Gimbal, gimbal payload and movable platform

Abstract

A gimbal, a gimbal payload and a movable platform. The gimbal comprises: an axis arm assembly, which comprises a first axis arm portion and a second axis arm portion; a first rotary shaft mechanism mechanically coupled to the first axis arm portion, wherein the first rotary shaft mechanism comprises a first rotary shaft and a shaft connector mechanically coupled to the first rotary shaft; a second rotary shaft mechanism mechanically coupled to the second shaft arm portion, wherein the second rotary shaft mechanism comprises a second rotary shaft; an adjustment assembly mechanically coupled to the first rotary shaft mechanism. The first axis arm portion is connected, via the first rotary shaft mechanism, to one side of a payload carried by the gimbal, and the second axis arm portion is connected to the opposite side of the payload via the second rotary shaft mechanism, enabling the payload to rotationally connect to the axis arm assembly via the first rotary shaft mechanism and the second rotary shaft mechanism. The first rotary shaft and the second rotary shaft are coaxially arranged; the adjustment assembly allows the adjustment of the tilt angle of the shaft connector relative to (1) the part of the first axis arm portion connected to the shaft connector or to (2) the first rotary shaft, enabling the shaft connector to adaptively fit with the first rotary shaft.

Description

Gimbal, gimbal load and movable platform TECHNICAL FIELD

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

[0002] To improve the support stiffness, the previous gimbals usually adopt a double-end support structure to realize the rotational support of the load. However, due to the machining and assembly precision problems, such as the manufacturing tolerance of the gimbal shaft arm, the gimbal shaft assembly error and the like, the two shafts of the double-end support structure are often different in axis during the manufacturing and assembly process of the gimbal, thereby causing a large disturbing force when the gimbal rotates. In severe cases, the gimbal may even be stuck during rotation and cannot be used normally. In order to solve the disturbing force problem, the previous gimbals can be fixedly connected with one end of the shaft during assembly, and a certain installation gap is usually reserved at the other end, so that the shaft at this end is floating, thereby eliminating the disturbing force, so that the double-end support structure becomes a single-end support structure in essence, and the support stiffness is greatly weakened. In some schemes, the connection at the other end can be further realized by filling damping grease or dispensing, but the support stiffness of this way is still very weak, which leads to poor resonance modal characteristics of the gimbal and poor stability of the gimbal.

[0003] SUMMARY

[0004] Therefore, based on this, the embodiments of the present application provide a gimbal, a gimbal load and a movable platform, which aims to provide a gimbal capable of realizing double-end support and coaxial arrangement of the two shafts of the double-end support.

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

[0006] a shaft arm assembly comprising a first shaft arm part and a second shaft arm part;

[0007] a first shaft mechanism mechanically coupled with the first shaft arm part, the first shaft mechanism comprising a first shaft and a shaft connector mechanically coupled with the first shaft;

[0008] a second shaft mechanism mechanically coupled with the second shaft arm part, the second shaft mechanism comprising a second shaft; and

[0009] an adjusting assembly mechanically coupled with the first shaft mechanism,

[0010] wherein the first shaft arm part is connected to one side of a load carried by the gimbal through the first shaft mechanism, and the second shaft arm part is connected to the other opposite side of the load through the second shaft mechanism, so that the load can be rotatably connected with the shaft arm assembly through the first shaft mechanism, the second shaft mechanism and the shaft arm assembly.

[0011] The first rotation shaft is coaxial with the second rotation shaft, the first rotation shaft is used to be connected with the load, the adjusting assembly is located at one end of the first rotation shaft away from the load, and the adjusting assembly can allow the shaft connector to be adjusted relative to (1) a part where the first shaft arm part is connected with the shaft connector or (2) an inclination angle of the first rotation shaft, so that the shaft connector is adaptively matched with the first rotation shaft.

[0012] In a second aspect, the embodiments of the present application provide a gimbal, comprising:

[0013] A shaft arm assembly comprising a first shaft arm part and a second shaft arm part;

[0014] A first rotation shaft mechanism mechanically coupled with the first shaft arm part, the first rotation shaft mechanism comprising a first rotation shaft;

[0015] A second rotation shaft mechanism mechanically coupled with the second shaft arm part, the second rotation shaft mechanism comprising a second rotation shaft; and

[0016] An adjusting assembly mechanically coupled with the first rotation shaft mechanism, the adjusting assembly comprising a fixed part and a movable part;

[0017] The movable part can be moved relative to the fixed part to adjust an inclination angle of the first rotation shaft relative to an axis of the fixed part, so that when the first rotation shaft is coaxial with the second rotation shaft, the first shaft arm part can be rotationally connected with the load through the first rotation shaft mechanism and keep a support connection between the first shaft arm part and the load.

[0018] In a third aspect, the embodiments of the present application provide a gimbal load, comprising: a load and the gimbal of at least one of the first aspect and the second aspect, the load being connected to the gimbal.

[0019] In a fourth aspect, the embodiments of the present application provide a movable platform, comprising: a movable body and the gimbal load of the third aspect, the gimbal load being connected to the movable body.

[0020] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Fig. 1 is a structural schematic diagram of a gimbal load according to an embodiment of the present application;

[0023] Fig. 2 is a sectional structural schematic diagram of the gimbal load shown in Fig. 1;

[0024] Fig. 3 is a sectional structural schematic diagram of the gimbal load shown in Fig. 1 from another perspective;

[0025] Fig. 4 is a sectional structural schematic diagram of the gimbal load shown in Fig. 1 from yet another perspective;

[0026] Fig. 5 is a partial sectional structural schematic diagram of the gimbal load shown in Fig. 2;

[0027] Fig. 6 is a structural exploded schematic diagram of a gimbal according to an embodiment of the present application;

[0028] Fig. 7 is a structural exploded schematic diagram of the gimbal shown in Fig. 6 from another perspective;

[0029] Fig. 8 is a schematic diagram of the positional relationship between a first rotating shaft and a shaft hole of a fixing member according to an embodiment of the present application;

[0030] Fig. 9 is a structural exploded schematic diagram of a shaft arm assembly according to an embodiment of the present application;

[0031] Fig. 10 is a structural schematic diagram of a protective member of a gimbal according to an embodiment of the present application;

[0032] Fig. 11 is a partial enlarged view of the Ω region in Fig. 10;

[0033] Fig. 12 is a structural exploded schematic diagram of the protective member of the gimbal shown in Fig. 10;

[0034] Fig. 13 is a structural schematic diagram of a wire body storage member of a gimbal according to an embodiment of the present application from different perspectives;

[0035] Fig. 14 is a structural exploded schematic diagram of the wire body storage member of the gimbal according to an embodiment of the present application;

[0036] Fig. 15 is a structural schematic block diagram of a gimbal load and a movable platform according to an embodiment of the present application.

[0037] Explanation of reference signs: 1000, movable platform; 1001, gimbal load; 1002, moving body; 100, gimbal; 200, load; 10, shaft arm assembly; 101, first shaft arm part; 102, second shaft arm part; 103, intermediate shaft arm part; 1031, first wire body storage slot; 1032, second wire body storage slot; 1033, wire body leading port; 104, second protective piece; 105, cover body; 11, first rotation shaft mechanism; 111, first rotation shaft; 112, shaft connecting piece; 1121, bearing; 1122, height adjusting piece; 1123, pre-tightening shaft; 113, second dismounting part; 12, second rotation shaft mechanism; 121, second rotation shaft; 122, sleeving piece; 13, adjusting assembly; 131, fixed piece; 1311, first dismounting part; 1312, shaft hole; 132, movable piece; 14, pre-tightening assembly; 141, elastic piece; 142, rigid piece; 15, first driving piece; 16, second driving piece; 17, base; 171, first protective piece; 1711, anti-dropping part; 172, third protective piece; 1721, fixed part; 1722, movable part; 18, wire body storage piece; 181, storage part; 1811, winding groove; 182, supporting part; 19, wire body; 191, first wire body; 192, second wire body; A, axis A; B, axis B. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0039] The terms "first", "second" in the description and claims of the present application can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship.

[0040] In the description of the application, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the purpose of facilitating the description of the application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0041] In the description of the application, it needs to be understood that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0042] It should also be understood that the terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in the specification and the appended claims of the application, the singular forms "a", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise. In the present application, "at least one" means one or more, and "multiple" means two or more. The association relationship of the associated objects is described as "and / or", which means that there can be three kinds of relationships, for example, E and / or F can represent: E exists alone, E and F exist together, F exists alone, where E, F can be singular or plural. The character " / " generally represents that the front and rear associated objects have an "or" relationship. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b and c can represent: a, b, c; a and b; a and c; b and c; or, a, b and c; where a, b, c can be single or multiple. "G is approximately parallel to H" can mean: G is parallel to H; G is not completely parallel to H, and there is a small included angle between them. For example, the small included angle can be less than or equal to 20 degrees.

[0043] The embodiments of the present application provide a gimbal, a gimbal load and a movable platform, wherein the gimbal load comprises a gimbal and a load connected to the gimbal, and the movable platform comprises a moving body and the gimbal load.

[0044] The load includes, but is not limited to, at least one of a photographing device, a sound wave detection device, a surveying device, a spraying device, an infrared detection device, a radar device, an illumination device, a communication device, a mechanical arm, and the like. Specifically, the photographing device can have a camera and be capable of photographing images or videos, and the photographing device includes, but is not limited to, a camera, a video camera, or a terminal device with an imaging function. The embodiments of the present application are described by taking the load as the photographing device as an example, and other types of loads can be implemented by referring to the description.

[0045] The gimbal can generally include a single-axis gimbal, a dual-axis gimbal, and a three-axis gimbal. The single-axis gimbal can realize rotation of one axis, such as a panoramic photographing gimbal rotating around a yaw axis. The dual-axis gimbal can realize rotation of two axes, such as rotation around a yaw axis and rotation around a pitch axis. The three-axis gimbal can realize rotation around a yaw axis, a pitch axis, and a roll axis to achieve stabilization in three-dimensional space. The embodiments of the present application do not specifically limit the type of gimbal.

[0046] The movable platform itself can not have a power device, for example, a handheld stabilization gimbal, and the like. The movable platform can also have a power device itself, which can drive the movable platform to move. In some embodiments, the movable platform needs an external device to drive it to move. The above is only an example, and the embodiments of the present application do not specifically limit how the movable platform specifically realizes movement. The movable platform can be a manned platform device or an unmanned platform device. The movable platform can be a flying vehicle, a ground movable platform, a water surface movable platform, or a movable platform in other scenarios. The flying vehicle can include, but is not limited to, any one of a manned flying vehicle, a logistics flying vehicle, a aerial photography flying vehicle, an agricultural plant protection flying vehicle, an industry rescue flying vehicle, and a performance flying vehicle. The above is only an example, and the embodiments of the present application do not specifically limit the type of flying vehicle. The flying vehicle includes a manned flying vehicle or an unmanned flying vehicle. The ground movable platform includes an autonomous moving vehicle, an autonomously movable robot, a handheld gimbal, a motion camera, and the like. The water surface movable platform includes a ship.

[0047] Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments and features described below can be combined with each other as long as there is no conflict.

[0048] Fig. 1 is a structural schematic diagram of a gimbal load 1001 according to an embodiment of the present application. Referring to Fig. 1, the gimbal load 1001 comprises a gimbal 100 and a load 200, and the load 200 is connected to the gimbal 100. In the present embodiment, the load 200 is exemplified by a photographing device, and of course, in other embodiments, the load 200 can also be a radar device, a spraying device or other types of equipment. The gimbal 100 can control the load 200 to rotate around one or more rotation axes, for example, to control the load 200 to rotate around one or more of a pitch axis, a yaw axis and a roll axis. Exemplarily, the gimbal 100 comprises a first driving member 15, a second driving member 16 and a third driving member, which are respectively used to drive the load 200 to rotate around the pitch axis, the yaw axis and the roll axis.

[0049] Fig. 2 is a sectional structural schematic diagram of the gimbal load 1001 shown in Fig. 1. Referring to Figs. 1 and 2 together, in the illustrated embodiment, the gimbal 100 comprises a shaft arm assembly 10, which is used to support the load 200. Specifically, in the illustrated embodiment, the shaft arm assembly 10 comprises a first shaft arm part 101 and a second shaft arm part 102, which are respectively located at two ends of the shaft arm assembly 10. Optionally, the shaft arm assembly 10 further comprises a cover 105, which is used to cover the first shaft arm and / or the second shaft arm to play a protection role. Optionally, the shaft arm assembly 10 further comprises an intermediate shaft arm part 103, two ends of the intermediate shaft arm part 103 are respectively connected with the first shaft arm part 101 and the second shaft arm part 102. The first driving member 15 can drive the load 200 to rotate around an axis A, and the second driving member 16 can drive the shaft arm assembly 10 to rotate around an axis B to drive the load 200 to rotate around the axis B.

[0050] In the illustrated embodiment, the first driving member 15 is installed on the second shaft arm part 102, and the first driving member 15 can drive the load 200 to rotate around the axis A. The axis A comprises the pitch axis. The second driving member 16 is connected with the intermediate shaft arm part 103 and can drive the shaft arm assembly 10 to rotate around the axis B to drive the load 200 to rotate around the axis B. The axis B comprises the yaw axis.

[0051] Fig. 3 is a sectional structural schematic diagram of the gimbal load 1001 shown in Fig. 1 from another perspective. Fig. 4 is a sectional structural schematic diagram of the gimbal load 1001 shown in Fig. 1 from still another perspective. Referring to Figs. 3 and 4 together, in order to make opposite sides of the load 200 be rotationally connected with the first shaft arm part 101 and the second shaft arm part 102 of the shaft arm assembly 10 respectively, the gimbal 100 further comprises a first rotation shaft mechanism 11 and a second rotation shaft mechanism 12. The first rotation shaft mechanism 11 is mechanically coupled with the first shaft arm part 101. The second rotation shaft mechanism 12 is mechanically coupled with the second shaft arm part 102.

[0052] The first rotating shaft mechanism 11 comprises a first rotating shaft 111, and the load 200 can rotate around the first rotating shaft 111 or synchronously rotate with the first rotating shaft 111. The second rotating shaft mechanism 12 comprises a second rotating shaft 121, and the load 200 can rotate around the second rotating shaft 121 or synchronously rotate with the second rotating shaft 121. Optionally, the second rotating shaft 121 is the central shaft of the first driving member 15, and the coaxial line of the first rotating shaft 111 and the second rotating shaft 121 is the axis A.

[0053] In order to form a good support connection between the first shaft arm part 101 and the first rotating shaft 111 and between the second shaft arm part 102 and the second rotating shaft 112 when the first rotating shaft 111 and the second rotating shaft 121 are coaxially arranged, the gimbal 100 further comprises an adjusting assembly 13. The adjusting assembly 13 is mechanically coupled with the first rotating shaft mechanism 11, so that the first rotating shaft 111 can continuously receive the stable support force provided by the first shaft arm part 101 during the rotation of the load 200 relative to the shaft arm assembly 10, thereby forming a good rigid support.

[0054] In the embodiment shown, the first rotating shaft mechanism 11 further comprises a shaft connector 112 mechanically coupled with the first rotating shaft 111. The first shaft arm part 101 is connected to one side of the load 200 carried by the gimbal 100 through the first rotating shaft mechanism 11, and the second shaft arm part 102 is connected to the other opposite side of the load 200 through the second rotating shaft mechanism 12, so that the load 200 can be rotatably connected with the shaft arm assembly 10 through the first rotating shaft mechanism 11 and the second rotating shaft mechanism 12. The first rotating shaft 111 is used to connect with the load 200. The adjusting assembly 13 is located at the end of the first rotating shaft 111 away from the load 200, and the adjusting assembly 13 can allow the inclination angle of the shaft connector 112 relative to (1) the part where the first shaft arm part 101 is connected with the shaft connector 112 or (2) the first rotating shaft 111 to be adjusted, so that the shaft connector 112 and the first rotating shaft 111 are adaptively matched.

[0055] To improve the support stiffness, the previous holder usually adopts a double-end support structure to realize the rotating support of the load 200. However, due to the machining and assembly precision problems, such as the manufacturing tolerance of the holder shaft arm, the assembly error of the holder rotating shaft, etc., the two rotating shafts of the double-end support structure are often different in axis during the manufacturing and assembly process of the holder, thereby causing a large disturbance force when the holder rotates, and even causing the holder to be stuck during the rotation process and unable to be normally used. In order to solve the disturbance force problem, the previous holder can be fixedly connected with one rotating shaft during assembly, and a certain installation gap is usually reserved at the other end, so that the rotating shaft at this end is floating, thereby eliminating the disturbance force, so that the double-end support structure becomes a single-end support structure in essence, and the support stiffness is greatly weakened. In some schemes, the connection at the other end can be further realized by filling damping grease or dispensing, but the support stiffness of this way is still very weak, which leads to poor resonance modal characteristics of the holder and poor stability of the holder.

[0056] Therefore, in the embodiments of the present application, a holder 100 capable of realizing double-end support and coaxial arrangement of the two axes of the double-end support is provided to improve the resonance modal frequency of the holder 100 and improve the stabilization performance of the holder 100. Specifically, the first shaft arm part 101 is connected to one side of the load 200 carried by the holder 100 through the first rotating shaft mechanism 11, and the second shaft arm part 102 is connected to the other opposite side of the load 200 through the second rotating shaft mechanism 12, so that the load 200 can be rotatably connected with the shaft arm assembly 10 through the first rotating shaft mechanism 11 and the second rotating shaft mechanism 12, and the double-end support of the load 200 is realized. Moreover, the first rotating shaft 111 and the second rotating shaft 121 of the double-end support of the load 200 are coaxially arranged, and the adjusting assembly 13 mechanically coupled with the first rotating shaft mechanism 11 is arranged, the adjusting assembly 13 can allow the inclination angle of the shaft connector 112 relative to (1) the first rotating shaft 111 or (2) the part connected with the shaft connector 112 of the first shaft arm part 101 to be adjusted, so that the shaft connector 112 can always adaptively cooperate with the first rotating shaft 111 due to the manufacturing tolerance of the shaft arm assembly 10, the rotating shaft assembly error and other factors, thereby solving the problem that the first rotating shaft mechanism 11 for forming double-end support of the load 200 cannot form good support connection with the first shaft arm part 101 of the shaft arm assembly 10 due to the manufacturing and assembly errors when the first rotating shaft 111 and the second rotating shaft 121 of the holder 100 at both ends are coaxially installed, thereby improving the rotating smoothness of the holder 100 and improving the resonance modal characteristics of the holder 100, and the stabilization performance of the holder 100 can be further improved.

[0057] In the illustrated embodiment, the first rotating shaft 111 is used to be fixedly connected with the load 200 to improve the support stiffness. In other alternative embodiments of the present application, the first rotating shaft 111 is not fixedly connected with the load 200. For example, the load 200 is provided with a shaft hole 1312 coaxially arranged with the first rotating shaft 111, and the first rotating shaft 111 can be adapted to the shaft hole 1312, as long as the load 200 can rotate relative to the axis of the first rotating shaft 111.

[0058] Referring to FIG. 2, the adjusting assembly 13 includes a fixed part 131 and a movable part 132. The movable part 132 is movable relative to the fixed part 131, and the inclination angle of the shaft connecting part 112 or the first rotating shaft 111 is adjusted through the relative movement relationship between the movable part 132 and the fixed part 131, so that the first rotating shaft 111 and the shaft connecting part 112 can be adaptively matched.

[0059] In the embodiments of the present application, the holder 100 can realize double-end support and coaxial arrangement of two shafts to improve the resonance modal frequency of the holder 100 and improve the stabilization performance of the holder 100. Specifically, the movable part 132 can move relative to the fixed part 131 to adjust the inclination angle of the first rotating shaft 111 relative to the axis of the fixed part 131, so that when the first rotating shaft 111 and the second rotating shaft 121 are coaxially arranged, the first shaft arm part 101 can be rotatably connected with the load 200 through the first rotating shaft mechanism 11 and maintain the support connection between the first shaft arm part 101 and the load 200. The movable part 132 can move relative to the fixed part 131 to adjust the inclination angle of the first rotating shaft 111 relative to the axis of the fixed part 131, thereby solving the problem that when the first rotating shaft 111 and the second rotating shaft 121 at both ends of the holder 100 are coaxially arranged, the first rotating shaft mechanism 11 for forming double-end support for the load 200 cannot form good support connection with the first shaft arm part 101 of the shaft arm assembly 10 due to manufacturing and assembly errors, and improving the rotation smoothness of the holder 100. In addition, when the load 200 rotates, the first shaft arm part 101 can provide the load 200 with continuous and stable support force, thereby improving the support stiffness of the holder 100 and improving the resonance modal characteristics of the holder 100, so that the stabilization performance of the holder 100 is further improved.

[0060] In the illustrated embodiment, the fixed part 131 is fixedly connected with the first shaft arm part 101. The movable part 132 is connected with the shaft connecting part 112, for driving the shaft connecting part 112 to move relative to the fixed part 131, so as to adjust the inclination angle of the shaft connecting part 112. Specifically, the adjusting assembly 13 can allow the inclination angle of the shaft connecting part 112 relative to the position where the first shaft arm part 101 is connected with the shaft connecting part 112 to be adjusted, so as to realize the coaxial arrangement and installation of the first rotating shaft 111 and the second rotating shaft 121. The position where the first shaft arm part 101 is connected with the shaft connecting part 112 can be the position where the first shaft arm part 101 is fixedly connected with the fixed part 131. The shaft connecting part 112 can realize the rotational connection of the first rotating shaft 111 and the first shaft arm part 101, provide stable support for the first rotating shaft 111 and reduce the friction, so that the first rotating shaft 111 can be continuously rotated smoothly. For example, the shaft connecting part 112 can include a bearing 1121, a shaft sleeve, etc. The bearing 1121 can include a deep groove ball bearing, an angular contact bearing, a radial bearing, etc.

[0061] In some optional embodiments of the present application, the adjusting assembly 13 includes a first universal joint. The first universal joint includes an inner rotating part and an outer rotating part rotatable relative to the inner rotating part, the shaft connecting part 112 is connected with one of the inner rotating part and the outer rotating part, and the first rotating shaft 111 is connected with the other one of the inner rotating part and the outer rotating part. Specifically, the adjusting assembly 13 can allow the inclination angle of the shaft connecting part 112 relative to the first rotating shaft 111 to be adjusted, so as to realize the coaxial arrangement and installation of the first rotating shaft 111 and the second rotating shaft 121. In addition, the adjusting assembly 13 can also realize the rotational connection of the first rotating shaft 111 and the first shaft arm part 101, provide a rotating space for the first rotating shaft 111, and provide stable support for the first rotating shaft 111 and reduce the rotational friction, so that the first rotating shaft 111 can be continuously rotated smoothly. The shaft connecting part 112 can realize the support connection of the first rotating shaft 111 and the first shaft arm part 101, for providing stable and continuous support force. For example, the shaft connecting part 112 is fixedly connected with the first shaft arm part 101. Optionally, the shaft connecting part 112 can include a shaft hole part, a fixed shaft, etc. which are mechanically coupled with the inner rotating part or the outer rotating part. Optionally, the first universal joint is a magnetic universal joint.

[0062] In the illustrated embodiment, the pan axis assembly of the holder 100 adopts double-end support. The adjusting assembly 13 is arranged at one end of the pan axis assembly, and a driving part of the pan axis assembly is arranged at the other end. Of course, other axes of the holder 100, such as the yaw axis assembly and the roll axis assembly, can also adopt double-end support, so that the adjusting assembly 13 can also be arranged at one end of the yaw axis assembly and the roll axis assembly.

[0063] To realize the coaxial arrangement of the two shafts, the relative position between the first shaft 111 and the second shaft 121 can be adjusted first, and then the relative angle between the first shaft 111 and the second shaft 121 is adjusted, and finally the coaxial arrangement of the two shafts is realized. Of course, the relative angle between the first shaft 111 and the second shaft 121 can be adjusted first, and then the relative position between the first shaft 111 and the second shaft 121 is adjusted, and finally the coaxial arrangement of the two shafts is realized.

[0064] Optionally, the first end of the first shaft 111 can be moved on the side of the load 200 until it is fixed at the first target position after being moved to the first target position, and the second end of the first shaft 111 is coupled and connected with the shaft connector 112; when the first shaft 111 is at the first target position, the first shaft 111 can be coaxially arranged with the second shaft 121.

[0065] Optionally, the fixing member 131 can be moved on the first shaft arm part 101 and fixed at the second target position after being moved to the second target position, and the movable member 132 can be moved relative to the fixing member 131 to adjust the angle of the shaft connector 112 relative to the fixing member 131, and finally the first shaft 111 and the shaft connector 112 are adapted.

[0066] Optionally, the first end of the first shaft 111 is fixed at the first target position on the side of the load 200, the fixing member 131 is fixed at the second target position on the first shaft arm part 101, and the line between the first target position and the second target position is coaxial with the second shaft 121.

[0067] To realize the coaxial arrangement of the first shaft 111 and the second shaft 121, the line between the first target position and the second target position is coaxial with the second shaft 121. Specifically, the following two exemplary installation arrangements can be used, and the corresponding assembly sequence is only an example and should not be construed as a limitation of the present application.

[0068] Method one: The second shaft 121 is fixed on one side of the load 200. Then a mounting shaft coaxial with the second shaft 121 is used to sequentially pass through the second shaft 121 and the load 200, to determine the first passing position of the mounting shaft (the shaft center position) on the other side of the load 200, and the first passing position is taken as the first target position. The first end (the shaft center position) of the first shaft 111 can be fixed at the first target position first, so that the first shaft 111 can be coaxially arranged with the second shaft 121. Then the second end (the shaft center position) of the first shaft 111 is determined at the second passing position of the first shaft arm part 101, and the second passing position is taken as the second target position. The fixing member 131 (the center position) is then fixed at the second target position. The movable member 132 adjusts the angle of the shaft connector 112 relative to the fixing member 131, so that the second end of the first shaft 111 is adapted to the shaft connector 112.

[0069] Second, the second rotating shaft 121 is fixed on one side of the load 200. Then, a fitting shaft coaxial with the second rotating shaft 121 is sequentially passed through the second rotating shaft 121, the load 200 and the first shaft arm 101 to determine a second passing position of the fitting shaft (the position of the shaft center) in the first shaft arm 101. The second passing position is taken as a second target position, and the fixing member 131 (the position of the center) is fixed at the second target position. The movable member 132 adjusts the angle of the shaft connecting member 112 relative to the fixing member 131, so that the second end of the first rotating shaft 111 can be adapted to the shaft connecting member 112, and the first rotating shaft 111 can be coaxial with the second rotating shaft 121. Then, a first passing position of the first rotating shaft 111 (the position of the shaft center) on the other side of the load 200 is determined, which is taken as a first target position. The first end of the first rotating shaft 111 (the position of the shaft center) is fixed at the first target position, so that the first rotating shaft 111 can be coaxially arranged with the second rotating shaft 121.

[0070] FIG. 5 is a partial schematic view of the sectional structure of the gimbal load 1001 shown in FIG. 2. Referring to FIG. 5, the inner side of the fixing member 131 is formed with an accommodation cavity, and the movable member 132 is at least partially arranged in the accommodation cavity. Optionally, the movable member 132 is annular in structure. Optionally, the movable member 132 can be coaxially arranged with the first rotating shaft 111. The movable member 132 can include a second universal joint, specifically, a spherical hinge. The structure and arrangement of the movable member 132 can make the overall structure of the adjusting assembly 13 compact, and facilitate the miniaturization of the gimbal 100.

[0071] The movable member 132 can roll on the inner side of the fixing member 131 to adjust the inclination angle of the shaft connecting member 112 relative to the fixing member 131 or the inclination angle of the first rotating shaft 111 relative to the fixing member 131. For example, when the gimbal 100 is assembled, the first rotating shaft 111 can drive the movable member 132 to roll by a certain inclination angle when passing through the shaft connecting member 112, so as to smoothly pass through the fixing member 131, thereby realizing the stable connection of the first rotating shaft 111 and the first shaft arm 101. Optionally, when the first rotating shaft 111 rotates, the position of the movable member 132 can remain fixed to maintain the coaxiality of the first rotating shaft 111 and the second rotating shaft 121, such as maintaining the coaxial line A in the figure. For example, during the process of the gimbal 100, the first rotating shaft 111 only rotates without position movement, and the position of the movable member 132 relative to the fixing member 131 can also remain stable due to the static friction therebetween, so that the first rotating shaft 111 can always remain coaxial with the second rotating shaft 121, which can avoid the rotational disturbance caused by the non-coaxiality of the double-end support, thereby realizing the stable and reliable driving of the load 200 to rotate around the coaxial line A, and improving the resonance modal characteristics of the gimbal 100. For example, when the load 200 is a shooting device, the shooting device can obtain clearer and more stable pictures.

[0072] Fig. 6 is a structural exploded view of the gimbal 100 according to an embodiment of the present application. Fig. 7 is a structural exploded view of the gimbal 100 according to an embodiment of the present application from another perspective. Referring to Figs. 6 and 7, the fixing member 131 is detachably connected to the first shaft arm portion 101. Specifically, the outer side of the fixing member 131 is provided with a first detachable portion 1311, and the first detachable portion 1311 is detachably connected to the first shaft arm portion 101. For example, the first detachable portion 1311 is detachably connected to the first shaft arm portion 101 by a first fastener. The first fastener can be a screw, a pin, a welding portion, etc.

[0073] The first end of the first rotating shaft 111 is detachably connected to the side of the load 200. Specifically, the outer side of the first rotating shaft 111 is provided with a second detachable portion 113, and the second detachable portion 113 is detachably connected to the side of the load 200. For example, the second detachable portion 113 is detachably connected to the side of the load 200 by a second fastener. The second fastener can be a screw, a pin, a welding portion, etc.

[0074] For example, after the first rotating shaft 111 and the second rotating shaft 121 are coaxially arranged, the first fastener and / or the second fastener can be used to lock, so as to ensure that the installation position of the first rotating shaft 111 does not change during the operation of the gimbal 100, thereby maintaining the coaxiality with the second rotating shaft 121.

[0075] For the previous gimbal, the position of the first rotating shaft is fixed and cannot be adjusted. Due to the large production and assembly error, the first rotating shaft and the second rotating shaft cannot be coaxially arranged, thereby causing large disturbance force when the double-end support is used. In the embodiment of the present application, the first end of the first rotating shaft 111 is detachably connected to the side of the load 200, and / or the fixing member 131 is detachably connected to the first shaft arm portion 101, so as to at least adjust the installation position of the first rotating shaft 111, thereby achieving the coaxial arrangement of the first rotating shaft 111 and the second rotating shaft 121, and achieving the good support connection between the first rotating shaft and the first shaft arm portion 101 of the shaft arm assembly 10, thereby reducing the disturbance force and improving the resonance modal characteristics of the gimbal 100.

[0076] Please refer to FIG. 6, the fixing member 131 is provided with a shaft hole 1312. The inner side of the shaft hole 1312 is formed with a receiving cavity, and the movable member 132 is at least partially arranged in the receiving cavity. Optionally, the fixing member 131 can include a spherical hinge seat. FIG. 8 is a schematic view of the positional relationship between the first rotating shaft 111 and the shaft hole 1312 of the fixing member 131 according to an embodiment of the present application. As shown in FIG. 8a, in some optional embodiments of the present application, the first rotating shaft 111 and the shaft hole 1312 of the fixing member 131 are coaxial (shown by a dashed line in the figure). For example, the coaxial line of the first rotating shaft 111 and the shaft hole 1312 of the fixing member 131 is the axis of the second rotating shaft 121. In this case, the movable member 132 can realize the adaptive cooperation between the shaft connecting member 112 and the first rotating shaft 111 without adjusting the inclination angle of the shaft connecting member 112, thereby realizing the coaxial arrangement and installation of the first rotating shaft 111 and the second rotating shaft 121. As shown in FIG. 8b, in other optional embodiments of the present application, the shaft hole 1312 of the fixing member 131 and the first rotating shaft 111 have a non-zero included angle (shown by a dashed line in the figure). In this case, the movable member 132 can adjust the inclination angle of the shaft connecting member 112, thereby realizing the adaptive cooperation between the shaft connecting member 112 and the first rotating shaft 111, and further realizing the coaxial arrangement and installation of the first rotating shaft 111 and the second rotating shaft 121.

[0077] Please refer to FIG. 6 and FIG. 7, in the illustrated embodiment, the movable member 132 can include a spherical hinge. The spherical hinge can provide spherical constraint for the first rotating shaft 111, thereby eliminating the different-axis disturbance error of the first rotating shaft 111 and the second rotating shaft 121 caused by processing and assembly, and preventing over-constraint. Specifically, realizing spherical constraint can include three types of flexible constraint, smooth contact surface constraint and non-contact surface constraint. The flexible constraint is to realize spherical constraint by reasonably setting the cross-sectional distribution of flexible material to form a structure of two layers of cross intersection resisting bending and resisting torsion. The smooth contact surface constraint can be a spherical constraint composed of some or several parts of a smooth spherical surface, or a spherical constraint coupled by two layers of cross intersection smooth cylindrical hinges. The non-contact surface constraint is to realize spherical constraint by setting permanent magnets with different magnetic properties on the outer surface of the spherical hinge and the inner surface of the spherical hinge seat, such as a passive magnetic suspension spherical hinge.

[0078] Referring to FIG. 5, FIG. 6 and FIG. 7, the shaft joint 112 includes at least two bearings 1121 arranged side by side. Optionally, the first rotating shaft 111 passes through the at least two bearings 1121 simultaneously. The bearings 1121 can support the first rotating shaft 111, ensure the stability of the first rotating shaft 111 during rotation, reduce the friction of the first rotating shaft 111, and make the rotation of the first rotating shaft 111 more smooth and efficient. In addition, the bearings 1121 can provide precise positioning of the rotating shaft, ensuring that the first rotating shaft 111 maintains the correct position and direction during rotation. For example, the first rotating shaft 111 has only one degree of freedom and is constrained in other five degrees of freedom. For example, the first rotating shaft 111 can only rotate in the pitch direction and cannot move in three positional degrees of freedom and two angular degrees of freedom of yaw and roll. Correspondingly, the second rotating shaft mechanism 12 can include a second rotating shaft 121 and a sleeve member 122. The sleeve member 122 can also include at least two bearings 1121 arranged side by side. Optionally, the second rotating shaft 121 passes through the at least two bearings 1121 simultaneously. The bearings 1121 arranged on the first rotating shaft mechanism 11 can also support the second rotating shaft 121, reduce the friction of the second rotating shaft 121, or determine the correct position and direction of the second rotating shaft 121 during rotation to maintain coaxial arrangement with the first rotating shaft 111. Optionally, the bearings 1121 can include deep groove ball bearings, angular contact bearings, and radial bearings.

[0079] Specifically, each bearing 1121 includes a ball, an inner ring, and an outer ring. The ball has substantially no gap between the inner ring and the outer ring of the bearing 1121, so as to improve the connection stiffness of the bearing 1121, thereby improving the stiffness of the gimbal 100 supporting the load 200 and improving the resonance modal frequency of the gimbal 100.

[0080] Specifically, the shaft connecting member 112 further comprises a height adjusting member 1122. Optionally, the height adjusting member 1122 is arranged between the outer rings of the two bearings 1121 to leave a gap between the inner rings of the two bearings 1121 for applying a pre-tightening force on the inner rings of the two bearings 1121 to achieve pre-tightening of the bearings 1121 so that the rolling balls are substantially free of gaps between the inner and outer rings of the bearings 1121. For example, the pre-tightening force can be applied on the inner rings of the two bearings 1121 by pressing the upper bearing 1121 from top to bottom and pressing the lower bearing 1121 from bottom to top. Optionally, the height adjusting member 1122 has a ring structure and is sleeved on the first rotating shaft 111. Optionally, the height adjusting member 1122 can comprise a ring-shaped pre-tightening gasket. Specifically, the shaft connecting member 112 further comprises a pre-tightening shaft 1123. The inner rings of the two bearings 1121 are sleeved on the pre-tightening shaft 1123, and the pre-tightening shaft 1123 is sleeved on the first rotating shaft 111. After the pre-tightening of the bearings 1121, the pre-tightening force can be maintained by the pre-tightening shaft 1123. In addition, the at least two bearings 1121, the height adjusting member 1122 and the pre-tightening shaft 1123 can be assembled as a whole to facilitate the installation and cooperation with other components.

[0081] Referring to FIGS. 5, 6 and 7, the gimbal 100 further comprises a pre-tightening assembly 14. The pre-tightening assembly 14 is connected with the movable member 132 and the fixed member 131 to provide an elastic pre-tightening force to the movable member 132 relative to the fixed member 131. The pre-tightening assembly 14 can provide an elastic pre-tightening force to the adjusting assembly 13 to eliminate the effect of the play between the fixed member 131 and the movable member 132, reduce the shaking, improve the rigidity of the connection between the first shaft arm 101 and the load 200, improve the rigidity of the gimbal 100 supporting the load 200, and further improve the resonance mode frequency of the gimbal 100.

[0082] Specifically, the pre-tightening assembly 14 comprises an elastic member 141 and a rigid member 142. The elastic member 141 and the rigid member 142 are respectively located at the two ends of the movable member 132 and abut against the two ends of the movable member 132. The elastic member 141 and the rigid member 142 can cooperate to provide an elastic pre-tightening force. For example, the rigid member 142 has a ring structure. Optionally, the ring structure is at least partially accommodated in the fixed member 131 and abuts against one end of the movable member 132 accommodated at least partially in the fixed member 131. For example, the elastic member 141 has a ring-shaped spring structure. Optionally, the spring structure is accommodated in the fixed member 131 and abuts against the other end of the movable member 132 accommodated at least partially in the fixed member 131. Optionally, the spring structure can comprise a spring ring. The ring-shaped rigid member 142 can comprise a compression ring. When assembled, the spring ring can be applied with a pressure to cooperate with the compression ring, so that a better pre-tightening effect can be achieved with a smaller pressure.

[0083] In some optional embodiments, the elastic member 141 can include a spring. For example, a cylindrical spring, a diaphragm spring, etc., an O-shaped spring. Alternatively, the elastic member 141 can be made of plastic with elasticity and a small friction coefficient. Alternatively, the fixing of the rigid member 142 on the movable member 132 can be achieved by means of adhesive fixing, clamping spring fixing, threaded fixing, etc.

[0084] Please refer to FIG. 5, FIG. 6 and FIG. 7, the second rotating shaft 121 is the central shaft of the first driving member 15. Specifically, the coaxial line of the first rotating shaft 111 and the second rotating shaft 121 is the axis A. The first driving member 15 is installed on the second shaft arm part 102. The first driving member 15 can drive the load 200 to rotate around the axis A. For example, the axis A includes a pitch axis.

[0085] In some optional embodiments of the present application, the first driving member 15 is located on the side of the second shaft arm part 102 away from the load 200. In some other optional embodiments of the present application, the first driving member 15 is arranged between the second shaft arm part 102 and the load 200, which can make the structure of the gimbal 100 more compact.

[0086] Alternatively, the first driving member 15 is a motor, and the second rotating shaft 121 is a motor shaft. In some optional embodiments of the present application, the motor is an external rotor motor, the motor shaft rotates with the rotor of the motor, and the rotor of the motor is fixedly connected with the load 200. In some other optional embodiments of the present application, the motor is an external rotor motor, the motor shaft rotates with the stator of the motor, and the stator of the motor is fixedly connected with the load 200.

[0087] FIG. 9 is a structural exploded schematic view of the shaft arm assembly 10 provided by the embodiments of the present application. Please refer to FIG. 1, FIG. 2, FIG. 3 and FIG. 9, in the shaft arm assembly 10, the first shaft arm part 101 and the second shaft arm part 102 can include a pitch axis shaft arm, and the intermediate shaft arm part 103 is a yaw axis shaft arm. The shape of the shaft arm assembly 10 includes an arc shape. For example, a C-shaped shaft arm is formed to support the load 200 at both ends. The shape of the arc-shaped shaft arm assembly 10 can be at least one of a circular arc shape or an elliptical arc shape, and the embodiments of the present application do not limit the specific shape of the arc-shaped shaft arm assembly 10.

[0088] Please refer to FIG. 6 and FIG. 9, the first shaft arm part 101 and the intermediate shaft arm part 103 are detachably connected. When at least one of the first shaft arm part 101 and the intermediate shaft arm part 103 needs to be replaced or maintained, the first shaft arm part 101 and the intermediate shaft arm part 103 can be more conveniently detached for replacement or maintenance. For example, the first shaft arm part 101 and the intermediate shaft arm part 103 are detachably connected by fasteners.

[0089] The second shaft arm part 102 is detachably connected with the intermediate shaft arm part 103. When at least one of the second shaft arm part 102 and the intermediate shaft arm part 103 needs to be replaced or maintained, the second shaft arm part 102 can be more conveniently detached from the intermediate shaft arm part 103 for replacement or maintenance. For example, the second shaft arm part 102 can be detachably connected with the intermediate shaft arm part 103 by fasteners.

[0090] Please refer to FIG. 2 and FIG. 6, the gimbal 100 further comprises a second driving member 16. The second driving member 16 is connected with the intermediate shaft arm part 103 and can drive the shaft arm assembly 10 to rotate around the axis B to drive the load 200 to rotate around the axis B. Optionally, the second driving member is a hollow structure, and the central axis of the second driving member is parallel to the axis B. The axis B comprises a yaw axis. The shaft arm assembly 10 is provided with a receiving space a on one side, and the receiving space a can be used to accommodate at least part of the load 200. The second driving member 16 is arranged on the other side of the shaft arm assembly 10 opposite to the receiving space a. The shaft arm assembly 10 can be a hollow arc structure provided with the receiving space a on one side. Optionally, the axis of the arc structure of the shaft arm assembly 10 coincides with the axis B. At least part of the load 200 can be arranged in the receiving space a and connected with the shaft arm assembly 10. In this way, in the process of rotation or turning of the shaft arm assembly 10 around the axis B, the load 200 can rotate around the axis B along with the shaft arm assembly 10. For example, the second driving member 16 can comprise a stator seat, a stator winding, a rotor magnet and a support bearing 1121, etc. Optionally, the rotor magnet can be attached to the rear end of the intermediate shaft arm part 103. The second driving member 16 and the shaft arm assembly 10 together form a hollow turning mechanism to drive the load 200 to turn, which can make the load 200 cover a larger field of view or operation range and reduce the size of the gimbal 100.

[0091] Please refer to FIG. 2, the gimbal 100 comprises a base 17, and the base 17 and the shaft arm assembly 10 enclose a receiving space β. The second driving member 16 is arranged in the receiving space β.

[0092] FIG. 10 is a structural schematic view of a protection member of the gimbal 100 according to an embodiment of the present application. FIG. 11 is a partial enlarged view of the Ω area in FIG. 10. Please refer to FIG. 2, FIG. 10 and FIG. 11, the base 17 is provided with a first protection member 171, and the shaft arm assembly 10 is provided with a second protection member 104. The first protection member 171 and the second protection member 104 cooperate with each other to prevent external objects from entering the receiving space β.

[0093] When the gimbal 100 is working, the shaft arm assembly 10 of the moving part needs to slide back and forth relative to the base 17, and manufacturing errors are also considered. Therefore, the embodiments of the present application have a certain gap between the sliding contact parts of the shaft arm assembly 10 and the base 17 to ensure smooth sliding of the shaft arm assembly 10. In order to avoid external objects entering the gimbal 100, such as the accommodation space β, thereby affecting the normal driving of the second driving member 16. The embodiments of the present application further provide a first protective member 171 and a second protective member 104, which can block external objects such as dust, sand, water vapor, etc. from entering the accommodation space β, thereby ensuring the smooth movement of the shaft arm assembly 10 and the protection of the internal components of the gimbal 100, such as the driving member, and improving the ability of the gimbal 100 to resist harsh environments.

[0094] For example, the shaft arm assembly 10 is at least partially sleeved on the base 17. The second driving member 16 can drive the shaft arm assembly 10 to slide relative to the base 17 along the curved extension direction of the shaft arm assembly 10. The base 17 includes a first side and a second side arranged opposite to each other and extending along the sliding direction. The shaft arm assembly 10 includes a third side and a fourth side arranged opposite to each other and along the sliding direction. The first protective member 171 is arranged on the first side and / or the second side, and the second protective member 104 is arranged on the third side and / or the fourth side.

[0095] Specifically, one of the first protective member 171 and the second protective member 104 is provided with a groove, and the other is provided with a protrusion. The protrusion is at least partially accommodated in the groove. There is a gap between the protrusion and the inside of the groove. When the shaft arm assembly 10 slides relative to the base 17, the protrusion slides synchronously in the groove. Specifically, in the embodiment shown in the figure, the first protective member 171 is provided with a groove, and the second protective member 104 is provided with a protrusion.

[0096] Further, the groove and the protrusion can cooperate to form a labyrinth structure. The use of the labyrinth structure can make the route of the external object entering the accommodation space β as long as possible, thereby achieving better blocking and protection. Specifically, the number of grooves and protrusions is not limited, and the groove depth and groove thickness are not limited. Of course, in addition to the implementation of the labyrinth structure, the first protective member 171 and / or the second protective member 104 can also include at least one of the following: felt sealing, sealing ring protection, and differential pressure sealing. The embodiments of the present application do not limit the specific content of the protection of the first protective member 171 and / or the second protective member 104.

[0097] Fig. 12 is a structural exploded view of the guard of the gimbal 100 shown in Fig. 10. Referring to Fig. 12, the first guard 171 is further provided with a detachment prevention portion 1711. The detachment prevention portion 1711 is used to limit the axial movement of the shaft arm assembly 10 along the axis B and / or the radial movement of the shaft arm assembly 10 along the axis B, can increase the cross-sectional modulus of the first guard 171 in the up-and-down disturbance and torsion, enhance the anti-extrusion capability of the shaft arm assembly 10, and effectively prevent the shaft arm assembly 10 from falling out. For example, the detachment prevention portion 1711 can include a reinforcing rib structure.

[0098] As shown in Fig. 2 and Fig. 12, the base 17 is provided with a third guard 172. Specifically, in the embodiment shown in the figure, the third guard 172 is two, which are respectively arranged on the outer surfaces of the two ends of the shaft arm assembly 10 to prevent external objects from entering the accommodation space β. The third guard 172 includes a fixed portion 1721 fixed to the base 17 and a movable portion 1722 movably connected to the fixed portion 1721. The movable portion 1722 can move along the axis B and / or along the radial direction of the axis B. In order to achieve better protection effect, the gap between the two ends of the shaft arm assembly and the base can be reduced. However, considering that the machining and assembly errors of the parts may change the gap, for example, the gap between the two ends of the shaft arm assembly and the base is not uniform, which may cause the shaft arm assembly to jam when it slides relative to the base. Therefore, the third guard 172 is provided in the embodiment of the application, so that when the shaft arm assembly 10 slides, the third guard 172 can compensate for the end face gap. For example, the movable portion 1722 can adaptively move or float to compensate for the end face gap, so that the shaft arm assembly 10 can adapt to the errors caused by machining and assembly when it slides, thereby improving the reliability of the gimbal 100 while achieving protection of the gimbal 100.

[0099] For example, when the gap between the two ends of the shaft arm assembly 10 and the base 17 is not uniform, the movable portion 1722 can move relative to the fixed portion 1721. For example, the movable portion 1722 can move relative to the fixed portion 1721 along the radial direction of the axis B, thereby avoiding the influence of the non-uniform radial gap between the two ends of the shaft arm assembly 10 and the base 17, improving the smoothness of the shaft arm assembly 10 sliding on the base 17 and rotating around the axis B, and improving the control accuracy of the gimbal 100.

[0100] For example, one of the fixed portion 1721 and the movable portion 1722 is provided with a limiting protrusion, and the other is provided with a limiting groove. The size of the limiting groove is larger than the size of the limiting protrusion, so that the limiting protrusion can move in the limiting groove. Specifically, in the embodiment shown in the figure, the fixed portion 1721 is provided with a limiting protrusion, and the movable portion 1722 is provided with a limiting groove.

[0101] Further, the limiting protrusion and the limiting groove cooperate to form a labyrinth structure. The labyrinth structure formed by the first protection member 171 and the second protection member 104 is the same, which can make the route of the external object entering the containing space β as long as possible, thereby achieving a better blocking protection effect. Optionally, a groove is arranged on the movable part 1722, which can cooperate with the protrusion arranged on the second protection member 104 to form a labyrinth structure.

[0102] FIGS. 13a-13d are structural schematic diagrams of the line body containing member 18 of the gimbal 100 from different perspectives according to an embodiment of the present application. Referring to FIG. 13, the gimbal 100 comprises the line body containing member 18. The line body containing member 18 is used to contain at least part of the line body 19 in the gimbal 100, and at least part of the line body 19 is wound on the line body containing member 18. The line body 19 rotates on the line body containing member 18, which can reduce the friction when the line body 19 moves, improve the service life of the line body 19, and also facilitate the storage of the line body 19 in the gimbal 100.

[0103] Specifically, the line body 19 comprises a first line body 191 and a second line body 192. When one of the first line body 191 and the second line body 192 moves away from the line body containing member 18, it can drive the line body containing member 18 to rotate, so that the other of the first line body 191 and the second line body 192 can move close to the line body containing member 18 and be wound on the line body containing member 18. This can facilitate the other line body to be contained on the line body containing member 18 when one of the first line body 191 and the second line body 192 moves away from the line body containing member 18, and avoid the line body 19 from being tangled and increasing the movement resistance of the gimbal 100.

[0104] FIG. 14 is a structural exploded schematic diagram of the line body containing member 18 of the gimbal 100 according to an embodiment of the present application. Referring to FIGS. 6 and 14, the first line body 191 extends towards the first shaft arm part 101, and the second line body 192 extends towards the second shaft arm part 102. When the shaft arm assembly 10 rotates around the axis B towards one end, part of the first line body 191 is wound on the line body containing member 18, and part of the second line body 192 extends from the line body containing member 18. When the shaft arm assembly 10 rotates around the axis B towards the other end, part of the second line body 192 is wound on the line body containing member 18, and part of the first line body 191 extends from the line body containing member 18. In this way, the problem of the storage of the line body 19 when the middle shaft arm part 103 rotates can be solved, the service life of the line body 19 can be improved, and the line body 19 can be prevented from coming out to hinder the rotational movement of the middle shaft arm part 103.

[0105] Specifically, the second driving member 16 drives the shaft arm assembly 10 to slide towards the side where the first shaft arm part 101 is located, and the first shaft arm part 101 drives the first wire body 191, so that the second driving member 16 can drive the first wire body 191 to move away from the wire body storage member 18. The second driving member 16 drives the shaft arm assembly 10 to slide towards the side where the second shaft arm part 102 is located, and the second shaft arm part 102 drives the second wire body 192, so that the second driving member 16 can drive the second wire body 192 to move away from the wire body storage member 18.

[0106] Referring to FIG. 6, the intermediate shaft arm part 103 is provided with a first wire body storage groove 1031, a second wire body storage groove 1032, and a wire body leading-out port 1033. The wire body leading-out port 1033 is located in the middle of the intermediate shaft arm part 103. Referring to FIG. 6 and FIG. 14 together, the first wire body 191 is led out from the first rotating shaft 111 and wired along the first wire body storage groove 1031, and then extends out from the wire body leading-out port 1033. The second wire body 192 is led out from the second rotating shaft 121 and wired along the second wire body storage groove 1032, and then extends out from the wire body leading-out port 1033. The extended first wire body 191 and the extended second wire body 192 are connected to the wire body storage member 18.

[0107] Because the intermediate shaft arm part 103 rotates or turns, it will drive the first wire body 191 and the second wire body 192 to stretch, which may cause the first wire body 191 and the second wire body 192 to rub inside the gimbal 100, not only easily causing the wire body 19 to wear out, but also easily causing the rotation resistance of the intermediate shaft arm part 103 to increase. Therefore, the wire body storage member 18 is adopted in the embodiment, which can make the movement of the wire body 19 become rotation on the wire body storage member 18, so as to reduce the friction of the wire body 19, increase the service life of the wire body 19, and reduce the resistance to the rotation or turning of the intermediate shaft arm part 103, and improve the control flexibility of the gimbal 100.

[0108] For example, the first wire body 191 can include a signal transmission wire body of the load 200. The second wire body 192 can include a signal transmission wire body of the first driving member 15. The wire body 19 can be a coaxial wire, or an FPC.

[0109] Referring to FIG. 13, the wire body 19 includes at least two wire bodies 19. The at least two wire bodies 19 are divided into two groups of wire bodies 19. Optionally, the winding direction of one group of wire bodies 19 is opposite to the winding direction of the other group of wire bodies 19.

[0110] The wire body storage member 18 comprises a storage portion 181 and a support portion 182. The storage portion 181 is sleeved on the support portion 182, and the two groups of wire bodies 19 are wound on the storage portion 181. Specifically, the storage portion 181 can rotate around the axis of the support portion 182 under the traction of one group of wire bodies 19, so that the other group of wire bodies 19 can be wound on the storage portion 181. The storage portion 181 is used for storing the wound wire bodies 19. The support portion 182 is used for constraining the storage portion 181 to rotate under the traction of one group of wire bodies 19, so as to drive the other group of wire bodies 19 to be wound on the storage portion 181. The support portion 182 and the storage portion 181 cooperate with each other to realize convenient storage of the wire bodies 19.

[0111] For example, the wire body storage member 18 can be arranged on the driving member of the gimbal 100, so as to improve the space utilization and facilitate miniaturization of the gimbal 100. For example, the wire body storage member 18 can be arranged on the third driving member of the gimbal 100. Optionally, the third driving member is used for driving the load 200 to rotate around the roll axis. Optionally, the support portion 182 is coaxially arranged with the central axis of the third driving member. The storage portion 181 is coaxially arranged with the central axis of the third driving member.

[0112] In some optional embodiments of the present application, the third driving member can be used for supporting the wire body storage member 18. In another optional embodiment of the present application, the third driving member can be used for driving the wire body storage member 18 to rotate. Of course, the wire body storage member 18 can also be arranged at other positions inside the gimbal 100. For example, the wire body storage member 18 can be arranged on the yaw axis assembly or the pitch axis assembly. The number of the wire body storage member 18 can be one or more, and the number of the wire body storage member 18 is not limited in the embodiments of the present application.

[0113] For example, the storage portion 181 comprises a winding wheel. The winding wheel is provided with a winding groove 1811 on the outer periphery. At least part of the wire body 19 can be wound in the winding groove 1811. By arranging the winding wheel, the storage problem of the wire body 19 can be solved when the shaft arm assembly 10 rotates greatly, the wire body 19 is prevented from moving greatly in the gimbal 100, and the resistance to the movement of the shaft arm assembly 10 is reduced. Optionally, the number of the winding grooves 1811 matches the number of the wire bodies 19. For example, the number of the wire bodies 19 is two, and the number of the winding grooves 1811 is also two. Of course, the number of the winding grooves 1811 can be more than the number of the wire bodies 19. For example, the number of the wire bodies 19 is two, and the number of the winding grooves 1811 can be three or more. The number of the wire bodies 19 and the number of the winding grooves 1811 are not limited in the embodiments of the present application.

[0114] Fig. 15 is a structural schematic block diagram of the gimbal load 1001 and the movable platform 1000 according to an embodiment of the present application. Referring to Fig. 15, the gimbal load 1001 can specifically include the load 200 and the gimbal 100 of any of the foregoing embodiments, and the structure of the gimbal 100 will not be repeated here.

[0115] The movable platform 1000 can specifically include the moving body 1002 and the gimbal load 1001 of any of the foregoing embodiments. The gimbal load 1001 is connected to the moving body 1002. The structure of the gimbal load 1001 can be the same as that of the gimbal load 1001 of any of the foregoing embodiments, and will not be repeated here.

[0116] Referring to Figs. 2 and 6, in implementing the above embodiments, one or more of the following components can be selectively used:

[0117] (1) Load 200: externally composed of front and rear housings, and internally composed of the load 200 body. One side is connected to the first driving member 15, and the other side is connected to the first rotating shaft 111, constituting the inner ring of the double-end support tuning coaxial structure.

[0118] (2) First rotating shaft mechanism 11: one end is connected to the side wall of the load 200 through a second dismounting part 113 such as a flange structure. The other end is embedded in the inner ring of the two bearings 1121 in the movable member 132, cooperating with the movable member 132 and the height adjusting member 1122.

[0119] (3) Fixed member 131: internally providing a chamber for the movable member 132, the elastic member 141, and / or the rigid member 142, and used for assembling and positioning one or more of the above components. The fixed member 131 is externally provided with a first dismounting part 1311 for connecting to the first shaft arm part 101. The first dismounting part 1311 can include a flange structure.

[0120] (4) Elastic member 141: optionally, the elastic member 141 can be made of low-friction plastic. The low-friction plastic can include POM material. The POM material can effectively reduce the resistance when the movable member 132 rotates, and the POM material is softer than metal material. When installed, a certain pre-tightening force can be applied to the movable member 132 in advance to compensate for the assembly gap of other components in the movable member 132 due to temperature influence. When the tuning coaxial structure eliminates the unbalanced winding force, the original structural rigidity of the double-end support form is maintained as much as possible.

[0121] (5) Movable member 132: the core component of the double-end support tuning coaxial structure, responsible for providing spherical constraint to the first rotating shaft 111. Used to eliminate the disturbance error caused by the different shafts of the first rotating shaft 111 and the second rotating shaft 121 due to machining and assembly, and prevent over-constraint.

[0122] (6) Shaft connecting piece 112: a core component that restricts 5 degrees of freedom in addition to rotation around the pitch axis. The shaft connecting piece 112 can include bearings 1121, which can be placed in pairs on one side. Specifically, the bearings 1121 can be deep groove ball bearings, angular contact bearings, or radial bearings. Pre-tightening force is applied by compressing the inner and outer rings on the adjacent and different sides, so as to eliminate the radial and axial clearances of the bearings 1121 and improve the stiffness of the double-end support.

[0123] (7) Height adjusting piece 1122: includes elastic washers used to adjust the distance between the adjacent inner and outer rings of the two bearings 1121, so as to prevent the inner and outer rings of the two bearings 1121 from having too large a clearance and being unable to generate pre-tightening force when fitted together.

[0124] (8) Stiffness piece 142: a device for applying pre-tightening force to the movable piece 132. Considering wear resistance and friction reduction, the stiffness piece 142 is generally made of copper alloy.

[0125] (9) First shaft arm part 101 and second shaft arm part 102: The first shaft arm part 101 and the second shaft arm part 102 are respectively connected to the two ends of the middle shaft arm part 103. The three parts can together form a C-shaped shaft arm assembly 10, which serves as a double-end support.

[0126] (10) First driving piece 15: placed between the second shaft arm part 102 and the load 200. Responsible for driving the load 200 to rotate around the second rotation shaft 121.

[0127] Due to the machining and assembly precision problem, the first rotation shaft and the second rotation shaft of the common gimbal cannot be absolutely coaxial or concentric, and when rotating, different axial forces and radial forces will be generated in the two end bearings, thereby bringing additional and uneven pre-tightening force to the bearings. This uneven pre-tightening force will generate disturbing force. In order to solve the problem of disturbing force, the double-end support structure is often released. This solution makes the double-end support actually become a single-end support, and the rotational support stiffness is greatly weakened, resulting in poor gimbal resonance modal characteristics. In order to pursue performance and improve stiffness, it is inevitable to add a double-end support structure, but the ordinary double-end support structure has very high requirements for machining and assembly precision. Even so, there is still a disturbing force problem. Therefore, it has always been a bottleneck for mass production and low-cost machining.

[0128] To solve the above problems, the embodiment of the present application introduces a double-end support structure with adjusting assembly 13, which can effectively constrain the other five degrees of freedom except the rotation around the coaxial line A of the first rotation shaft 111 and the second rotation shaft 121, form a substantially closed structure, and does not produce any coupling, interference, disturbance problems, improve the resonance modal frequency of the holder 100, and at the same time reduce the rotation disturbance problems caused by the misalignment of the two ends due to the manufacturing error and assembly error of the parts. Compared with the single-end support structure, the double-end support structure can significantly improve the resonance modal frequency of the holder 100, improve the ability to resist external rotation force, and obtain clearer and more stable pictures. The adjusting assembly 13 at one end can reduce the rotation rebound disturbance problems of the double-end support structure holder 100 caused by the misalignment of the two ends due to the manufacturing error and assembly error of the parts, improve the rotation smoothness and production yield of the holder 100, and at the same time reduce the precision requirements of the parts to a certain extent, thereby reducing the production cost.

[0129] Please refer to FIG. 2, FIG. 11 and FIG. 12, in the implementation of the above-mentioned various embodiments, one or more of the following components can be selectively used to achieve:

[0130] (1) The first shaft arm part 101 and the second shaft arm part 102 can be an extension of the middle shaft arm part 103. The upper and lower surfaces thereof are provided with a second protective member 104, for example, a convex labyrinth groove. It is used in cooperation with the first protective member 171 in the base 17, for example, a concave labyrinth groove, to play a dustproof role.

[0131] (2) The third protective member 172 is sleeved on the first shaft arm part 101 and the second shaft arm part 102, and is placed in the floating clamping groove at the front end of the base 17. When the middle shaft arm part 103 rotates, it can effectively scrape off the dust adhered to the upper and lower surfaces and the outer surface of the shaft arm assembly 10, prevent the size of the particles from entering the second driving member 16, and prevent the shaft arm assembly 10 from being stuck.

[0132] (3) The base 17 can include 1) left and right shaft arm support seats. The inner side thereof is provided with a first protective member 171, for example, a concave labyrinth groove, which can be matched with the second protective member 104 provided on the shaft arm assembly 10, for example, the convex labyrinth groove provided on the upper and lower surfaces, to play a role of isolating large particle dust pollutants. In addition, a reinforcing rib is arranged at the concave labyrinth groove to increase the cross-sectional modulus of the upper and lower disturbance and torsion, enhance the anti-extrusion ability of the middle shaft arm part 103, and effectively prevent the middle shaft arm part 103 from falling out; 2) upper and lower shaft arm support seats. The upper and lower sides thereof can be matched with the second protective member 104 of the shaft arm assembly 10, for example, the convex labyrinth groove, and the left and right sides can be tangent to the left and right shaft arm support seats, so that the entire second driving member 16 is in a closed structure surrounded by the middle shaft arm part 103 and the base 17.

[0133] (4) The middle shaft arm part 103: Its left and right front ends are connected with the first shaft arm part 101 and the second shaft arm part 102 respectively, and it plays a role in supporting the first rotating shaft 111 and the second rotating shaft 121. The rear end is attached with the rotor magnet of the second driving part 16, which is used to drive the load 200 to rotate around the axis B.

[0134] (5) The second driving part 16: It is composed of a stator seat, a stator winding, and a supporting bearing 1121. The second driving part 16 can jointly form a rotating device with the middle shaft arm part 103.

[0135] (6) The first driving part 15: It is used to drive the load 200 to rotate around the axis A.

[0136] (7) The cover 105: It is used to cover the side surface of the shaft arm assembly 10, so that the side surface of the shaft arm assembly 10 is matched with the third protective part 172.

[0137] For the middle shaft arm part rotating support type holder, the rotating contour precision of the shaft arm and the dustproof sealing gap precision affect each other. If the dustproof effect is to be improved, the dustproof gap has to be reduced, which will increase the requirement for the rotating contour precision of the middle shaft arm part, and the overall machining and assembling precision of the shaft arm assembly has to be improved due to the dustproof problem, which leads to the difficulty in mass production. If the original requirement for the rotating contour precision of the middle shaft arm part is kept unchanged, the dustproof gap has to be enlarged to a suitable clearance distance, which greatly weakens the dustproof effect.

[0138] Therefore, the embodiment of the present application provides a protective part, which can meet the requirement for a small dustproof gap, release the requirement for the rotating precision of the middle shaft arm part 103 in a floating manner, greatly reduce the sealing gap of the holder 100, improve the sealing performance of the holder 100, and reduce the interference and friction problems caused by the protective part as much as possible, and achieve a low production cost. By arranging the first protective part 171 and the second protective part 104, the annular gap between the moving part and the static part of the holder 100 can be reduced, the entry of large particles is prevented, and the ability of the holder 100 to resist bad dust and bad environment is improved. The third protective part 172 can further fill the end surface gap between the moving part and the static part, and adapt to the gap change caused by the machining and mutual assembling errors of the moving part and the static part. Since the moving part and the static part always maintain a small gap, and the friction of the third protective part 172 is small, the overall rotating resistance is small, and the control of the holder 100 is less affected.

[0139] Please refer to FIG. 13 and FIG. 14, when the above-mentioned embodiments are implemented, one or more of the following components can be selectively used:

[0140] (1) The receiving part 181: It is used to receive the wire 19 such as the shaft cable wound in the holder 100. The receiving part 181 can include an annular winding wheel.

[0141] (2) The support part 182 is used to constrain the receiving part 181 to rotate under the traction of the wire body 19. The support part 182 can include a ring-shaped bobbin support seat.

[0142] (3) The first wire body 191 and the second wire body 192: One of the first wire body 191 and the second wire body 192 is a coaxial line on the left side of the intermediate shaft arm part 103, and the other is a coaxial line on the right side of the intermediate shaft arm part 103.

[0143] When the shaft arm assembly 10 rotates, by setting the wire body receiving part 18, the sliding friction mode of the wire body 19 can be changed to a rolling friction mode, greatly reducing the friction force on the wire body 19, while the wire body 19 is always received on the receiving part 181, which can effectively reduce the risk of the wire body 19 being squeezed or scratched, and improve the service life of the wire body 19. When the shaft arm assembly 10 rotates greatly, the wire body 19 can be conveniently received, preventing the wire body 19 from moving greatly in the gimbal 100, increasing the rotation resistance of the shaft arm assembly 10, which is conducive to improving the rotation flexibility of the shaft arm assembly 10, and further improving the control accuracy of the gimbal 100.

[0144] It should be noted that various technical features in the above embodiments can be combined arbitrarily, as long as the combination of the features does not conflict or contradict, and therefore any combination of various technical features in the above embodiments also falls within the scope disclosed by the present specification.

[0145] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "mechanical coupling", "coupling" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected. It can be mechanically connected or electrically connected. It can be directly connected or indirectly connected through an intermediate medium. It can be the communication between two elements or the interaction between two elements. The mechanical coupling or coupling of two components includes direct coupling and indirect coupling, for example, direct fixed connection, connection through a transmission mechanism, etc. The mechanical coupling of two components can be understood as the existence of mechanical connection and / or mechanical interaction between two components. Mechanical connection includes but is not limited to at least one of the following: rotary connection, movable connection, sliding connection and abutment, etc. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0146] In the present application, unless specifically defined otherwise, the phrase "on" or "under" a first feature with respect to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Also, the phrase "on", "above", and "on top of" a first feature with respect to a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. The phrase "under", "below", and "underneath" a first feature with respect to a second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0147] The above disclosure provides many different embodiments or examples for implementing different structures of the present application. For the purpose of simplicity, in the above description, a specific example of components and arrangements is recited. Of course, they are merely examples and are not intended to limit the present application. Furthermore, the present application can repeat the reference numerals and / or reference letters in different examples and this repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and / or configurations discussed. Moreover, the present application provides examples of various specific processes and materials, but one of ordinary skill in the art will readily understand that other processes and / or materials can be used.

[0148] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example" or "some examples" etc. means that the specific method steps, features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific method steps, features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0149] The above description is merely specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be subject to the scope of protection of the claims.

Claims

1. A gimbal, comprising: The application relates to a gimbal arm assembly, comprising: a first shaft arm part and a second shaft arm part; a first shaft mechanism mechanically coupled with the first shaft arm part, the first shaft mechanism comprising a first shaft and a shaft connector mechanically coupled with the first shaft; a second shaft mechanism mechanically coupled with the second shaft arm part, the second shaft mechanism comprising a second shaft; and an adjusting assembly mechanically coupled with the first shaft mechanism, wherein the first shaft arm part is connected to one side of a load carried by the gimbal through the first shaft mechanism, the second shaft arm part is connected to the other side of the load through the second shaft mechanism, so that the load can be rotatably connected with the shaft arm assembly through the first shaft mechanism, the second shaft mechanism and the shaft arm assembly; the first shaft and the second shaft are coaxially arranged, the first shaft is used for being connected with the load, the adjusting assembly is located at the end of the first shaft away from the load, and the adjusting assembly can allow the shaft connector to be adjusted relative to (1) the part where the first shaft arm part is connected with the shaft connector or (2) the inclination angle of the first shaft, so that the shaft connector and the first shaft are adaptively matched.

2. The head according to claim 1, characterized in that, the adjusting assembly comprises a first universal joint, the first universal joint comprises an inner rotating part and an outer rotating part opposite to the inner rotating part in rotation, the shaft connector is connected with one of the inner rotating part and the outer rotating part, and the first shaft is connected with the other one of the inner rotating part and the outer rotating part.

3. The head according to claim 2, characterized in that, the first universal joint is a magnetic universal joint.

4. The head according to claim 1, characterized in that, the adjusting assembly comprises a fixed part and a movable part, the fixed part is fixedly connected with the first shaft arm part, the movable part is connected with the shaft connector and is used for driving the shaft connector to move relative to the fixed part, so as to adjust the inclination angle of the shaft connector.

5. The head according to claim 4, characterized in that, the first end of the first shaft can move on the side of the load until the first end is fixed at a first target position, the second end of the first shaft is coupled with the shaft connector; when the first shaft is at the first target position, the first shaft can be coaxially arranged with the second shaft.

6. The head according to claim 4, characterized in that, the fixed part can move on the first shaft arm part until the fixed part is fixed at a second target position, the movable part can move relative to the fixed part to adjust the angle of the shaft connector relative to the fixed part, so that the first shaft and the shaft connector are finally matched.

7. The head according to claim 4, characterized in that, the first end of the first shaft is fixed at the first target position on the side of the load, the fixed part is fixed at the second target position on the first shaft arm part, and the line between the first target position and the second target position is coaxial with the second shaft.

8. The head according to claim 4, characterized in that, the first end of the first shaft is detachably connected to the side of the load, and / or the fixed part is detachably connected to the first shaft arm part.

9. The head according to claim 8, characterized in that, the outer side of the fixed part is provided with a first dismounting part, the first dismounting part is detachably connected with the first shaft arm part; and / or the outer side of the first shaft is provided with a second dismounting part, the second dismounting part is detachably connected with the side of the load.

10. The head according to claim 4, characterized in that, The inner side of the fixed part is formed with a receiving cavity, and the movable part is arranged at least partially in the receiving cavity.

11. The head according to claim 4, characterized in that, The fixed part is provided with a shaft hole, and the first rotating shaft is coaxial with the axis of the shaft hole of the fixed part; or, The axis of the shaft hole of the fixed part and the first rotating shaft have a non-zero included angle.

12. The head according to claim 4, characterized in that, The movable part can roll on the inner side of the fixed part to adjust the inclination angle of the shaft joint relative to the fixed part.

13. The head according to claim 4, characterized in that, The movable part is annular in structure and can be arranged coaxially with the first rotating shaft.

14. The head according to claim 13, characterized in that, When the first rotating shaft rotates, the position of the movable part can be kept fixed to maintain the coaxiality of the first rotating shaft and the second rotating shaft.

15. The head according to claim 4, characterized in that, The movable part comprises a second universal joint.

16. The head according to claim 15, characterized in that, The second universal joint comprises a spherical hinge.

17. The head according to claim 4, characterized in that, The shaft joint is located between the first rotating shaft and the movable part and is used to support the rotation of the first rotating shaft.

18. The head according to claim 17, characterized in that, The shaft joint comprises at least two bearings arranged side by side, and the first rotating shaft passes through the at least two bearings at the same time.

19. The head according to claim 18, wherein, Each bearing comprises a ball, an inner ring and an outer ring, and the ball has substantially no gap with the inner ring and the outer ring of the bearing, respectively.

20. The head according to claim 18, wherein, The shaft joint further comprises a height adjusting part arranged between the outer rings of the two bearings to leave a gap between the inner rings of the two bearings.

21. The head according to claim 18, wherein, The height adjusting part is annular in structure and is sleeved on the first rotating shaft.

22. The gimbal of claim 16, wherein, The shaft joint further comprises a pre-tightening shaft, and the inner rings of the two bearings are sleeved on the pre-tightening shaft, and the pre-tightening shaft is sleeved on the first rotating shaft.

23. The head according to claim 4, wherein, The gimbal further comprises a pre-tightening assembly connected with the movable part and the fixed part, respectively, to provide the movable part with an elastic pre-tightening force relative to the fixed part.

24. The head according to claim 23, wherein, The pre-tightening assembly comprises an elastic part and a rigid part, the elastic part and the rigid part are located at two ends of the movable part and abut against the two ends of the movable part, and the elastic part and the rigid part can cooperate to provide the elastic pre-tightening force.

25. The head according to claim 24, wherein, The rigid part is annular in structure and is at least partially accommodated in the fixed part and abuts against one end of the movable part accommodated at least partially in the fixed part; and / or the elastic part is annular in structure and is accommodated in the fixed part and abuts against the other end of the movable part accommodated at least partially in the fixed part.

26. The head according to claim 1, wherein The second rotating shaft is the central shaft of the first driving part.

27. The head according to claim 26, wherein, The coaxial line of the first rotating shaft and the second rotating shaft is an axis A, the first driving part is mounted on the second shaft arm part, and the first driving part can drive the load to rotate around the axis A.

28. The head according to claim 26, wherein, The first driving part is arranged between the second shaft arm part and the load, or the first driving part is located on the side of the second shaft arm part away from the load.

29. The head according to claim 26, wherein, The first driving part is a motor, and the second rotating shaft is a motor shaft.

30. The head according to claim 29, wherein, The motor is an external rotor motor, the motor shaft rotates together with the rotor of the motor, and the rotor of the motor is fixedly connected with the load.

31. The head according to claim 29, wherein, The motor is an external rotor motor, the motor shaft rotates together with the stator of the motor, and the stator of the motor is fixedly connected with the load.

32. The head according to claim 1, characterized in that, The shaft arm assembly further comprises a middle shaft arm part, two ends of the middle shaft arm part are connected with the first shaft arm part and the second shaft arm part respectively, and the shaft arm assembly is used for supporting the load.

33. The head according to claim 32, wherein, The shape of the shaft arm assembly comprises an arc shape.

34. The head according to claim 32, wherein, The first shaft arm part is detachably connected with the middle shaft arm part, or / and the second shaft arm part is detachably connected with the middle shaft arm part.

35. The head according to claim 32, wherein, The holder further comprises a second driving member, the second driving member is connected with the middle shaft arm part and can drive the shaft arm assembly to rotate around the axis B to drive the load to rotate around the axis B.

36. The head according to claim 35, wherein, One side of the shaft arm assembly is provided with a containing space α, the containing space α can be used for containing at least part of the load, and the second driving member is arranged on the other side of the shaft arm assembly.

37. The head according to claim 35, wherein, The holder further comprises a base, the base and the shaft arm assembly enclose a containing space β, and the second driving member is arranged in the containing space β.

38. The head according to claim 37, wherein, The base is provided with a first protection member, the shaft arm assembly is provided with a second protection member, and the first protection member and the second protection member are matched with each other to hinder external objects from entering the containing space β.

39. The head according to claim 38, wherein, The shaft arm assembly is at least partially sleeved on the base, the second driving member can drive the shaft arm assembly to slide relative to the base along the curved extension direction of the shaft arm assembly, the base comprises a first side edge and a second side edge which are oppositely arranged and extend along the sliding direction, the shaft arm assembly comprises a third side edge and a fourth side edge which are oppositely arranged and extend along the sliding direction, the first protection member is arranged on the first side edge and / or the second side edge, and the second protection member is arranged on the third side edge and / or the fourth side edge.

40. The head according to claim 38, wherein, One of the first protection member and the second protection member is provided with a recess, and the other is provided with a protrusion, the protrusion is at least partially accommodated in the recess, and there is a gap between the protrusion and the inside of the recess, when the shaft arm assembly slides relative to the base, the protrusion synchronously slides in the recess.

41. The head according to claim 40, wherein, The recess and the protrusion cooperatively form a labyrinth structure.

42. The head according to claim 38, wherein, The first protection member is provided with a anti-disengagement part, and the anti-disengagement part is used for limiting the shaft arm assembly in the axial direction of the axis B and / or in the radial direction of the axis B.

43. The head according to claim 37, wherein, The base is provided with a third protection member, the third protection member is arranged on the outer surfaces of the two ends of the shaft arm assembly to hinder external objects from entering the containing space β.

44. The head according to claim 43, wherein, The third protection member comprises a fixed part fixedly arranged on the base and a movable part movably connected with the fixed part, and the movable part can move in the axial direction of the axis B and / or in the radial direction of the axis B.

45. The head according to claim 44, wherein, When the gaps between the two ends of the shaft arm assembly and the base are uneven, the movable part can move relative to the fixed part.

46. The head according to claim 44, wherein, One of the fixed part and the movable part is provided with a limiting protrusion, and the other is provided with a limiting recess, the size of the limiting recess is greater than the size of the limiting protrusion, so that the limiting protrusion can move in the limiting recess.

47. The head according to claim 46, wherein, The limiting protrusion and the limiting recess cooperatively form a labyrinth structure.

48. The head according to claim 1, wherein, The gimbal further comprises a wire body receiving member for receiving at least part of the wire body in the gimbal, at least part of the wire body being wound on the wire body receiving member.

49. The head according to claim 48, wherein, The wire body comprises a first wire body and a second wire body, one of the first wire body and the second wire body being capable of driving the wire body receiving member to rotate when moving in a direction away from the wire body receiving member, so that the other of the first wire body and the second wire body is capable of moving towards the wire body receiving member and being wound on the wire body receiving member.

50. The head according to claim 49, wherein, The gimbal further comprises a second driving member, the shaft arm assembly further comprises an intermediate shaft arm portion, the second driving member is connected with the intermediate shaft arm portion and is capable of driving the shaft arm assembly to rotate around the axis B, two ends of the intermediate shaft arm portion are connected with the first shaft arm portion and the second shaft arm portion respectively; The first wire body is arranged to extend towards the first shaft arm portion, the second wire body is arranged to extend towards the second shaft arm portion, when the shaft arm assembly rotates around the axis B towards one end, part of the first wire body is wound on the wire body receiving member, part of the second wire body is stretched out from the wire body receiving member; when the shaft arm assembly rotates around the axis B towards the other end, part of the second wire body is wound on the wire body receiving member, part of the first wire body is stretched out from the wire body receiving member.

51. The head according to claim 50, wherein, The intermediate shaft arm portion is provided with a first wire body receiving groove, a second wire body receiving groove and a wire body leading-out port, the wire body leading-out port is located in the middle of the intermediate shaft arm portion, the first wire body is led out from the first rotating shaft and is wired along the first wire body receiving groove, then the first wire body is stretched out from the wire body leading-out port, the second wire body is led out from the second rotating shaft and is wired along the second wire body receiving groove, then the second wire body is stretched out from the wire body leading-out port, the stretched-out first wire body and the stretched-out second wire body are connected to the wire body receiving member.

52. The head according to claim 50, wherein, The second driving member drives the shaft arm assembly to slide towards the side where the first shaft arm portion is located, the first shaft arm portion drives the first wire body, so that the second driving member is capable of driving the first wire body to move in a direction away from the wire body receiving member; the second driving member drives the shaft arm assembly to slide towards the side where the second shaft arm portion is located, the second shaft arm portion drives the second wire body, so that the second driving member is capable of driving the second wire body to move in a direction away from the wire body receiving member.

53. The head according to claim 48, wherein, The wire body comprises at least two wire bodies, the at least two wire bodies are divided into two groups of wire bodies, the winding direction of one group of wire bodies is opposite to the winding direction of the other group of wire bodies.

54. The head according to claim 53, wherein, The wire body receiving member comprises a receiving portion and a supporting portion, the receiving portion is sleeved on the supporting portion, part of the two groups of wire bodies is wound on the receiving portion; the receiving portion is capable of rotating around the axis direction of the supporting portion under the driving of one group of wire bodies, so that part of the other group of wire bodies is capable of being wound on the receiving portion.

55. The head according to claim 54, wherein, The receiving portion comprises a wire winding wheel, a wire winding groove is arranged on the outer circumferential surface of the wire winding wheel, at least part of the wire body is capable of being wound in the wire winding groove.

56. The head according to claim 55, wherein, The number of the winding grooves matches the number of the wire bodies.

57. A gimbal, comprising: Comprise: The shaft arm assembly comprises a first shaft arm part and a second shaft arm part; The first shaft mechanism is mechanically coupled with the first shaft arm part, and the first shaft mechanism comprises a first shaft; The second shaft mechanism is mechanically coupled with the second shaft arm part, and the second shaft mechanism comprises a second shaft; and The adjusting assembly is mechanically coupled with the first shaft mechanism, and the adjusting assembly comprises a fixed part and a movable part; Wherein, the movable part can move relative to the fixed part to adjust the inclination angle of the first shaft relative to the axis of the fixed part, so that when the first shaft and the second shaft are coaxially arranged, the first shaft arm part can be connected with the load through the first shaft mechanism and keep the support connection between the first shaft arm part and the load.

58. A gimbal load, comprising: The gimbal load comprises a load and the gimbal of any one of claims 1-57, and the load is connected to the gimbal.

59. A movable platform, characterized by The movable platform comprises a moving body and the gimbal load of claim 58, and the gimbal load is connected to the moving body.

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