary joint 131.

[0103] In some embodiments, when the shaft assembly 13 includes a plurality of shaft arms 132, two adjacent shaft arms 132 can be rotatably connected by a rotary joint 131.

[0104] Optionally, in order to reduce structural interference caused by the movement of the shaft arm 132, the shaft arms 132 of at least two shaft assemblies 13 can be configured to move along the same spherical surface.

[0105] In some embodiments, at least a portion of one or more shaft arms 132 is configured as an arcuate portion. Specifically, referring to FIG7 or FIG8, one or more shaft arms 132 may be configured as arcuate arms.

[0106] Similarly, the support component 11 can also be arranged in a ring to fit the shaft arm 132 and at the same time facilitate storage.

[0107] In some embodiments, at least a portion of the support assembly 11 may also be configured as an arc-shaped portion. Furthermore, the support assembly 11 may be configured as a whole in a circular shape to adapt to the arc-shaped shaft arm 132, thereby reducing structural interference during rotation, facilitating storage, and reducing the volume during storage.

[0108] It should be understood that the aforementioned gimbal's axis assemblies 13 can form a spherical parallel mechanism, meaning that the rotation axes corresponding to the rotation joints 132 of each axis assembly 13 intersect at the same sphere center. After leveling, the overall center of gravity of the load 20 and the load mounting assembly 12 coincides with the center of rotation of the sphere, at which point the entire assembly will not generate a gravitational torque relative to the center of rotation. In this way, while reducing the required output torque of the motor 1311, interference during the rotation of multiple axis assemblies 13 can be further reduced, thereby allowing for a more compact arrangement of multiple axis assemblies 13 and reducing the overall equipment size.

[0109] Optionally, the gimbal 10 can have an deployed state and a retracted state. This allows users to control the gimbal 10 to switch to the deployed state when in use and to switch it to the retracted state when not in use, thus facilitating its carrying and transportation. Furthermore, for a handheld gimbal 10, portability is even more important; therefore, the retracted size should be reduced to make it easier for users to carry.

[0110] In some embodiments, the gimbal 10 has an extended state and a retracted state. The gimbal 10 switches between the extended state and the retracted state through the movement of at least two axis assemblies 13. In the retracted state, the rotation axes of the motors 1311 of the at least two axis assemblies 13 are approximately in the same plane.

[0111] In this way, when the gimbal 10 is in the stowed state, the rotation axes of the motors 1311 of the different axis assemblies 13 are approximately located in the same plane. Therefore, when the gimbal 10 is in the stowed state, the motors 1311 of the different axis assemblies 13 can be approximately located within the same width range (e.g., the width range along the roll axis direction of the load 20), thereby reducing the stowed volume of the gimbal 10.

[0112] In some embodiments, when the gimbal 10 is in its retracted state, the vertical projection of at least two axis assemblies 13 onto the second target surface is located within the vertical projection of the support assembly 11 onto the second target surface, and the second target surface is perpendicular to the pitch axis or yaw axis of the load 20.

[0113] In some embodiments, when the gimbal 10 is in its retracted state, the vertical projection of the load mounting assembly 12 onto the second target surface is located within the vertical projection of the support assembly 11 onto the second target surface, and the second target surface is perpendicular to the pitch axis or yaw axis of the load 20.

[0114] Please refer to Figures 2 and 9-13. Figures 2, 11, and 12 are schematic diagrams of the gimbal 10 in its deployed state, while Figures 9, 10, and 13 are schematic diagrams of the gimbal 10 in its retracted state. When the gimbal 10 is in its deployed state, at least a portion of the vertical projection of the at least two axis assemblies 13 onto the second target plane can be located outside the vertical projection of the support assembly 11 onto the second target plane, as shown in Figure 11 or 12. The second target plane can be the plane perpendicular to the load pitch axis in Figure 11, or the plane perpendicular to the load yaw axis in Figure 12.

[0115] When the gimbal 10 is in its retracted state, at least two axis assemblies 13 are retracted into the outer ring formed by the support assembly 11, as shown in Figure 9 or Figure 13. At this time, the projections of the axis assemblies 13 and the load mounting assembly 12 on the second target surface will fall within the projection of the support assembly 11, thereby reducing the width of the gimbal 10 along the ROLL direction in the figure and thus reducing the retracted volume of the gimbal 10.

[0116] As described above, the shaft assembly 13 may include one or more shaft arms 132 and one or more rotary joints 131, the one or more rotary joints 131 being configured to rotatably connect two adjacent shaft arms 132, or rotatably connect the support assembly 11 and the shaft arms 132, or rotatably connect the load mounting assembly 12 and the shaft arms 132; a motor 1311 is disposed on one of the one or more rotary joints 131 and is configured to drive the rotary joint 131 to rotate.

[0117] In some embodiments, in the stowed state, the rotation axes corresponding to all the rotary joints 131 of at least two axis assemblies 13 are approximately in the same plane. Referring to Figure 7, which shows the three rotation axes corresponding to the three rotary joints 131 of a single axis assembly 13, the gimbal is in the stowed state, and the three rotation axes are approximately in the same plane. This ensures that all axis assemblies 13 are approximately in the same plane in the stowed state, further reducing storage space.

[0118] In some embodiments, in the retracted state, the two adjacent shaft arms 132 of each shaft assembly 13 do not overlap. Please refer to Figures 7 and 8. Figure 7 is a schematic diagram of the shaft assembly 13 in the retracted state, in which the two adjacent shaft arms 132 extend approximately along the same circumferential direction and do not overlap. Figure 8 is a schematic diagram of the shaft assembly 13 in the unfolded state, in which the two adjacent shaft arms 132 are arranged at an angle.

[0119] In some embodiments, in the retracted state, any two adjacent axis assemblies 13 are arranged at intervals along the circumferential direction. In some embodiments, in the retracted state, the vertical projections of two axis assemblies 13 on a third target plane do not coincide, and the third target plane is perpendicular to the yaw axis of the load 20. It should be understood that the roll axis, pitch axis, and yaw axis of the load 20 can change with the deployment and retracted states of the gimbal. Referring to Figure 9, in Figure 9, the gimbal 10 is in the retracted state, and the load 20 has rotated around the roll axis compared to when the gimbal 10 is deployed. At this time, the pitch axis and yaw axis of the load 20 are offset from the pitch axis and yaw axis of the load 20 in Figure 2. Therefore, when the gimbal is in the retracted state, the pitch axis and yaw axis of the load can be different from those in the deployed state.

[0120] Thus, with the gimbal 10 including multiple axes 132 and multiple rotary joints 131, all multiple axes 132 can be stored in the stowed state.

[0121] Optionally, the gimbal 10 can have a handheld structure for gripping and use. Users can perform operations by holding the gimbal 10. For example, when the gimbal 10 is equipped with a shooting device, the user can perform shooting operations by holding the gimbal 10. The gimbal 10 can change the posture of the shooting device to move it to the desired shooting orientation. Simultaneously, the gimbal 10 can control the output of the motor 1311 of the axis assembly 13 according to the user's movement to maintain the position and posture of the shooting device, thereby stabilizing the captured image.

[0122] Optionally, the gimbal 10 can also be connected to other functional modules to expand its functionality.

[0123] In some embodiments, the support component 11 may further include a first expansion interface 15, which is configured to be detachably connected to a first expansion component 16 to expand the functionality of the gimbal 10.

[0124] In some embodiments, the first extension component 16 includes at least one of a suspension component 161, a support component 162, a grip handle 163, a vertical stabilization mechanism, an image transmission component, a sound pickup component, a light source component, or a focus component (not shown).

[0125] In some embodiments, the load mounting assembly 12 may further include a second expansion interface (not shown) configured to detachably connect to a second expansion assembly (not shown) to expand the functionality of the gimbal 10.

[0126] In some embodiments, the second extension component includes at least one of an image transmission component, an audio transmission component, a sound pickup component, a light source component, or a focus tracking component.

[0127] Please refer to Figure 2, which shows a configuration where the support assembly 11 is positioned outside the load mounting assembly 12. The first extension assembly 16 may include the suspension assembly 161 shown in the figure. The suspension assembly 161 can be connected to the support assembly 11 via the first extension interface 15 to suspend the support assembly 11, which is more conducive to automatic shooting scenarios without user support. Furthermore, the gimbal 10 can be mounted on a mobile platform such as an aircraft or vehicle via the suspension assembly 161 to expand the operational scenarios of the gimbal 10. The first extension assembly 16 may also include the support assembly 11162 and the gripping part 163 shown in the figure.

[0128] Of course, the first and second expansion components can also be other components not shown in the figure to further expand the functionality of the gimbal 10. For example, the second expansion component may include a light source component, which, by placing the light source component near the load 20, allows the load 20 to be illuminated during operation, thus providing supplementary lighting; the second expansion component may also include a focus component, which, in conjunction with the load camera, enables automatic focus, etc., and will not be listed in detail here.

[0129] In some embodiments, the gimbal 10 may also include a grip 163, which is mechanically coupled to the support assembly 11.

[0130] In some embodiments, the grip 163 can be detachably connected to the support assembly 11, so that the grip 163 can be detached and stored separately when not in use, thereby reducing the size of the gimbal 10 in the stored state. In some embodiments, the grip 163 can be rotatably connected to the support assembly 11, thereby allowing the angle of the grip 163 relative to the support assembly 11 to be adjusted, making it easier for the user to hold the gimbal 10 in different gripping postures.

[0131] In some embodiments, there may be two grips 163, with each grip 163 positioned on one side of the support assembly 11. In other embodiments, the two grips 163 may also be located on either side of the load 20. By providing two grips 163, it facilitates two-handed operation, effectively reducing the user's grip burden on the large and heavy gimbal 10, while also improving grip stability. Furthermore, the connection between the two grips 163 can be positioned close to the center of gravity of the load 20, further enhancing the user's grip experience.

[0132] It should be understood that the first expansion interface 15 and the second expansion interface can be mechanical fixed interfaces, wired electrical connection interfaces, or wireless connection interfaces, and no limitation is made here.

[0133] Optionally, to enable electrical and communication connections between the various components of the gimbal 10 and between the gimbal 10 and the expansion components, the gimbal 10 may further include connecting cables. In some embodiments, the connecting cables may include at least one of electrical connecting cables or signal connecting cables.

[0134] In some embodiments, the connecting line can extend from the load mounting assembly 12 and through the shaft assembly 13 to the support assembly 11.

[0135] In some embodiments, the connecting wires may be located within the housing of at least one of the load mounting assembly 12, the shaft assembly 13, or the support assembly 11. Wiring within the housing avoids interference between the wiring harness and the structure during relative movement of the support assembly 11 and the load mounting assembly 12, thus preventing disruption to the normal operation of the gimbal 10. Simultaneously, wiring within the housing also contributes to the aesthetics of the gimbal 10.

[0136] The number of at least two axis assemblies 13 can be set according to actual needs. Optionally, the number of axis assemblies 13 can be three.

[0137] In some embodiments, at least two axis assemblies 13 include a first axis assembly 13A, a second axis assembly 13B, and a third axis assembly 13C, which are configured to collectively change the orientation of the load 20 along three degrees of freedom.

[0138] In some embodiments, the three degrees of freedom include the degree of freedom for the load 20 to move along the pitch axis, roll axis, and yaw axis.

[0139] In some embodiments, the first axis assembly 13A, the second axis assembly 13B, and the third axis assembly 13C are disposed circumferentially between the load mounting assembly 12 and the support assembly 11.

[0140] In some embodiments, the first shaft assembly 13A, the second shaft assembly 13B, and the third shaft assembly 13C are evenly spaced on the inner wall of the annulus formed by the support assembly 11.

[0141] It should be understood that the above-mentioned gimbal may also include three or more axis assemblies 13. When there are three or more axis assemblies 13, their corresponding degrees of freedom can be obtained by following the kinematic characteristics analysis of parallel mechanisms, which will not be elaborated here.

[0142] For the parallel configuration of the gimbal 10, since each axis component 13 needs to be connected to the support component 11 and the load mounting component 12 separately, it will occupy additional volume. Therefore, it is necessary to reduce the storage volume of the gimbal 10 in the storage state so as to facilitate users to carry and transport it.

[0143] Based on this, this application provides a gimbal 10, including:

[0144] Support component 11;

[0145] Load mounting component 12 is configured to mount load 20;

[0146] At least two shaft assemblies 13, each shaft assembly 13 being rotatably coupled to the load mounting assembly 12 and the support assembly 11 respectively; the shaft assembly 13 includes a motor 1311, and the at least two shaft assemblies 13 are configured to jointly drive the load mounting assembly 12 relative to the support assembly 11 under the drive of the motor 1311, so as to change the posture of the load 20;

[0147] The gimbal 10 has an extended state and a retracted state. The gimbal 10 switches between the extended state and the retracted state through the movement of at least two axis assemblies 13. In the retracted state, the vertical projection of the axis assembly 13 on the second target surface is approximately located within the vertical projection of the support assembly 11 on the second target surface. The second target surface is perpendicular to the pitch axis or the yaw axis of the load 20.

[0148] In the stowed state, the vertical projection of the axis assembly 13 onto the second target surface of the parallel configuration gimbal 10 can be approximately located within the vertical projection of the support assembly 11 onto the second target surface. In this way, the widths of the axis assembly 13 and the support assembly 11 in the direction perpendicular to the second target surface can overlap, thereby reducing the width of the gimbal 10 in the direction perpendicular to the second target surface to a certain extent, and thus reducing the stowed volume of the parallel configuration gimbal 10.

[0149] Based on this, this application embodiment also provides a gimbal 10, including:

[0150] Support component 11;

[0151] Load mounting component 12 is configured to mount load 20;

[0152] At least three shaft assemblies 13, each shaft assembly 13 being rotatably coupled to the load mounting assembly 12 and the support assembly 11 respectively; the shaft assembly 13 includes a motor 1311, and the at least three shaft assemblies 13 are configured to jointly drive the load mounting assembly 12 relative to the support assembly 11 under the drive of the motor 1311, so as to change the posture of the load 20;

[0153] The gimbal 10 has an extended state and a retracted state. The gimbal 10 switches between the extended state and the retracted state through the movement of at least three axis assemblies 13. In the retracted state, the rotation axes of all the rotation joints 131 of the at least three axis assemblies 13 are approximately located in the same plane.

[0154] It should be understood that all rotation axes of shaft assembly 13 may include the rotation axes of all rotation joints 131 of shaft assembly 13, including but not limited to the rotation axis of motor 1311 of shaft assembly 13.

[0155] Referring to Figure 7, which shows the three rotation axes corresponding to the three rotation joints 131 of a single axis assembly 13, the gimbal is in a retracted state at this time, and the three rotation axes are roughly in the same plane.

[0156] In the folded state, since all the rotation axes of at least three axis assemblies 13 are approximately in the same plane, the rotation joints 131 of different axis assemblies 13 are approximately in the same plane. Therefore, the rotation joints 131 of different axis assemblies 13 can be approximately in the same width range (e.g., the width range along the roll axis direction of the load 20) in the folded state, thereby reducing the folded volume of the gimbal 10.

[0157] In some embodiments, the shaft assembly 13 further includes one or more shaft arms 132 and one or more rotary joints 131, the one or more rotary joints 131 being configured to rotatably connect two adjacent shaft arms 132, or rotatably connect the support assembly 11 and the shaft arms 132, or rotatably connect the load mounting assembly 12 and the shaft arms 132; a motor 1311 is disposed on one of the one or more rotary joints 131 and is configured to drive the rotary joint 131 to rotate.

[0158] In some embodiments, in the retracted state, the vertical projection of at least one or more shaft arms 132 onto the second target surface is located within the vertical projection of the support assembly 11 onto the second target surface, and the second target surface is perpendicular to the pitch axis or yaw axis of the load 20.

[0159] In some embodiments, in the stowed state, the vertical projection of the load mounting assembly 12 onto the second target surface is located within the vertical projection of the support assembly 11 onto the second target surface, and the second target surface is perpendicular to the pitch axis or yaw axis of the load 20.

[0160] In some embodiments, in the stowed state, the rotation axes corresponding to all the rotation joints 131 of at least two shaft assemblies 13 are substantially in the same plane.

[0161] In some embodiments, in the stowed state, adjacent two shaft arms 132 of each shaft assembly 13 are not arranged to overlap.

[0162] In some embodiments, in the stowed state, any two adjacent shaft assemblies 13 are arranged at intervals along the same circumferential direction.

[0163] In some embodiments, in the stowed state, the vertical projections of two shaft assemblies 13 onto a third target plane do not overlap, and the third target plane is perpendicular to the yaw axis of the load 20.

[0164] In some embodiments, the rotation axes of the motors 1311 of at least two shaft assemblies 13 intersect at an intersection point. When the load 20 is mounted on the load mounting assembly 12 and is in a leveling state, the vertical projection of the intersection point onto the first target surface is located within the vertical projection of the load 20 onto the first target surface, which is perpendicular to the pitch axis, yaw axis, or roll axis of the load 20.

[0165] In some embodiments, when the load 20 is mounted on the load mounting assembly 12 and is in a leveled state, the intersection point roughly coincides with the center of gravity of the load 20. In some embodiments, the rotation axes of the motors 1311 of at least two shaft assemblies 13 intersect at an intersection point, and when the load 20 is a camera device, the optical axis of the camera device passes approximately through the intersection point.

[0166] In some embodiments, at least two shaft assemblies 13 are disposed between the load mounting assembly 12 and the support assembly 11. In some embodiments, the vertical projection of the load mounting assembly 12 onto the third target plane lies within the vertical projection of the support assembly 11 onto the third target plane, which is perpendicular to the roll axis of the load 20.

[0167] In some embodiments, the load mounting assembly 12, at least two shaft assemblies 13, and support assembly 11 are arranged sequentially from the inside out. In some embodiments, the support assembly 11 encloses a receiving space, and the at least two shaft assemblies 13 and the load mounting assembly 12 are disposed within the receiving space.

[0168] In some embodiments, the gimbal 10 further includes a grip portion mechanically coupled to the support assembly 11. In some embodiments, the grip portion is detachably connected to the support assembly 11, and / or rotatably connected to the support assembly 11. In some embodiments, there are two grip portions, each disposed on one side of the support assembly 11. In some embodiments, there are two grip portions, located on both sides of the load 20.

[0169] In some embodiments, the shaft assembly 13 further includes one or more shaft arms 132 and one or more rotary joints 131, the one or more rotary joints 131 being configured to rotatably connect two adjacent shaft arms 132, or rotatably connect the support assembly 11 and the shaft arms 132, or rotatably connect the load mounting assembly 12 and the shaft arms 132; a motor 1311 is disposed on one of the one or more rotary joints 131 and is configured to drive the rotary joint 131 to rotate.

[0170] In some embodiments, the motor 1311 is disposed between the support assembly 11 and the shaft arm 132, or between two adjacent shaft arms 132, or between the load mounting assembly 12 and the shaft arm 132. In some embodiments, when the shaft assembly 13 includes multiple shaft arms 132, two adjacent shaft arms 132 are rotatably connected by a rotary joint 131.

[0171] In some embodiments, the shaft arms 132 of at least two shaft assemblies 13 are configured to move along the same spherical surface. In some embodiments, at least a portion of one or more shaft arms 132 is configured as an arcuate portion. In some embodiments, one or more shaft arms 132 are arcuate arms. In some embodiments, at least a portion of the support assembly 11 is configured as an arcuate portion. In some embodiments, the support assembly 11 is generally annularly arranged. In some embodiments, at least a portion of the load mounting assembly 12 is configured as an arcuate portion. In some embodiments, the arcuate portion of the shaft arm 132 is configured to mate with the arcuate portion of the support assembly 11. In some embodiments, the arcuate portion of the shaft arm 132 is configured to mate with the arcuate portion of the load mounting assembly 12.

[0172] It should be understood that the shaft arm 132 can be configured as a straight arm, a bent arm, or other shapes to fit the shape of the support assembly 11 and the load mounting assembly 12, and it is not limited here as long as it does not cause structural interference with the support assembly 11 and the load mounting assembly 12 during rotation.

[0173] In some embodiments, the support component 11 further includes a first expansion interface 15, configured to detachably connect to a first expansion component to extend the functionality of the gimbal 10. In some embodiments, the first expansion component includes at least one of a suspension component, a support component, a grip handle, a vertical stabilization mechanism, an image transmission component, a sound pickup component, a light source component, or a focus component. In some embodiments, the load mounting component 12 further includes a second expansion interface, configured to detachably connect to a second expansion component to extend the functionality of the gimbal 10. In some embodiments, the second expansion component includes at least one of an image transmission component, a sound pickup component, a light source component, or a focus component.

[0174] In some embodiments, the gimbal 10 further includes a connecting cable that extends from the load mounting assembly 12 and through the shaft assembly 13 to the support assembly 11. In some embodiments, the connecting cable is located within the housing of at least one of the load mounting assembly 12, the shaft assembly 13, or the support assembly 11. In some embodiments, the connector is an electrical connection cable or a signal connection cable.

[0175] In some embodiments, at least two shaft assemblies 13 include a first shaft assembly 13A, a second shaft assembly 13B, and a third shaft assembly 13C, which are configured to collectively change the attitude of the load 20 along three degrees of freedom. In some embodiments, the three degrees of freedom include the load 20 moving along the pitch axis, roll axis, and yaw axis. In some embodiments, the first shaft assembly 13, the second shaft assembly 13, and the third shaft assembly 13 are circumferentially spaced between the load mounting assembly 12 and the support assembly 11. In some embodiments, the first shaft assembly 13A, the second shaft assembly 13B, and the third shaft assembly 13C are uniformly spaced on the inner wall of the annulus formed by the support assembly 11.

[0176] This application also provides a gimbal camera, including:

[0177] Filming device 20; and

[0178] As described in any of the above embodiments, the gimbal 10 is configured to support the shooting device 20 and change the posture of the shooting device 20. It should be understood that the gimbal included in the gimbal camera in this application embodiment can refer to any of the above embodiments, and in order to avoid repetition, detailed descriptions will not be provided further.

[0179] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0180] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0181] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A gimbal, comprising: The application relates to a support assembly for a load, comprising: a support assembly; a load mounting assembly configured to mount a load; at least two shaft assemblies, each of which is rotatably coupled to the load mounting assembly and the support assembly respectively and individually; the shaft assembly comprises a motor, and the at least two shaft assemblies are configured to jointly drive the load mounting assembly to move relative to the support assembly under the drive of the motor, so as to change the attitude of the load; and a leveling assembly mechanically coupled to the load mounting assembly, the leveling assembly comprising a first leveling mechanism and a second leveling mechanism, the first leveling mechanism being configured to enable the load to move along a first axial direction relative to the support assembly, and the second leveling mechanism being configured to enable the load to move along a second axial direction relative to the support assembly, wherein the first axial direction and the second axial direction are perpendicular to each other.

2. A gimbal, comprising: The application relates to a support assembly for a load, comprising: a support assembly; a load mounting assembly configured to mount a load; at least two shaft assemblies, each of which is rotatably coupled to the load mounting assembly and the support assembly respectively and individually; the shaft assembly comprises a motor, and the at least two shaft assemblies are configured to jointly drive the load mounting assembly to move relative to the support assembly under the drive of the motor, so as to change the attitude of the load; and a leveling assembly mechanically coupled to the load mounting assembly, the leveling assembly being configured to enable leveling by changing the position of the load relative to the at least two shaft assemblies.

3. A head according to claim 1 or 2, characterized in that The motors of the at least two shaft assemblies are configured to synchronously rotate around different rotation axes to change the attitude of the load relative to the support assembly.

4. The head according to claim 1 or 2, characterized in that, During rotation of the load around one of the yaw axis, the pitch axis or the roll axis of the load, the motors of the at least two shaft assemblies synchronously rotate to jointly drive the load to move.

5. The head according to claim 4, characterized in that, During rotation of the load around one of the yaw axis, the pitch axis or the roll axis of the load, the motors of the at least two shaft assemblies synchronously rotate in opposite directions, which are clockwise and counterclockwise.

6. The head according to claim 1 or 2, characterized in that, One end of each of the shaft assemblies is directly connected to the support assembly, and the other end is directly connected to the load mounting assembly.

7. The head according to claim 1 or 2, characterized in that, There is no direct mechanical connection between any two of the shaft assemblies.

8. The head according to claim 1 or 2, characterized in that, There is no other shaft assembly connected between any one of the shaft assemblies and the load mounting assembly, and / or there is no other shaft assembly connected between any one of the shaft assemblies and the support assembly.

9. The head according to claim 1 or 2, characterized in that, The at least two shaft assemblies are identical in structure and are uniformly spaced along the support assembly.

10. The head according to claim 1, characterized in that, The first axial direction is parallel to one of the roll axis, the pitch axis or the yaw axis of the load, and the second axial direction is parallel to another of the roll axis, the pitch axis or the yaw axis of the load.

11. The head according to claim 10, characterized in that, The first axial direction is parallel to the pitch axis of the load, and the second axial direction is parallel to the roll axis of the load; or the first axial direction is parallel to the roll axis of the load, and the second axial direction is parallel to the yaw axis of the load; or the first axial direction is parallel to the pitch axis of the load, and the second axial direction is parallel to the yaw axis of the load.

12. The head according to claim 1, characterized in that, The leveling assembly further comprises a third leveling mechanism configured to enable the load to move relative to the support assembly along a third axis, which is perpendicular to the first and second axes.

13. The head according to claim 12, characterized in that, The third axis is parallel to a yaw axis of the load, or the third axis is parallel to a pitch axis of the load, or the third axis is parallel to a roll axis of the load.

14. The head according to claim 1 or 2, characterized in that, The leveling assembly comprises a sliding structure configured to enable the load to slide along an extension direction of the sliding structure to adjust the center of gravity of the load.

15. The head according to claim 14, characterized in that, The first leveling mechanism comprises a first sliding groove extending along the first axis and configured to enable the load to move along the first axis, and the second leveling mechanism comprises a second sliding groove extending along the second axis and configured to enable the first leveling mechanism to move along the second axis.

16. The head according to claim 1 or 2, characterized in that, The leveling assembly comprises an operating member configured to drive the load to move along the first or second axis to adjust the center of gravity of the load in response to an operation of an operator.

17. The head according to claim 1 or 2, characterized in that, The leveling assembly comprises an actuator configured to drive the load to move to adjust the center of gravity of the load.

18. The head according to claim 17, characterized in that, The actuator comprises an electric motor.

19. The head according to claim 18, wherein, The actuator comprises a linear motor, or the actuator comprises a rotary motor and a first transmission member configured to convert a rotary motion of the rotary motor into a linear motion.

20. The head according to claim 12 or 13, characterized in that, The third leveling mechanism comprises a second transmission member configured to drive the load to move along the third axis when the second transmission member moves, or the second transmission member is configured to drive at least one of the first leveling mechanism or the second leveling mechanism to move when the second transmission member moves.

21. The head according to claim 20, wherein, The second transmission member comprises at least one of a lead screw, a gear, or a conveyor belt.

22. The head according to claim 12 or 13, characterized in that, The third leveling mechanism comprises an operating member configured to drive the load to move along the first or second axis to adjust the center of gravity of the load in response to an operation of an operator.

23. The head according to claim 12 or 13, characterized in that, The third leveling mechanism comprises an actuator configured to drive the load to move along the first or second axis to adjust the center of gravity of the load.

24. The head according to claim 1 or 2, characterized in that, Rotating axes of the electric motors of the at least two shaft assemblies intersect at an intersection point, and a vertical projection of the intersection point on a first target plane is located within a vertical projection of the load on the first target plane when the load is mounted on the load mounting assembly and is leveled, the first target plane being perpendicular to a pitch axis, a yaw axis, or a roll axis of the load.

25. The head according to claim 24, wherein, The intersection point substantially coincides with the center of gravity of the load when the load is mounted on the load mounting assembly and is leveled.

26. The head according to claim 1 or 2, characterized in that, When the load is a camera device, an optical axis of the camera device substantially passes through the intersection point.

27. The head according to claim 1 or 2, characterized in that, The gimbal has an unfolded state and a storage state, and the gimbal switches between the unfolded state and the storage state through movement of the at least two shaft assemblies, and in the storage state, rotation axes of the motors of the at least two shaft assemblies are substantially located in the same plane.

28. The head according to claim 27, wherein, The shaft assembly further comprises one or more shaft arms and one or more rotary joints, the one or more rotary joints are configured to rotatably connect two adjacent shaft arms, or rotatably connect the support assembly and the shaft arm, or rotatably connect the load mounting assembly and the shaft arm; the motor is arranged at one of the one or more rotary joints and is configured to drive the rotary joint to rotate.

29. The head according to claim 28, wherein, In the storage state, rotation axes corresponding to all rotary joints of the at least two shaft assemblies are substantially located in the same plane.

30. The head according to claim 29, wherein, In the storage state, two adjacent shaft arms of each shaft assembly extend in the same direction and are arranged without overlapping.

31. The head according to claim 29, wherein, In the storage state, any two adjacent shaft assemblies are arranged in a circumferential direction with a spacing.

32. The head according to claim 29, wherein, In the storage state, the vertical projections of the two shaft assemblies on a third target plane are not overlapped, and the third target plane is perpendicular to the yaw axis of the load.

33. The head according to claim 27, wherein, In the storage state, the vertical projection of the at least two shaft assemblies on a second target plane is located within the vertical projection of the support assembly on the second target plane, and the second target plane is perpendicular to the pitch axis of the load or the yaw axis of the load.

34. The head according to claim 27, wherein, In the storage state, the vertical projection of the load mounting assembly on a second target plane is located within the vertical projection of the support assembly on the second target plane, and the second target plane is perpendicular to the pitch axis of the load or the yaw axis of the load.

35. The head according to claim 1 or 2, characterized in that, The at least two shaft assemblies are arranged between the load mounting assembly and the support assembly.

36. The head according to claim 35, wherein, The vertical projection of the load mounting assembly on a third target plane is located within the vertical projection of the support assembly on the third target plane, and the third target plane is perpendicular to the roll axis of the load.

37. A head according to claim 35 or 36, wherein, The load mounting assembly, the at least two shaft assemblies and the support assembly are arranged in sequence from inside to outside.

38. The head according to claim 35 or 36, characterized in that, The support assembly encloses an accommodation space, and the at least two shaft assemblies and the load mounting assembly are arranged in the accommodation space.

39. The head according to claim 1 or 2, characterized in that, The gimbal further comprises a holding part, and the holding part is mechanically coupled with the support assembly.

40. The head according to claim 39, wherein, The holding part is detachably connected with the support assembly, and / or the holding part is rotatably connected with the support assembly.

41. The head according to claim 39, wherein, The number of the holding parts is two, and the two holding parts are arranged on two sides of the support assembly, respectively.

42. The head according to claim 39, wherein, The number of the holding parts is two, and the two holding parts are located on two sides of the load.

43. The head according to claim 1 or 2, characterized in that, The shaft assembly further comprises one or more shaft arms and one or more rotary joints, the one or more rotary joints are configured to rotatably connect two adjacent shaft arms, or rotatably connect the support assembly and the shaft arm, or rotatably connect the load mounting assembly and the shaft arm; the motor is arranged at one of the one or more rotary joints and is configured to drive the rotary joint to rotate.

44. The head according to claim 43, wherein, The motor is arranged between the support assembly and the shaft arm, or arranged between two adjacent shaft arms, or arranged between the load mounting assembly and the shaft arm.

45. The head according to claim 43, wherein, In the case where the shaft assembly comprises a plurality of shaft arms, two adjacent shaft arms are rotatably connected through the rotary joint.

46. The head according to claim 43, wherein, The shaft arms of the at least two shaft assemblies are configured to move along the same spherical surface.

47. The head according to claim 43, wherein, At least part of the one or more shaft arms is arranged as an arc-shaped portion.

48. The head according to claim 47, wherein, The one or more shaft arms are arc-shaped arms.

49. The gimbal of any one of claims 1-2 or 43-48, wherein, At least part of the support assembly is arranged as an arc-shaped portion.

50. The head according to claim 49, wherein, The support assembly is arranged as a whole in a circular ring shape.

51. The head according to claim 50, wherein, At least part of the load mounting assembly is arranged as an arc-shaped portion.

52. The head according to claim 51, wherein, The arc-shaped portion of the shaft arm is configured to cooperate with the arc-shaped portion of the support assembly.

53. The head according to claim 51, wherein, The arc-shaped portion of the shaft arm is configured to cooperate with the arc-shaped portion of the load mounting assembly.

54. The head according to claim 1 or 2, characterized in that, The support assembly further comprises a first expansion interface configured to detachably connect a first expansion assembly to expand the functions of the gimbal.

55. The head according to claim 54, wherein, The first expansion assembly comprises at least one of a suspension assembly, a support assembly, a handle, a vertical stabilization mechanism, a wireless image transmission assembly, a sound pickup assembly, a light source assembly, or a follow-focus assembly.

56. The head according to claim 1 or 2, characterized in that, The load mounting assembly further comprises a second expansion interface configured to detachably connect a second expansion assembly to expand the functions of the gimbal.

57. The head according to claim 56, wherein, The second expansion assembly comprises at least one of a wireless image transmission assembly, an audio transmission assembly, a sound pickup assembly, a light source assembly, or a follow-focus assembly.

58. The head according to claim 1 or 2, wherein, The gimbal further comprises a connection line that can be extended from the load mounting assembly and through the shaft assembly to the support assembly.

59. The head according to claim 58, wherein, The connection line is located in the housing of at least one of the load mounting assembly, the shaft assembly, or the support assembly.

60. The head according to claim 59, wherein, The connection line comprises at least one of an electrical connection line or a signal connection line.

61. The head according to claim 1 or 2, characterized in that, The at least two shaft assemblies comprise a first shaft assembly, a second shaft assembly, and a third shaft assembly, which are configured to collectively change the attitude of the load along three degrees of freedom.

62. The head according to claim 61, wherein, The three degrees of freedom include the degrees of freedom of the load moving along the pitch axis, the roll axis, and the yaw axis.

63. The head according to claim 61, wherein, The first shaft assembly, the second shaft assembly, and the third shaft assembly are arranged along the circumference of the load mounting assembly between the load mounting assembly and the support assembly.

64. The head according to claim 1 or 2, wherein, The first shaft assembly, the second shaft assembly, and the third shaft assembly are uniformly spaced within the inner wall of the circular ring formed by the support assembly.

65. A gimbal, comprising: The support assembly comprises: a load mounting assembly configured to mount a load; at least two shaft assemblies, each of which is rotatably coupled to the load mounting assembly and the support assembly separately; the shaft assembly comprises a motor, and the at least two shaft assemblies are configured to collectively drive the load mounting assembly to move relative to the support assembly under the drive of the motor to change the attitude of the load; ​ The gimbal has an unfolded state and a storage state, and the gimbal switches between the unfolded state and the storage state through movement of the at least two shaft assemblies. In the storage state, a vertical projection of the shaft assembly on a second target plane is located within a vertical projection of the support assembly on the second target plane, and the second target plane is perpendicular to the pitch axis of the load or the yaw axis of the load.

66. A gimbal, comprising: Comprise: a support assembly; a load mounting assembly configured to mount a load; at least three shaft assemblies, each of which is individually rotatably coupled with the load mounting assembly and the support assembly; the shaft assembly comprises a motor, and the at least three shaft assemblies are configured to drive the load mounting assembly to move relative to the support assembly under the drive of the motor to change the attitude of the load; The gimbal has an unfolded state and a storage state, and the gimbal switches between the unfolded state and the storage state through movement of the at least three shaft assemblies. In the storage state, the rotation axes of all the rotary joints of the at least three shaft assemblies are located in substantially the same plane.

67. The head according to claim 65 or 66, characterized in that, Comprise: The shaft assembly further comprises one or more shaft arms and one or more rotary joints, the one or more rotary joints are configured to rotatably connect two adjacent shaft arms, or rotatably connect the support assembly and the shaft arm, or rotatably connect the load mounting assembly and the shaft arm; the motor is arranged at one of the one or more rotary joints and is configured to drive the rotary joint to rotate.

68. The head according to claim 67, wherein, In the storage state, a vertical projection of the at least one or more shaft arms on a second target plane is located within a vertical projection of the support assembly on the second target plane, and the second target plane is perpendicular to the pitch axis of the load or the yaw axis of the load.

69. The head according to claim 67, wherein, In the storage state, a vertical projection of the load mounting assembly on a second target plane is located within a vertical projection of the support assembly on the second target plane, and the second target plane is perpendicular to the pitch axis of the load or the yaw axis of the load.

70. The head according to claim 67, wherein, In the storage state, the rotation axes corresponding to all the rotary joints of the at least two shaft assemblies are located in substantially the same plane.

71. The head according to claim 67, wherein, In the storage state, the adjacent two shaft arms of each shaft assembly are not arranged in overlapping manner.

72. The gimbal of claim 65 or 66, wherein, In the storage state, any two adjacent shaft assemblies are arranged in spaced apart manner along the same circumferential direction.

73. The head according to claim 65 or 66, wherein, In the storage state, the vertical projections of two shaft assemblies on a third target plane do not coincide with each other, and the third target plane is perpendicular to the yaw axis of the load.

74. The gimbal of claim 65 or 66, wherein, The rotation axes of the motors of the at least two shaft assemblies intersect at a point of intersection, and when the load is mounted on the load mounting assembly and in a leveled state, a vertical projection of the point of intersection on a first target plane is located within a vertical projection of the load on the first target plane, and the first target plane is perpendicular to the pitch axis, the yaw axis or the roll axis of the load.

75. The head according to claim 74, wherein, When the load is mounted on the load mounting assembly and in a leveled state, the point of intersection is substantially coincident with the center of gravity of the load.

76. The gimbal of claim 65 or 66, wherein, Rotational axes of the motors of the at least two shaft assemblies intersect at a point, and in the case that the load is a camera, an optical axis of the camera passes through the point.

77. The gimbal of claim 65 or 66, wherein, The at least two shaft assemblies are arranged between the load mounting assembly and the support assembly.

78. The head according to claim 77, wherein, A vertical projection of the load mounting assembly on a third target plane is located within a vertical projection of the support assembly on the third target plane, and the third target plane is perpendicular to a roll axis of the load.

79. The gimbal of claim 65 or 66, wherein, The load mounting assembly, the at least two shaft assemblies, and the support assembly are arranged in sequence from inside to outside.

80. The gimbal of claim 65 or 66, wherein, The support assembly encloses a receiving space, and the at least two shaft assemblies and the load mounting assembly are arranged in the receiving space.

81. The gimbal of claim 65 or 66, wherein, The holder is detachably connected to the support assembly, and / or the holder is rotationally connected to the support assembly.

82. The head according to claim 80, wherein, The number of holders is two, and the two holders are arranged on two sides of the support assembly, respectively.

83. The head according to claim 80, wherein, The number of holders is two, and the two holders are located on two sides of the load.

84. The head according to claim 81, wherein, The shaft assembly further comprises one or more shaft arms and one or more rotary joints configured to rotationally connect two adjacent shaft arms, or rotationally connect the support assembly and the shaft arm, or rotationally connect the load mounting assembly and the shaft arm; the motor is arranged at one of the one or more rotary joints and configured to drive the rotary joint to rotate.

85. The gimbal of claim 65 or 66, wherein, The motor is arranged between the support assembly and the shaft arm, or between two adjacent shaft arms, or between the load mounting assembly and the shaft arm.

86. The head according to claim 85, wherein, In the case that the shaft assembly comprises a plurality of shaft arms, two adjacent shaft arms are rotationally connected by the rotary joint.

87. The head according to claim 85, wherein, The shaft arms of the at least two shaft assemblies are configured to move along the same spherical surface.

88. The head according to claim 85, wherein, At least part of the one or more shaft arms is arranged as an arc-shaped portion.

89. The head according to claim 85, wherein, The one or more shaft arms are arc-shaped arms.

90. The head according to claim 89, wherein, At least part of the support assembly is arranged as an arc-shaped portion.

91. The gimbal of any of claims 65-66 or 85-90, wherein, The support assembly is arranged as a whole in a circular ring shape.

92. The head according to claim 91, wherein, At least part of the load mounting assembly is arranged as an arc-shaped portion.

93. The head according to claim 92, wherein, The arc-shaped portion of the shaft arm is configured to cooperate with the arc-shaped portion of the support assembly.

94. The head according to claim 93, wherein, The arc-shaped portion of the shaft arm is configured to cooperate with the arc-shaped portion of the load mounting assembly.

95. The head according to claim 93, wherein, The support assembly further comprises a first expansion interface configured to detachably connect a first expansion assembly to expand the functions of the gimbal.

96. The gimbal of claim 65 or 66, wherein, The first expansion assembly comprises at least one of a suspension assembly, a support assembly, a holding handle, a vertical stabilization mechanism, a video transmission assembly, a sound pickup assembly, a light source assembly, or a follow-focus assembly.

97. The head according to claim 96, wherein, The load mounting assembly further comprises a second expansion interface configured to detachably connect a second expansion assembly to expand the functions of the gimbal.

98. The gimbal of claim 65 or 66, wherein, The second expansion assembly comprises at least one of a video transmission assembly, a sound pickup assembly, a light source assembly, or a follow-focus assembly.

99. The head according to claim 98, wherein, ​ 100. The gimbal of claim 65 or 66, wherein, The gimbal further comprises a connection line, which is extendable by the load mounting assembly and through the shaft assemblies to the support assembly.

101. The head according to claim 100, wherein, The connection line is located within a housing of at least one of the load mounting assembly, the shaft assemblies, or the support assembly.

102. The head according to claim 101, wherein, The connection line is an electrical connection line or a signal connection line.

103. The gimbal of claim 65 or 66, wherein, The at least two shaft assemblies comprise a first shaft assembly, a second shaft assembly, and a third shaft assembly, which are configured to collectively change an attitude of the load along three degrees of freedom.

104. The head according to claim 103, wherein, The three degrees of freedom comprise degrees of freedom of movement of the load along the pitch axis, the roll axis, and the yaw axis.

105. The head according to claim 103, wherein, The first shaft assembly, the second shaft assembly, and the third shaft assembly are circumferentially spaced along the load mounting assembly between the load mounting assembly and the support assembly.

106. The gimbal of claim 65 or 66, wherein, The first shaft assembly, the second shaft assembly, and the third shaft assembly are uniformly spaced within an inner wall of a circular ring formed by the support assembly.

107. A gimbal camera, comprising: Comprise: a photographing device; and The gimbal of any one of claims 1, 2, 65, 66, which is configured to carry the photographing device and change an attitude of the photographing device.

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