WO2022068047A1

WO2022068047A1 - Gimbal stabilizer

Info

Publication number: WO2022068047A1
Application number: PCT/CN2020/134375
Authority: WO
Inventors: 郑卫锋; 段瑞刚; 陈立业
Original assignee: 苏州臻迪智能科技有限公司
Priority date: 2020-09-29
Filing date: 2020-12-08
Publication date: 2022-04-07

Abstract

Provided is a gimbal stabilizer, comprising: a base; a first rotating electric motor and a second rotating electric motor; and an arm portion comprising a first arm and a second arm, with one end of the first arm being pivotally mounted on the base by means of the first rotating electric motor, wherein the second rotating electric motor is connected to the other end of the first arm by means of a hinge shaft, and one end of the second arm is connected to the second rotating electric motor, and can be thus driven by the second rotating electric motor to rotate. According to the embodiments of the present disclosure, the area of storage space of the gimbal stabilizer can be reduced, and the convenience of carrying, the convenience in use and the practicability of the gimbal stabilizer are improved.

Description

gimbal stabilizer

technical field

The present disclosure generally relates to the technical field of gimbal, and in particular, to a gimbal stabilizer.

Background technique

With the increase of people's demand for photography and the improvement of the quality of shooting images, more and more people choose to use the gimbal stabilizer as an auxiliary tool for daily shooting, for holding mobile phones, PADs, cameras or other electronic devices. However, currently known stabilizers on the market are generally bulky, inconvenient to carry, and have a single function, which have become the major pain points for people to use stabilizers.

The contents in the background art section are only technologies known to the inventors, and do not necessarily represent the prior art in the field.

SUMMARY OF THE INVENTION

The embodiments of the present disclosure overcome the defects of the prior art such as large size and inconvenience of carrying a gimbal stabilizer by providing a gimbal stabilizer.

In view of at least one defect of the prior art, the present disclosure proposes a gimbal stabilizer, including:

pedestal;

a first rotating electrical machine and a second rotating electrical machine; and

an arm part, the arm part includes a first arm and a second arm, one end of the first arm is pivotally mounted on the base by the first rotating motor, wherein the second rotating motor is passed through A hinge shaft is connected to the other end of the first arm, and one end of the second arm is connected to the second rotary motor so as to be rotatably driven by the second rotary motor.

According to one aspect of the present disclosure, wherein the second arm is pivotable about the hinge axis for movement between a folded position and an unfolded position, wherein in the folded position the second arm is proximate the first arm and substantially flush with the first arm.

According to one aspect of the present disclosure, wherein the first arm is substantially L-shaped, the second arm is received in the void of the first arm in the folded position.

According to an aspect of the present disclosure, there is further included a third rotating electric machine connected to the other end of the second arm.

According to an aspect of the present disclosure, further comprising: wherein the rotation axis of the first arm is perpendicular to the hinge axis, the hinge axis is perpendicular to the rotation axis of the second rotary electric machine, and the rotation of the second rotary electric machine The axis is perpendicular to the axis of rotation of the third rotating electrical machine.

According to an aspect of the present disclosure, it further comprises: a handle, the handle has an accommodating space inside, wherein the base is accommodated in the accommodating space, and the gimbal stabilizer has an extended state and a stored state, in which In the extended state, the arm portion extends out of the accommodating space; in the accommodating state, the arm portion and the base are accommodated in the accommodating space.

According to an aspect of the present disclosure, wherein the first arm is hinged to the base through a hinge shaft, wherein the axis of rotation of the hinge shaft is perpendicular to the axis of rotation of the first rotating electrical machine.

According to an aspect of the present disclosure, wherein the base is slidable in the accommodating space between a first position and a second position, wherein when the base is in the first position, the gimbal stabilizer in an extended state; when the base is in the second position, the gimbal stabilizer is in a retracted state, the handle has a first locking portion and a second locking portion, wherein the first locking portion is configured to The base is locked in the first position, and the second locking portion is configured to lock the slider in the second position.

According to one aspect of the present disclosure, wherein the first locking portion and the second locking portion comprise a snap or snap hole; the base is provided with a snap hole corresponding to the first locking portion and the second locking portion or snaps.

According to an aspect of the present disclosure, wherein a second battery and a controller are provided in the base, the second battery is used to supply power to the first rotating electrical machine, the second rotating electrical machine and the third rotating electrical machine, the The controller is configured to control the first rotating electrical machine, the second rotating electrical machine and the third rotating electrical machine.

According to an aspect of the present disclosure, wherein a second battery and a controller are provided in the base, the second battery is used to supply power to the first rotating electrical machine, the second rotating electrical machine and the third rotating electrical machine, the A controller is configured to control the first, second, and third rotating electrical machines, and the handle includes a first battery configured to charge the second battery.

According to one aspect of the present disclosure, the handle includes a wireless charging module, the wireless charging module is coupled to the first battery, and is configured to wirelessly charge a load placed on the handle.

According to an aspect of the present disclosure, an operation unit is further included, and the operation unit is configured to control the actions of the first rotating electrical machine, the second rotating electrical machine, and the third rotating electrical machine through the controller.

According to an aspect of the present disclosure, wherein the operation unit is a remote control, and the remote control is detachably connected to the handle.

According to an aspect of the present disclosure, when the gimbal stabilizer is in a stowed state, the remote controller can close the open end of the accommodating space.

According to an aspect of the present disclosure, a fixed foot pad and a movable foot pad are further included, and the fixed foot pad and the movable foot pad are arranged on the bottom of the base to support the gimbal stabilizer.

According to an aspect of the present disclosure, a fixed foot pad and a movable foot pad are further included, and the fixed foot pad and the movable foot pad are arranged on the bottom of the handle to support the gimbal stabilizer.

According to an aspect of the present disclosure, the gimbal stabilizer further includes a load protection shell, the load protection shell is used for installing a load, the arm is provided with a first quick-release fixing structure, and the load protection shell is provided with a first quick-release fixing structure. A second quick-release fixing structure for connecting with the first quick-release fixing structure is provided.

According to one aspect of the present disclosure, a third quick-release fixing structure is provided on the handle, and a fourth quick-release fixing structure for connecting with the third quick-release fixing structure is further provided on the load protection shell.

According to one aspect of the present disclosure, wherein the load protection shell includes a shell and a support frame, the second quick release fixing structure is provided on the back of the shell, and the support bracket is rotatably connected to the shell The back of the support frame has an unfolded state and a retracted state. When the support frame is unfolded, the support frame forms an angle with the shell; when the support frame is retracted, the support frame is attached to the on the back of the housing.

According to an aspect of the present disclosure, the second quick release fixing structure is an annular boss, the support frame is an annular structure, and when the support frame is retracted, the support frame is sleeved on the annular boss on the periphery of the table.

According to one aspect of the present disclosure, wherein the first quick release fixing structure includes a first magnet, and the second quick release fixing structure includes a second magnet.

The embodiments of the present disclosure provide a gimbal and its stabilizer, which reduces the storage space volume of the gimbal stabilizer, improves the portability, ease of use and practicability of the gimbal stabilizer, and makes its functions more diverse , the application is more extensive.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification, and together with the embodiments of the present disclosure, they are used to explain the present disclosure, and are not intended to limit the present disclosure. In the attached image:

1A shows an exploded view of a gimbal stabilizer according to an embodiment of the present disclosure;

FIG. 1B shows a schematic diagram of a first charging interface according to an embodiment of the present disclosure;

FIG. 2 shows a schematic diagram of a folded state of a gimbal stabilizer according to an embodiment of the present disclosure;

FIG. 3 shows a schematic diagram of the extended state of the gimbal stabilizer according to an embodiment of the present disclosure;

FIG. 4 shows a schematic diagram of a storage state of a gimbal stabilizer according to an embodiment of the present disclosure;

Figure 5 shows a cross-sectional view of a handle according to one embodiment of the present disclosure;

6 shows a schematic diagram of a gimbal stabilizer according to an embodiment of the present disclosure;

FIG. 7 shows a schematic diagram of a base according to an embodiment of the present disclosure;

FIG. 8 shows a schematic diagram of the internal structure of the handle according to an embodiment of the present disclosure;

FIG. 9 shows a schematic structural diagram of a handle according to an embodiment of the present disclosure;

FIG. 10 shows a schematic diagram of a handheld usage scenario of a gimbal stabilizer according to an embodiment of the present disclosure;

FIG. 11 shows a schematic diagram of a load protection case according to an embodiment of the present disclosure;

FIG. 12 shows a schematic diagram of a usage scenario of a handle and a load protection case according to an embodiment of the present disclosure;

FIG. 13 shows a schematic diagram of an extended state of a gimbal stabilizer according to another embodiment of the present disclosure;

FIG. 14 shows a schematic diagram of a first folded state of a gimbal stabilizer according to another embodiment of the present disclosure;

Fig. 15 shows a schematic diagram of a fully folded state of a gimbal stabilizer according to another embodiment of the present disclosure;

FIG. 16 shows a side view of a gimbal stabilizer in a fully folded state according to another embodiment of the present disclosure;

FIG. 17 shows a schematic diagram of a fully folded state of a gimbal stabilizer according to another embodiment of the present disclosure;

FIG. 18 shows a schematic diagram of a fully extended state of the gimbal stabilizer according to an embodiment of the present disclosure;

FIG. 19 shows a schematic diagram of the folding of the second arm of the gimbal stabilizer according to an embodiment of the present disclosure;

Figure 20 shows a schematic diagram of the folding of the second arm and the third arm according to one embodiment of the present disclosure;

Figure 21 shows a schematic diagram of a first arm folding process according to one embodiment of the present disclosure;

22A shows an internal schematic diagram of a storage state of a gimbal stabilizer according to an embodiment of the present disclosure;

22B shows an internal schematic diagram of a storage state of a gimbal stabilizer according to an embodiment of the present disclosure;

FIG. 23A shows a front view of a storage state of a gimbal stabilizer according to an embodiment of the present disclosure;

23B shows a schematic diagram of a storage state of a gimbal stabilizer according to an embodiment of the present disclosure;

Figure 24 shows a schematic diagram of a third rotating electrical machine according to one embodiment of the present disclosure; and

25 shows a schematic diagram of a load protection case according to one embodiment of the present disclosure.

Detailed ways

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature and not restrictive.

In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "top", "bottom", "front", " Or The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as a limitation of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be understood as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as "first", "second" may expressly or implicitly include one or more of said features. In the description of the present disclosure, "plurality" means two or more, unless expressly and specifically defined otherwise.

In the description of the present disclosure, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection: it can be a mechanical connection, an electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relation. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations.

In the present disclosure, unless otherwise expressly stated and defined, a first feature "on" or "under" a second feature may include the first and second features in direct contact, or may include the first and second features Not directly but through additional features between them. Also, the first feature being "above", "over" and "above" the second feature includes that the first feature is directly above and diagonally above the second feature, or simply means that the first feature is level higher than the second feature. The first feature "below", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature has a lower level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and arrangements of specific examples are described below. Of course, they are only examples and are not intended to limit the present disclosure. Furthermore, the present disclosure may repeat reference numerals and/or reference letters in different instances for the purpose of simplicity and clarity and not in itself indicative of a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

The preferred embodiments of the present disclosure will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, but not to limit the present disclosure.

The present disclosure provides a pan-tilt stabilizer, comprising a base, a rotating motor and an arm, wherein the arm is rotatably mounted on the base, and the arm includes a first arm and a second arm, so The first arm is rotatably mounted on the base, and the second arm is connected to the first arm through the rotary motor and is drivable by the rotary motor to rotate relative to the first arm. Various embodiments according to the present disclosure are described in detail below.

Example 1

FIG. 1A shows an exploded view of a gimbal stabilizer according to one embodiment of the present disclosure. As shown in FIG. 1A , the gimbal stabilizer 100 includes: a base 30 , a first rotating motor 22 , a second rotating motor 23 and an arm 21 . The arm portion 21 further includes a first arm 211 and a second arm 212 , and one end (eg, the lower end) of the first arm 211 is pivotally mounted on the base 30 via the first rotating motor 22 . Above, the first rotary motor 22 is used to drive the first arm 211 to rotate relative to the base 30 around a first rotation axis O1 , the axis O1 being, for example, parallel to the centerline direction of the base 30 . The second rotating electrical machine 23 is connected to the other end (eg, the upper end) of the first arm 211 through a hinge shaft 217, and one end of the second arm 212 is connected to the second rotating electrical machine 23, so that the The second rotating electrical machine 23 is driven to rotate around the second rotation axis O2.

FIG. 2 shows a schematic diagram of a folded state of a gimbal stabilizer according to an embodiment of the present disclosure. As shown in Figure 2, the second arm 212 is pivotable about the hinge shaft 217 to move between a folded position and an unfolded position. When the second arm 212 is in the folded position, the second arm is close to the first arm 211 and is substantially flush with the first arm 211, that is, in the folded position, the second arm The arm 212 and the second rotating motor 23 are accommodated in the vacant position of the first arm 211 together. At this time, the first arm 211 and the second arm 212 are parallel, or the first arm 211 and the The included angle between the second arms 212 is slightly larger than 0°, for example, between 0° and 10°.

According to an embodiment of the present disclosure, as shown in FIGS. 1A and 2 , the first arm 211 is substantially L-shaped, and when the second arm 212 rotates around the hinge shaft 217 toward the first arm 211 , the second arm 212 is in the folded position, so that the second arm 212 is received in the vacant part of the first arm 211 , so that the arm 21 can be folded into a very compact shape for easy storage. Specifically, as shown in FIG. 1A , the first arm 211 includes a transverse segment 2111 and a vertical segment 2112 , the transverse segment 2111 is arranged along the transverse direction, the vertical segment 2112 is arranged along the vertical direction, and the transverse segment 2111 is arranged along the vertical direction. The included angle with the longitudinal section 2112 is 80° to 100°, preferably 90°. And preferably, the length of the longitudinal section 2112 is greater than the length of the transverse section 2111, so that the first arm 211 is substantially L-shaped. The first rotating electrical machine 22 is mounted on the lateral section 2111 , the output shaft of the first rotating electrical machine 22 is arranged vertically, and the housing thereof is fixed to the lateral section 2111 . The output shaft of the first rotary motor 22 is fixedly connected to the base 30 , and the first rotary motor 22 drives the first arm 211 to rotate around the first rotation axis O1 . The vertical section 2112 is connected to the pitch bracket 213 through the hinge shaft 217 , so that the pitch frame 213 can rotate relative to the first arm 211 around the hinge shaft 217 . The second arm 212 includes a roll support 214, one end of the pitch support 213 is connected with the vertical section 2112 through a hinge shaft 217, and the other end of the pitch support 213 is fixedly connected with the housing of the second rotating motor 23, the second rotating motor The output shaft of 23 is fixedly connected to the roll bracket 214 . The second rotating motor 23 is used to drive the roll support 214 to rotate relative to the pitch support 213 around a second rotation axis O2 , wherein the second rotation axis O2 is perpendicular to the hinge shaft 217 .

According to an embodiment of the present disclosure, as shown in FIG. 1A , the gimbal stabilizer 100 further includes a third rotation motor 24 , and the third rotation motor 24 is connected to the other end of the second arm 212 . The roll bracket 214 is fixedly connected to the housing of the third rotating electrical machine 24 , the output shaft of the third rotating electrical machine 24 is fixedly connected to the load connecting frame 215 , and the third rotating motor 24 is used to drive the load connecting frame 215 Relative to the roll bracket 214, the rotation axis rotates around the third rotation axis O3, wherein there is an included angle between the third rotation axis O3 and the second rotation axis. The load connecting frame 215 is used for connecting the load 60 (as shown in FIG. 3 ). The structure shown in FIG. 1A includes a first arm, a second arm, a first rotating electrical machine, a second rotating electrical machine, and a third rotating electrical machine. The present disclosure is not limited thereto, and may include more or less arms and Spin the motor.

According to an embodiment of the present disclosure, as shown in FIGS. 1A and 2 , the gimbal stabilizer 100 further includes a handle 10 , the handle 10 has an accommodating space inside, and the base 30 is accommodated in the accommodating space. in the setting space. A load 60 can be placed on the handle 10 or the load 60 can be connected to the load connection frame 215 , wherein the load 60 is optionally an electronic product such as a mobile phone, a tablet computer, and a camera. The pan-tilt stabilizer 100 has an extended state and a retracted state, and FIG. 3 and FIG. 4 respectively show a schematic diagram of an extended state and a retracted state of the pan-tilt stabilizer according to an embodiment of the present disclosure. In the extended state, as shown in FIG. 3 , the arm portion 21 extends from the handle 10 and at least partially extends out of the accommodating space, and the load 60 can be connected through the load connecting frame 215 On and stably supported by the arm portion 21 , the gimbal stabilizer 100 works in the extended state. In the accommodating state, as shown in FIG. 4 , the arm portion 21 and the base 30 are accommodated in the accommodating space, and the gimbal stabilizer 100 is in a non-working state at this time. By accommodating the arm portion 21 in the accommodating space, the volume of the gimbal stabilizer 100 is reduced, which is convenient to carry. The gimbal stabilizer 100 can be freely switched between the extended state and the stored state according to the needs of work and use, through whether the arm portion 21 is stored or not. Specifically, when the gimbal stabilizer 100 needs to be used, the arm portion 21 is opened from the accommodating space, so that the arm portion 21 is outside the handle 10 and connected with the handle 10 to connect and support the load 60; when it is not necessary to use the cloud When the table stabilizer 100 is used, the arm portion 21 is accommodated in the accommodating space.

5 shows a cross-sectional view of a handle according to one embodiment of the present disclosure. As shown in FIG. 5 , the handle 10 is a hollow structure, and the hollow part is the accommodating space. The upper end of the handle 10 is an open end 11 , so that the arm portion 21 can enter the interior of the handle 10 from the open end 11 (refer to FIG. 2 ). The lower end of the handle 10 is provided with an end cover 12 , the end cover 12 blocks the opening of the lower end of the handle 10 and is fixedly connected with the handle 10 so that the lower end of the handle 10 is a closed end. When the gimbal stabilizer 100 is in an extended state, as shown in FIG. 3 , the arm portion 21 is connected to the open end 11 of the handle 10 through the base 30 . Of course, the gimbal stabilizer 100 can also be completely separated from the handle 10, and can be stored in the handle 10 after being folded for easy carrying.

Those skilled in the art can understand that the open end 11 may also be located at the lower end of the handle 10 , so that the arm portion 21 is connected to the upper end of the handle 10 . In this case, when the gimbal stabilizer 100 is in the extended state, the arm portion 21 is connected to the upper end of the handle 10 .

Referring to FIG. 1A and FIG. 2 , the third rotating motor 24 is connected to the other end of the second arm 212 , and this end is used to connect with the load 60 , and can drive the load 60 to rotate around the third rotation axis O3 . The arm portion 21 can be folded and unfolded. When the arm portion 21 is folded, the first arm 211 and the second arm 212 are folded so that they can be stored in the handle 10 , and the gimbal stabilizer 100 is in the storage state. , reducing the overall occupied space; when the arm portion 21 is unfolded, the first arm 211 and the second arm 212 cooperate with each other, so that they can be adjusted with multiple degrees of freedom, so that the load 60 can be adjusted with multiple degrees of freedom, For example, the heading angle, pitch angle and roll angle of the load 60 can be freely adjusted (each rotating motor can correspond to one of the heading angle, pitch angle, and roll angle).

According to an embodiment of the present disclosure, referring to FIGS. 1A and 2 , the rotation axis of the first arm 211 (ie, the first rotation axis O1 ) is perpendicular to the hinge shaft 217 , and the hinge shaft 217 is perpendicular to the The rotation axis of the second rotating electrical machine 23 (ie the second rotation axis O2 ) is perpendicular to the rotation axis of the third rotating electrical machine 24 (ie the third rotation axis O3 ).

FIG. 6 shows a schematic diagram of a gimbal stabilizer according to an embodiment of the present disclosure. As shown in FIG. 6 , the base 30 forms a sliding fit with the inner wall of the handle 10 in the interior of the accommodating space, and can be in a first position along the direction of the handle 10 in the accommodating space. Swipe between position and second position. For example, the cross-sectional shape of the base 30 may be substantially matched with or the same as the cross-sectional shape of the accommodating space, as shown in FIGS. 1A-6 , both are rectangular shapes with rounded corners. When the base 30 is in the first position, the arm 21 extends outward from the open end 11 of the handle 10, and the head stabilizer 100 is in an extended state to connect the load 60; When the seat 30 is in the second position, the arm portion 21 is retracted into the accommodating space of the handle 10 , and the gimbal stabilizer 100 is in a stowed state. The arrangement of the base 30 facilitates the assembly of the arm portion 21 and the handle 10 , and improves the assembly flexibility of the arm portion 21 and the handle 10 .

According to an embodiment of the present disclosure, the handle 10 has a first locking portion and a second locking portion, wherein the first locking portion is configured to lock the base 30 in the first position, and the first locking portion is configured to lock the base 30 in the first position. The two locking portions are configured to lock the base 30 in the second position. Specifically, when the base 30 moves relative to the handle 10 to the first locking portion, the first locking portion can cooperate to lock the base 30 in the first position; when the base 30 moves relative to the handle 10 to the first locking portion When there are two locking parts, the second locking part can cooperate to lock the base 30 in the second position. The arrangement of the first locking portion and the second locking portion enables the base 30 to be selectively held in the first position or the second position.

Figure 7 shows a schematic diagram of a base according to one embodiment of the present disclosure. As shown in FIG. 7 , the first locking portion and the second locking portion include buckles or locking holes, and the base 30 is provided with locking holes or holes corresponding to the first locking portion and the second locking portion. Buckle 31. Optionally, as shown in FIG. 4 , the first locking portion has a locking hole 141 matching the buckle 31 , the second locking portion has a locking hole 142 matching the buckle 31 , and the two locking

holes

141 and 142 are respectively Corresponds to the first position and the second position. The snap holes 141 and 142 are opened on the side wall of the handle 10 . When the snap 31 is matched with the snap hole 141 , the snap 31 can be engaged in the snap hole 141 and form a lock at the first position; When matched with the locking hole 142 , the locking buckle 31 can be engaged in the locking hole 142 and locked in the second position. When the base 30 needs to be unlocked from the first position or the second position, the buckle 31 can be pressed. Specifically, when the base 30 slides inside the handle 10 , the buckle 31 abuts against the inner wall of the handle 10 , and the buckle 31 is elastically deformed by the inner wall of the handle 10 . When the base 30 moves to the first position, the buckle 31 pops out and forms a limit with the peripheral wall of the locking hole 141 in the first position, so as to lock the base 30 in the first position. After the clip 31 exits the clip hole 141 in the first position, the base 30 can continue to move relative to the inner wall of the handle 10 . When the base 30 moves to the second position, the buckle 31 enters the hole 142 in the second position, and the buckle 31 and the peripheral wall of the hole 142 in the second position form a limit to lock the base 30 in the second position.

According to an embodiment of the present disclosure, in order to facilitate the contact and locking of the buckle 31 and the clamping holes 141 and 142 , the buckle 31 is an elastic structure, and the clamping holes 141 and 142 are through holes. When the buckle 31 moves inside the handle 10 , the buckle 31 is in a squeezed state. When the clip 31 moves to the position of the clip hole 141 or the clip hole 142 , the clip 31 is reset under the action of the elastic force and engages in the clip hole 141 or the clip hole 142 , so that the base 30 and the handle 10 are locked. When the base 30 needs to be moved, the buckle 31 is pressed, and the buckle 31 is squeezed to exit the hole 141 or the hole 142 , that is, the locking of the buckle 31 and the hole 141 or the hole 142 is released. The cooperation between the snap 31 and the snap holes 141 and 142 facilitates the locking or unlocking of the base 30 and the handle 10 , the operation is flexible, and the use is convenient.

Those skilled in the art can understand that the positions of the clips and the clip holes can be interchanged, that is, when the first locking portion and the second locking portion are respectively provided with clips, the base 30 is provided with corresponding clips. When the hole is formed, the above locking and unlocking cooperation can also be realized, which will not be repeated here. In addition, spring balls can also be provided on the base 30 to replace the buckle, and the first locking portion and the second locking portion are also the structure of the locking hole. At this time, the clamping hole may be a blind hole, and the clamping hole is opened on the inner wall of the handle 10 . After the spring ball on the base 30 moves to the clamping hole, the base 30 and the handle 10 can be locked.

Further, in order to facilitate the sliding of the base 30 relative to the handle 10, one of the base 30 and the handle 10 is provided with a guide rail, and the other is provided with a sliding table matched with the guide rail, wherein the guide rail is arranged along the handle 10 extends lengthwise. The arrangement of the sliding table and the guide rails play a guiding role for the sliding of the base 30 to ensure that the movement of the base 30 relative to the handle 10 is stable and flexible. 8 shows a schematic diagram of the internal structure of the handle according to an embodiment of the present disclosure. As shown in FIG. 8 , a guide rail 15 is provided on the inner wall of the handle 10 , and as shown in FIG. 7 , on the side wall of the base 30 A sliding table 32 is provided to cooperate with the guide rail 15 , and the sliding table 32 is slidably matched with the guide rail 15 .

As shown in FIG. 1A , a second battery 33 and a controller 34 can also be integrated in the base 30 , which has a compact structure and is convenient for saving installation space. Wherein the second battery 33 is configured to supply power to the first rotating electrical machine 22, the second rotating electrical machine 23 and the third rotating electrical machine 24, and the controller 34 is configured to control the first rotating electrical machine 22, the second rotating electrical machine 24 The rotary electric machine 23 and the third rotary electric machine 24 operate. When the arm portion 21 is assembled with the base 30 , the first arm 211 is slidingly engaged with the base 30 , and the second battery 33 is connected to the first rotating electrical machine 22 , the second rotating electrical machine 23 and the third rotating electrical machine. 24 Electrical connections for powering the motor. The controller 34 is electrically connected to the first rotating electrical machine 22 , the second rotating electrical machine 23 and the third rotating electrical machine 24 for controlling the movement of the arm portion 21 . The controller 34 is, for example, a PCB circuit board, on which a corresponding chip or circuit is integrated, and is electrically connected to the second battery 33 , the first rotating electrical machine 22 , the second rotating electrical machine 23 and the third rotating electrical machine 24 .

According to one embodiment of the present disclosure, as shown in FIGS. 1A and 2 , the handle 10 further includes a first battery 18 configured to charge the second battery 33 . The first battery 18 may be integrated into the side wall or bottom of the handle 10 . According to an embodiment of the present disclosure, the handle 10 includes a wireless charging module, which is coupled to the first battery 18 and configured to wirelessly charge the load 60 placed on the handle 10 . Charge. Details are described below.

According to a preferred embodiment of the present disclosure, the gimbal stabilizer 100 includes a first charging interface, and the first charging interface is connected to the first battery 18, so that the load coupled to the first charging interface can be 60 to charge.

According to an embodiment of the present disclosure, as shown in FIG. 1B , the first charging port includes a wireless charging module 14 configured to wirelessly charge the load 60 placed on the handle 10 . Optionally, the wireless charging module 14 includes a transmitting coil 146 and a transmitting circuit board 145 . The transmitting circuit board 145 is electrically connected to the first battery 18, and the transmitting circuit board 145 includes control circuits and chips required for wireless charging. For example, the transmitting coil 146 is disposed on the transmitting circuit board 145 or is electrically connected to the transmitting circuit board 145 , so that when the load 60 is close to the wireless charging module 14 , the transmitting circuit board 145 of the wireless charging module 14 receives the power from the first battery 18 . The electrical energy is converted into alternating current, and the alternating current is input into the transmitting coil 146 . After the alternating current is supplied to the transmitting coil 146 , a changing magnetic field will be generated, and the coil in the load 60 will induce the change of the magnetic field to generate an induced current, thereby realizing the charging of the load 60 . FIG. 1B shows the case where the first charging port includes the wireless charging module 14 , the present disclosure is not limited to this, and the first charging port may also include a wired charging solution, for example, a charging stand is provided on the outer surface of the handle 10 , and the charging The socket has a charging connector corresponding to the charging port of the load. When the two are docked, the load is charged, which is within the protection scope of the present disclosure.

In the above embodiment, the load is charged by the battery integrated in the handle of the gimbal stabilizer, especially by wireless charging, which can provide great convenience to the user. Users do not need to carry a separate charging device or power bank when they go out to take pictures with their mobile phones or other electronic devices.

According to an embodiment of the present disclosure, the gimbal stabilizer 100 further includes a charging switch 19 (as shown in FIG. 2 ) disposed on the handle 10 , and the charging switch 19 is configured to turn on or off the Charging of the load 60 by the first battery 18 . As shown in FIG. 1A , the stabilizer body 20 further includes a second battery 33 for driving the stabilizer body 20 to move.

According to an embodiment of the present disclosure, the handle 10 further includes a second charging port (not shown in the figure) located in the accommodating space, the second charging port is connected to the second battery 33, and when When the stabilizer body 20 is put into the accommodating space, the second battery 33 is electrically connected to the first battery 18 through the second charging interface, so that the first battery 18 The second battery 33 is charged. Optionally, the first battery 18 is electrically connected to the second battery 33 through the second charging interface, so that the load 60 coupled to the first charging interface can be charged together. The second charging interface may be a wired charging interface or a wireless charging interface, preferably a wired charging interface.

According to an embodiment of the present disclosure, as shown in FIGS. 1A and 5 , the gimbal stabilizer 100 further includes an operation unit 40 configured to control the first rotation through the controller 34 The motor 22 , the second rotary electric machine 23 and the third rotary electric machine 24 operate. The operating unit 40 is detachably connected to the handle 10, and wirelessly connects and communicates with the arm 21 and the load 60 for remote control. Optionally, the operation unit 40 is connected with the arm 21 and the load 60 through Bluetooth. By setting the operation unit 40, the remote control of the arm portion 21 is more convenient and the operation is flexible. For example, the attitude and orientation of the arm 21 can be controlled to adjust the heading, pitch and roll angles of the payload 60 . Moreover, the operation unit 40 is detachably connected with the handle 10 , which facilitates the storage of the operation unit 40 . At the same time, as shown in FIG. 5 , the operation unit 40 is installed on the handle 10, and can also realize short-range control. According to a preferred embodiment of the present disclosure, the operation unit 40 is a remote control, and the remote control is detachably connected to the handle 10 .

According to an embodiment of the present disclosure, as shown in FIG. 4 , when the gimbal stabilizer 100 is in the storage state, the arm portion 21 is retracted into the storage space, and the remote controller 40 can be closed on the open end 11 of the handle 10 to close the accommodating space and facilitate the protection of the arm portion 21 accommodated in the handle 10 . When the gimbal stabilizer 100 is in the extended state, the side wall of the handle 10 is provided with a mounting slot 16 (as shown in FIG. 10 ) for mounting the remote controller 40 , and the remote controller 40 can be arranged in the mounting slot 16 to achieve assembly with the handle 10. When the handle 10 is operated by hand, as shown in FIG. 3 , the remote control 40 is fixed in the installation slot 16 , which is convenient for the user to operate at a short distance.

FIG. 9 shows a schematic structural diagram of a handle according to an embodiment of the present disclosure, and FIG. 10 shows a schematic diagram of a handheld usage scenario of a gimbal stabilizer according to an embodiment of the present disclosure. As shown in FIG. 9 and FIG. 10 , the gimbal stabilizer 100 further includes a fixed foot pad 120 and a movable foot pad 13 , and the fixed foot pad 120 and the movable foot pad 13 are arranged at the bottom of the handle 10 to support The gimbal stabilizer 100. Specifically, the fixed foot pads 120 are disposed on the end cover 12 and protrude relative to the end cover 12 , the number of movable foot pads 13 is optionally two, movably mounted on the end cover 12 , and the two movable foot pads 13 is rotatable relative to handle 10 . When the two movable foot pads 13 are unfolded, the two movable foot pads 13 and the fixed foot pad 120 form a triangular support (as shown in FIG. 10 ) to realize the stable support of the handle 10 so as to stabilize the base 30 and the arm 21 together Stand on a desktop or other countertops (such as a car dashboard surface). When the two movable foot pads 13 are closed, the contour of the two movable foot pads 13 matches the contour of the fixed foot pad 120 , and the contour of the assembly formed by the two movable foot pads 13 and the fixed foot pad 120 is made to match the contour of the end cover 12 contours match. Optionally, the fixed foot pad 120 and the end cover 12 are integrally formed, which is convenient for processing and manufacturing.

According to an embodiment of the present disclosure, two movable foot pads 13 are symmetrically distributed with respect to the end cover 12, and one end of each movable foot pad 13 is a connecting end for rotatably connecting with the end cover 12; each movable foot pad The other end of 13 is the movable end, which opens outward when the movable foot pad 13 is unfolded. According to another embodiment of the present disclosure, the connecting end of the movable foot pad 13 is provided with a pivot stand 131 (as shown in FIG. 6 ), and the end cover 12 is provided with two axle holes 122 corresponding to the pivot stand 131 (as shown in FIG. 6 ). shown in Figure 9). The shaft stand 131 is inserted into the shaft hole 122 and is rotatably matched with the end cover 12 so that the movable foot pad 13 can be unfolded.

According to an embodiment of the present disclosure, the lower end of the handle 10 is an open end, and the upper end is a closed end, and the end cover 12 is movably connected to the handle 10. When the gimbal stabilizer 100 is switched from the stored state to the extended state, the arm The part 21 can be separated from the handle 10 from the lower end opening of the handle 10, and is connected to the upper end of the handle 10; when the gimbal stabilizer 100 is in the extended state, the end cover 12 closes the lower end opening of the handle 10, and the two movable foot pads 13 are unfolded, A triangular support is formed with the fixed foot pad 120 .

Further, the fixed foot pad 120 is provided with an expansion port 121 , as shown in FIG. 9 . The setting of the expansion port 121 is convenient for the handle 10 to be externally connected to a telescopic rod, or used for fixing the handle 10 to other platforms such as a vehicle. Optionally, as shown in FIG. 9 , the expansion port 121 and the two shaft holes 122 are respectively located at two ends of the end cover 12 to prevent the movable foot pad 13 from blocking the expansion port 121 .

FIG. 11 shows a schematic diagram of a load protection case according to one embodiment of the present disclosure. As shown in FIG. 11 , the gimbal stabilizer 100 further includes a load protection shell 50 for installing the load 60 . The load protection shell 50 is provided with a lens avoidance opening 501 to avoid the lens used for photography or photographing on the load 60, so that the lens can be extended. As shown in FIG. 1 and FIG. 6 , the arm portion 21 is provided with a first quick release fixing structure 216 . As shown in FIG. 11 , the load protection shell 50 is provided with a first quick release fixing structure for connecting with the first quick release fixing structure. 216 is connected to the second quick-release fixing structure 51 . Through the connection between the first quick-release fixing structure 216 and the second quick-release fixing structure 51 , the quick assembly and disassembly of the load protection shell 50 and the arm portion 21 is realized, and the assembly efficiency is improved.

According to an embodiment of the present disclosure, the first quick release fixing structure 216 is a first boss. As shown in FIG. 11 , the second quick release fixing structure 51 includes a slot 511 corresponding to the first boss. When the load protection shell 50 is installed on the gimbal stabilizer 100 , the first boss and the slot 511 are in an interference fit, so as to realize the first quick release fixing structure 216 and the second quick release fixing structure 51 quick disassembly. Optionally, the cross-sectional shape of the first boss may be a circle, a conventional shape such as a square or a triangle, or a special shape. According to an embodiment of the present disclosure, as shown in FIG. 6 , the cross-sectional shape of the first boss adopts a circular shape, and the corresponding card slot 511 is a circular slot.

According to an embodiment of the present disclosure, as shown in FIG. 11 , the load protection case 50 includes a housing 52 and a support frame 53 , and the second quick release fixing structure 51 is located on the back of the housing 52 (the front is used for Positioning load 60 ), the support frame 53 is rotatably connected to the back of the housing 52 . The support frame 53 has an unfolded state and a retracted state. When the support frame 53 is unfolded, the support frame 53 forms an angle with the housing 52 ; when the support frame 53 is retracted, the support frame 53 is attached to the back of the housing 52 superior. When the load protection case 50 is not connected to the handle 10 , the support frame 53 is used to support the housing 52 , thereby realizing the support for the load 60 .

Optionally, as shown in FIG. 11 , the second quick-release fixing structure 51 is an annular boss, and a middle part of the annular boss forms a slot 511 . The support frame 53 is a ring-shaped structure corresponding to it, so that the support frame 53 can be sleeved on the outer periphery of the annular boss when it is folded, so as to facilitate the cooperation between the support frame 53 and the second quick release fixing structure 51 to reduce the space occupied. When the load protection shell 50 is connected to the gimbal stabilizer 100 , the support frame 53 is retracted and sleeved on the outer circumference of the annular boss, which does not affect the connection between the second quick release fixing structure 51 and the first quick release fixing structure 216 .

According to an embodiment of the present disclosure, as shown in FIGS. 10 and 11 , the handle 10 is provided with a third quick release fixing structure 17 , and the load protection shell 50 is provided with a third quick release fixing structure 17 for fixing with the third quick release The fourth quick release fixing structure 54 to which the structure 17 is connected. The arrangement of the third quick-release fixing structure 17 and the fourth quick-release fixing structure 54 realizes the quick assembly and disassembly of the load protection shell 50 and the handle 10, and improves the assembly efficiency.

Optionally, the third quick-release fixing structures 17 on the handle 10 may be disposed at the position of the installation groove 16 , or may be located on opposite sides of the handle 10 respectively with the installation groove 16 . When the third quick-release fixing structure 17 is disposed in the installation groove 16, other side walls of the handle 10 do not need to be occupied, and the remote control 40 can be placed in the installation groove 16, so that the appearance of the handle 10 is more beautiful .

According to an embodiment of the present disclosure, as shown in FIG. 10 , the third quick-release fixing structure 17 is disposed in the installation groove 16 , and the third quick-release fixing structure 17 is a second boss. As shown in FIG. 11 , the outline of the fourth quick release fixing structure 54 matches the outline of the installation groove 16 , and the fourth quick release fixing structure 54 includes a groove 541 corresponding to the second boss. When the load protection shell 50 is installed on the gimbal stabilizer 100 , the second boss and the groove 541 are in an interference fit, so as to realize the third quick release fixing structure 17 and the fourth quick release fixing structure 54 quick assembly and disassembly. Similarly, the cross-sectional shape of the second boss is similar to the cross-sectional shape of the first boss, which may be conventional shapes such as a circle, a square, and a triangle, or a special shape. According to an embodiment of the present disclosure, as shown in FIG. 11 , the cross-sectional shape of the second boss is circular, and the groove 541 is a circular groove.

FIG. 12 shows a schematic diagram of a usage scenario of a handle and a load protection case according to an embodiment of the present disclosure. As shown in FIG. 12 , when the load protection shell 50 is assembled with the handle 10, the remote control 40 can be arranged on the open end 11 of the handle 10, which is convenient for the user to operate at close range; the remote control 40 can also be connected with the handle 10 is separated (not shown in the figure), which is convenient for users to operate remotely.

According to an embodiment of the present disclosure, the support bracket 53 may also be matched with the fourth quick-release fixing structure 54 . When the support frame 53 is retracted, the support frame 53 is sleeved on the fourth quick release fixing structure 54 , or the support frame 53 blocks the fourth quick release fixing structure 54 . In this case, the fourth quick release fixing structure 54 When connected with the third quick release fixing structure 17 , the support frame 53 is separated from the housing 52 .

Additionally or alternatively, according to an embodiment of the present disclosure, the first quick release fixing structure 216 includes a first magnet, and the second quick release fixing structure 51 includes a second magnet. The first quick-release fixing structure 216 and the second quick-release fixing structure 51 are connected by the first magnet and the second magnet by adsorption, which is simple in structure and easy to disassemble.

Embodiment 2

FIG. 13 shows a schematic diagram of an extended state of a gimbal stabilizer according to another embodiment of the present disclosure. As shown in FIG. 13 , the gimbal stabilizer 100 includes: a base 30 , a first rotating motor 22 , a second rotating motor 23 and an arm 21 . The arm portion 21 further includes a first arm 211 and a second arm 212 , and one end (eg, the lower end) of the first arm 211 is pivotally mounted on the base 30 via the first rotating motor 22 . In this embodiment, the first rotating motor 22 is optionally installed on the base 30 through the connecting portion 301, and the first rotating motor 22 is used to drive the first arm 211 relative to the base 30 rotates around a first rotation axis O1 , the axis O1 being, for example, parallel to the direction of the center line of the base 30 . The second rotating electrical machine 23 is connected to the other end (eg, the upper end) of the first arm 211 through a hinge shaft 217, and one end of the second arm 212 is connected to the second rotating electrical machine 23, so that the The second rotating electrical machine 23 is driven to rotate around the second rotation axis O2.

FIG. 14 shows a schematic diagram of a first folded state of a gimbal stabilizer according to another embodiment of the present disclosure. 15 to 17 respectively show schematic diagrams of a fully folded state of a gimbal stabilizer according to another embodiment of the present disclosure. As shown in FIG. 14, the second arm 212 is pivotable about the hinge shaft 217 to move between a first folded position and a deployed position. As shown in FIGS. 15 to 17 , when the gimbal stabilizer 100 is further folded to the fully folded position, the second arm 212 remains in the first folded position, and the first arm 211 drives the first The two arms 212 are further folded to a position close to the base 30. At this time, the second arm 212 is close to the first arm 211 and is substantially flush with the first arm 211, that is, in the folded position, The second arm 212 and the second rotating motor 23 are accommodated in the vacant position of the first arm 211 together. At this time, the first arm 211 is parallel to the second arm 212, or the first arm The included angle between 211 and the second arm 212 is slightly larger than 0°, for example, between 0° and 10°.

According to an embodiment of the present disclosure, as shown in FIGS. 13 to 17 , the first arm 211 is substantially L-shaped, and when the second arm 212 rotates around the hinge shaft 217 toward the first arm 211 When the second arm 212 is in the first folding position, the second arm 212 is received in the vacant portion of the first arm 211 , so that the arm 21 can be folded into a very compact shape for easy storage. Specifically, as shown in FIG. 13 , the first arm 211 includes a transverse segment 2111 and a vertical segment 2112 , the transverse segment 2111 is arranged in the transverse direction, and the vertical segment 2112 is arranged in the vertical direction. The first rotating electrical machine 22 is mounted on the lateral section 2111 , the output shaft of the first rotating electrical machine 22 is arranged vertically, and the housing thereof is fixed to the lateral section 2111 . The output shaft of the first rotating electrical machine 22 is fixedly connected to the base 30 through the connecting portion 301 , and the first rotating electrical machine 22 drives the first arm 211 to rotate around the first rotation axis O1 . The vertical section 2112 is connected to the pitch bracket 213 through the hinge shaft 217 , so that the pitch frame 213 can rotate relative to the first arm 211 around the hinge shaft 217 . The second arm 212 includes a roll support 214, one end of the pitch support 213 is connected with the vertical section 2112 through a hinge shaft 217, and the other end of the pitch support 213 is fixedly connected with the housing of the second rotating motor 23, the second rotating motor The output shaft of 23 is fixedly connected to the roll bracket 214 . The second rotating motor 23 is used to drive the roll support 214 to rotate relative to the pitch support 213 around a second rotation axis O2 , wherein the second rotation axis O2 is perpendicular to the hinge shaft 217 .

According to an embodiment of the present disclosure, as shown in FIG. 13 , the gimbal stabilizer 100 further includes a third rotation motor 24 , and the third rotation motor 24 is connected to the other end of the second arm 212 . The roll bracket 214 is fixedly connected to the housing of the third rotating electrical machine 24 , the output shaft of the third rotating electrical machine 24 is fixedly connected to the load connecting frame 215 , and the third rotating motor 24 is used to drive the load connecting frame 215 Relative to the roll bracket 214, the rotation axis rotates around the third rotation axis O3, wherein there is an included angle between the third rotation axis O3 and the second rotation axis O2. The load connecting frame 215 is used for connecting loads (not shown in the figure). The structure shown in FIG. 13 includes a first arm, a second arm, a first rotating electrical machine, a second rotating electrical machine, and a third rotating electrical machine. The present disclosure is not limited thereto, and may include more or less arms and Spin the motor.

According to an embodiment of the present disclosure, as shown in FIG. 13 , the first arm 211 is hinged to the base 30 through a hinge shaft 218 , wherein the rotation axis 04 of the hinge shaft 218 is connected to the first rotating motor The axis of rotation of 22 (ie the first axis of rotation 01) is vertical. Preferably, the first arm 211 can pivot within a range of 180 degrees relative to the base 30 around the hinge axis 218 (two extreme rotational positions are shown in FIGS. 13 and 15 ).

As described in the first embodiment, the base 30 of the gimbal stabilizer 100 in the second embodiment may further integrate a controller, a second battery, and a first battery (not shown in the figure), wherein the second battery For supplying power to the first rotating electrical machine 22, the second rotating electrical machine 23 and the third rotating electrical machine 24, the controller is configured to control the first rotating electrical machine 22, the second rotating electrical machine 23 and the third rotating electrical machine twenty four. The first battery is configured to charge the second battery. The gimbal stabilizer 100 further includes a wireless charging module and an operation unit (not shown in the figure), wherein the wireless charging module is coupled to the first battery and configured to wirelessly charge the load. The operation unit is embedded in the surface of the base 30, for example, and is configured to be able to control the operation of the first rotating electrical machine 22, the second rotating electrical machine 23, and the third rotating electrical machine 24 through the controller. Preferably, the operation unit is, for example, a remote control. For details, refer to the description of the first embodiment, which will not be repeated here. The solution described in FIG. 1B is also applicable to the second embodiment, and details are not repeated here.

Preferably, the gimbal stabilizer 100 in the second embodiment may further include the handle 10 (or housing) in the first embodiment, so that the gimbal stabilizer 100 can be stored in the handle 10 after being folded. In addition, the features described with respect to the handle 10 in the embodiment include but are not limited to the first locking part and the second locking part, the first battery, the second battery, the controller, the wireless charging module, the operation unit, the fixed foot pad, the movable Foot pads, quick-release fixing structures, etc., can be freely combined in the technical solution of the second embodiment without creative labor, and are all within the protection scope of the present disclosure.

According to an embodiment of the present disclosure, as shown in FIG. 11 and FIG. 12 , the gimbal stabilizer 100 further includes a load protection shell 50 for installing a load, and the arm portion 21 is provided with a load protection shell 50 . For the first quick-release fixing structure 216 , the load protection shell 50 is provided with a second quick-release fixing structure 51 for connecting with the first quick-release fixing structure 216 . The load protection shell 50 includes a shell and a support frame, the second quick release fixing structure 51 is arranged on the back of the shell, the support frame is rotatably connected to the back of the shell, and the support The frame has an unfolded state and a retracted state. When the support frame is unfolded, the support frame forms an included angle with the housing; when the support frame is retracted, the support frame is attached to the housing on the back. Optionally, as shown in FIG. 11 , the second quick-release fixing structure 51 is an annular boss, and the support frame is an annular structure. When the support frame is retracted, the support frame is sleeved on the on the outer circumference of the annular boss.

According to an embodiment of the present disclosure, as shown in FIG. 11 and FIG. 13 , the base 30 is provided with a third quick release fixing structure 17 , and the load protection shell 50 is also provided with a third quick release fixing structure 17 for connecting with the third quick release The fourth quick-release fixing structure 54 connected to the fixing structure 17 is removed. The arrangement of the third quick-release fixing structure 17 and the fourth quick-release fixing structure 54 realizes the quick assembly and disassembly of the load protection shell 50 and the handle 10, and improves the assembly efficiency.

The advantages of the gimbal stabilizer 100 according to the embodiment of the present disclosure are:

The folded structure of the arm portion 21 or/and the hollow structure of the handle 10, the controller 34 and the battery 33 are arranged inside the base 30, so that the storage space can be smaller;

Compared with traditional stabilizers, it has more functional support and supports a variety of usage scenarios;

The traditional fixed mobile phone clip is cancelled, and the volume of the gimbal stabilizer 100 after storage is reduced by setting the detachable load protection shell 50;

In the storage state, the arm portion 21 and the base 30 are stored inside the handle 10, which can protect the arm portion 21, prevent the motor from being damaged during daily carrying, and improve the service life of the gimbal stabilizer 100;

The detachable remote controller 40 can realize the remote control of the load 60 or the arm 21 through wireless connection;

The handle 10 is provided with a movable foot pad 13 that can be opened and closed, and an installation structure in which the handle 10 cooperates with the load protection shell 50, so as to expand more usage scenarios;

The handle 10 is provided with a mounting slot 16 to meet the operation requirements of the remote control 40 at different positions.

Embodiment 3

FIG. 18 shows a schematic diagram of a fully extended state of the gimbal stabilizer according to an embodiment of the present disclosure. As shown, the pan-tilt stabilizer 100' includes a first arm 11', a first rotating motor 21', a second arm 12', and a second rotating motor 22'. The first rotating electrical machine 21' is mounted on the end of the first arm 11', and one end of the second arm 12' (eg, the lower end shown in the figure) is connected to the first rotating electrical machine 21', It can be driven to rotate by the first rotary motor 21', and the second rotary motor 22' is provided at the other end (eg, the upper end portion shown in the figure) of the second arm 12'. As shown in FIG. 18 , the gimbal stabilizer 100' further includes a housing 30', and the upper part of the housing 30' serves as a base for rotatably mounting an arm portion (the arm portion includes the first arm 11' thereon) and second arm 12'). As shown in Figures 18 and 19, one end of the first arm 11' is mounted on the base via a hinge shaft 07, and the first rotating motor 21' is mounted on the other end of the first arm 11'.

According to an embodiment of the present disclosure, as shown in FIG. 18 , the gimbal stabilizer 100' further includes a third arm 13' and a third rotating motor 23', wherein the third arm 13' is shown in the figure There are two, which are respectively hinged to the outside of the third rotating electrical machine 23'. One end of the two third arms 13' (for example, the left end shown in FIG. 18) is connected to the second rotary motor 22', and can be driven to rotate by the second rotary motor 22', and the third rotary motor 23' is disposed at the other ends of the two third arms 13' (for example, the right end shown in FIG. 18). The third rotating electrical machine 23' can be connected to a load (not shown in the figure), wherein the load is optionally an electronic product such as a mobile phone, a tablet computer, and a camera.

19 shows a schematic diagram of the folding of the second arm of the gimbal stabilizer according to one embodiment of the present disclosure. As shown in FIG. 18 and FIG. 19 , the second arm 12' is hinged to the first rotary motor 21' through a hinge shaft 01, so that it can be driven to rotate by the first rotary motor 21' and can surround the The hinge shaft 01 pivots, wherein the hinge shaft 01 is perpendicular to the rotation shaft 02 of the first rotating electrical machine 21'. One end of the two third arms 13' is hinged to the second rotating motor 22', and forms a rotating shaft 03, so as to be driven to rotate by the second rotating motor 22' and pivot around the rotating shaft 03 Rotation, wherein the rotation axis 03 is perpendicular to the rotation axis 04 of the second rotating electrical machine. The other ends of the two third arms 13 ′ are hinged to the third rotating electric machine 23 ′, and form a rotating shaft 05 , so that the third rotating electric machine 23 ′ can rotate around the rotating shaft 05 . The third rotating electrical machine also has an axis of rotation O6 (shown more clearly in FIGS. 20 and 21 ) so that a load connected to it can be driven to rotate about the axis of rotation O6 .

FIG. 20 shows a schematic diagram of the folding of the second arm and the third arm according to an embodiment of the present disclosure, and FIG. 21 shows a schematic diagram of the folding process of the first arm according to an embodiment of the present disclosure. When the second arm 12' and the third arm 13' need to be folded, for example, starting from the state shown in FIG. 18, the first rotating motor 21' is driven first, so that the second arm 12' rotates around the rotating shaft 02 to the first At the position of the rear end of one arm 11' (the position shown in FIG. 19). Then the third arm 13' is rotated around the rotation axis 03, and the second rotary motor 22' is driven, so that the second rotary motor 22' and the third rotary motor 23' are placed in the same plane (as shown in FIG. 20). ), at this time, the third arm 13' is substantially parallel to the second arm 12', and the first arm 11' is perpendicular to the second arm 12'. Next, the second arm 12' (together with the third arm 13', the second rotary electric machine 22', and the third rotary electric machine 23') is rotated about the rotation axis 01 (shown in FIG. 18), so that the first arm 11' is substantially parallel to the second arm 12' (position shown in Figure 21). At this time, the first rotating electrical machine 21', the second rotating electrical machine 22', and the third rotating electrical machine 23' are substantially located in the same plane.

As shown in FIG. 21 , the length of the second arm 12' is approximately equal to the sum of the lengths of the first arm 11' and the third arm 13', that is, the length of the second arm 12' is preferably set to be the same as the length of the second arm 12'. The sum of the lengths of the first arm 11' and the third arm 13' is equal, and optionally the length of the second arm 12' is set to be slightly larger than the sum of the lengths of the first arm 11' and the third arm 13' And, the first arm 11' and the third arm 13' can be folded within the length of the second arm 12'. As shown in FIG. 20 and FIG. 21 , the pan-tilt stabilizer 100' further includes a housing 30', the housing 30' has an accommodating space, and the first arm 11' is hinged to the housing 30' , and can rotate relative to the housing 30' around the hinge shaft 07.

22A and 22B illustrate an internal schematic diagram of a storage state of a gimbal stabilizer according to an embodiment of the present disclosure. 23A and 23B are schematic diagrams illustrating a storage state of a gimbal stabilizer according to an embodiment of the present disclosure. The gimbal stabilizer 100' has an extended state and a retracted state, respectively. As shown in FIG. 1, in the extended state, the first arm 11', the second arm 12' and the third arm 13' are located in the The casing 30' is outside and connected to the casing 30'. 22A, 22B, 23A, and 23B, in the storage state, the first arm 11', the second arm 12' and the third arm 13' are stored in the storage space. Specifically, referring to FIG. 21 and FIG. 22B, the first arm 11', the second arm 12' and the third arm 13' together with the first rotary electric machine 21', the second rotary electric machine 22' and the third arm The rotating motors 23' are roughly arranged in a row in the direction perpendicular to the rotating shaft 07 in the accommodating space, so that the first arm 11', the second arm 12', the first arm 11', the second arm 12', the The three arms 13', the first rotating electrical machine 21', the second rotating electrical machine 22' and the third rotating electrical machine 23' are all received in the accommodating space of the housing 30'. The storage method of this embodiment maximizes the use of the volume of the accommodation space, and very cleverly integrates all the motors (the first rotary motor 21', the second rotary motor 22', and the third rotary motor 23') and all the arm parts ( The first arm 11', the second arm 12', and the third arm 13') are received into the accommodating space of the housing 30', which greatly reduces the volume of the gimbal stabilizer and improves the space utilization rate. The structure shown in FIG. 18 includes a first arm, a second arm, a third arm, a first rotating electrical machine, a second rotating electrical machine, and a third rotating electrical machine. The present disclosure is not limited thereto, and may include more or less number of them. arm and rotating motor, all of which fall within the scope of the present disclosure.

According to an embodiment of the present disclosure, as shown in FIG. 21 , a battery 31' and a controller (not shown in the figure) are provided in the casing 30', and the battery 31' is used to rotate toward the first The electric motor 21', the second rotary electric machine 22', and the third rotary electric machine 23' are powered, and the controller is configured to control the first rotary electric machine 21', the second rotary electric machine 22', and the third rotary electric machine 23'.

According to an embodiment of the present disclosure, the housing 30' further includes a wireless charging module (not shown in the figure), the wireless charging module is coupled to the battery 31', and is configured to be able to be placed in any The load on the housing 30' is wirelessly charged. Optionally, the wireless charging module may be disposed on the back of the housing 30' shown in FIGS. 22A and 23A, for example. The technical solution of FIG. 1B can also be applied to the third embodiment, which will not be repeated here.

According to an embodiment of the present disclosure, as shown in FIGS. 23A and 23B , the gimbal stabilizer 100 ′ further includes an operation unit 40 ′, and the operation unit 40 ′ is configured to control the first A rotating electrical machine 21', a second rotating electrical machine 22' and a third rotating electrical machine 23' operate. Optionally, the operation unit 40' is a remote control, and the remote control is detachably connected to the housing 30', that is, as shown in FIG. 23B, the remote control can be taken out from the housing 30' , which is separated from the casing 30', which is convenient for users to operate remotely.

According to an embodiment of the present disclosure, as shown in FIGS. 21 and 22A , the gimbal stabilizer 100 ′ further includes a cover 32 ′ hinged on the housing 30 ′, and when When the gimbal stabilizer 100' is in the storage state, the storage space can be closed, as shown in FIG. 23A and FIG. 23B . Optionally, the operation unit 40' is arranged on the cover 32', as shown in this embodiment, of course, the operation unit 40' can also be arranged on the housing 30' relative to the The back of the cover 32' is convenient for users to operate at close range, which all fall within the protection scope of the present disclosure.

FIG. 24 shows a schematic diagram of a third rotating electrical machine according to one embodiment of the present disclosure. 25 shows a schematic diagram of a load protection case according to one embodiment of the present disclosure. The connection between the load and the gimbal stabilizer will be further described below with reference to FIG. 24 and FIG. 25 .

According to an embodiment of the present disclosure, as shown in FIG. 24 , the third rotating electrical machine 23' is provided with a load connecting frame 231', and the load connecting frame 231' is connected to the output shaft of the third rotating electrical machine 23'. Fixed connection, the third rotating motor 23' is used to drive the load connecting frame 231' to rotate around the rotating shaft 06. The load connecting frame 231' is used for connecting the load. As shown in FIG. 25 , the gimbal stabilizer 100' further includes a load protection shell 50', which is used to install a load, and a lens avoidance port 501' is opened on the load protection shell 50'. In order to avoid the lens used for photography or photographing on the load, the lens can be extended.

According to an embodiment of the present disclosure, as shown in FIG. 24 and FIG. 25 , the third rotating electrical machine 23' is provided with a first quick release fixing structure 232', and the load protection shell 50' is provided with a The second quick-release fixing structure 51' is connected to the first quick-release fixing structure 232'. Through the connection of the first quick-release fixing structure 232' and the second quick-release fixing structure 51', the quick assembly and disassembly of the load protection shell 50' and the third rotating electrical machine 23' is realized, and the assembly efficiency is improved.

According to an embodiment of the present disclosure, the first quick-release fixing structure 232' is an annular first boss. As shown in FIG. 25, the second quick-release fixing structure 51' includes a corresponding first boss. Card slot 511'. When the load protection shell 50' is installed on the gimbal stabilizer 100', the first boss and the slot 511' are in an interference fit, so as to realize the first quick release fixing structure 232' and the second quick release fixing structure 232'. Quick disassembly of the fixing structure 51'. Optionally, the cross-sectional shape of the first boss may be a ring, a circle, a conventional shape such as a square or a triangle, or a special shape. According to an embodiment of the present disclosure, as shown in FIG. 24 , the cross-sectional shape of the first boss adopts a circular shape, and the corresponding slot 511 ′ is a circular slot.

According to an embodiment of the present disclosure, as shown in FIG. 23B , the housing 30' of the gimbal stabilizer 100' is provided with a third quick release fixing structure 33', and the third quick release fixing structure 33' can be It is optionally an annular second boss. The load protection shell 50' is also provided with a fourth quick-release fixing structure 54' for connecting with the third quick-release fixing structure 33'. The fourth quick release fixing structure 54' includes a groove 541' corresponding to the second boss. When the load protection shell 50' is installed on the gimbal stabilizer 100', the second boss and the groove 541' are in an interference fit, so as to realize the third quick release fixing structure 33' and the fourth quick release fixing The quick assembly and disassembly of the structure 54' improves the assembly efficiency. Similarly, the cross-sectional shape of the second boss is similar to the cross-sectional shape of the first boss, which may be conventional shapes such as a ring, a circle, a square, a triangle, etc., or a special shape. According to an embodiment of the present disclosure, as shown in FIG. 23B , the cross-sectional shape of the second boss is circular, and the groove 541' is a circular groove.

According to an embodiment of the present disclosure, as shown in FIG. 25 , the load protection case 50 ′ further includes a housing 52 ′ and a support frame 53 ′, and the second quick release fixing structure 51 ′ is disposed on the housing 52 ', the support frame 53' is rotatably connected to the back of the housing 52'. The support frame 53' has an unfolded state and a retracted state. When the support frame 53' is unfolded, the support frame 53' forms an angle with the housing 52'; when the support frame 53' is retracted At the time, the support frame 53' is attached to the back of the casing 52'. When the load protection case 50' is not connected to the case 30', the support frame 53' is used to support the case 52', thereby realizing the support of the load.

Optionally, as shown in FIG. 25 , the support frame 53 ′ is an annular structure corresponding to the first boss, so that the support frame 53 ′ can be sleeved on the outer circumference of the annular boss when folded, so as to facilitate the realization of The support frame 53' cooperates with the second quick release fixing structure 51' to reduce the space occupation. When the load protection shell 50' is connected to the gimbal stabilizer 100', the support frame 53' is retracted and sleeved on the outer circumference of the annular boss, without affecting the second quick release fixing structure 51' and the first quick release fixing structure Connection of structure 232'.

According to an embodiment of the present disclosure, as shown in FIG. 25 , the support frame 53 ′ can also be matched with the fourth quick release fixing structure 54 ′. When the support frame 53' is retracted, the support frame 53' is sleeved on the fourth quick release fixing structure 54', or the support frame 53' shields the fourth quick release fixing structure 54'. When the quick release fixing structure 54' is connected with the third quick release fixing structure 33', the support frame 53' is separated from the housing 52'.

Additionally or alternatively, according to an embodiment of the present disclosure, the first quick release fixing structure 232' includes a first magnet, and the second quick release fixing structure 51' includes a second magnet. The first quick-release fixing structure 232' and the second quick-release fixing structure 51' are connected with the second magnet through the first magnet, which is simple in structure and easy to disassemble.

With the gimbal stabilizer proposed by the embodiments of the present disclosure, all motors and all arms are cleverly folded into the accommodating space of the gimbal stabilizer housing, reducing the storage space of the gimbal stabilizer The volume improves the portability, ease of use and practicability of the gimbal stabilizer, making it more versatile and widely used.

Finally, it should be noted that the above descriptions are only preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. Although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art will still The technical solutions described in the foregoing embodiments may be modified, or some technical features thereof may be equivalently replaced. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

A gimbal stabilizer, comprising:

pedestal;

rotating electrical machines; and

an arm part, the arm part is rotatably mounted on the base, the arm part comprises a first arm and a second arm, the first arm is rotatably mounted on the base, the first arm The second arm is connected to the first arm through the rotary motor and is drivable by the rotary motor to rotate relative to the first arm.
The gimbal stabilizer of claim 1, wherein the rotating motor includes a first rotating motor and a second rotating motor; and one end of the first arm is pivotally mounted on the first rotating motor through the first rotating motor on the base, wherein the second rotating motor is connected to the other end of the first arm through a hinge shaft, and one end of the second arm is connected to the second rotating motor, so that the second rotating motor can be rotated by the second arm The motor drives the rotation.
The head stabilizer of claim 2, wherein the second arm is pivotable about the hinge axis for movement between a folded position and a deployed position, wherein the second arm is in the folded position Adjacent to and substantially flush with the first arm.
3. The head stabilizer of claim 3, wherein the first arm is substantially L-shaped, and the second arm is received in the void of the first arm in the folded position.
The gimbal stabilizer according to any one of claims 2-4, further comprising a third rotating motor connected to the other end of the second arm.
The gimbal stabilizer according to claim 5, further comprising: wherein the rotation axis of the first arm is perpendicular to the hinge axis, the hinge axis is perpendicular to the rotation axis of the second rotation motor, and the first arm is perpendicular to the rotation axis of the second rotation motor. The rotation axes of the second rotary electric machines are perpendicular to the rotation axes of the third rotary electric machines.
The gimbal stabilizer according to claim 5, further comprising: a handle having an accommodating space inside the handle, wherein the base is accommodated in the accommodating space, and the gimbal stabilizer has an extended state and an accommodating space. In the storage state, in the extended state, the arm portion extends out of the accommodating space; in the accommodating state, the arm portion and the base are accommodated in the accommodating space.
The head stabilizer according to any one of claims 2-4, wherein the first arm is hinged to the base by a hinge shaft, wherein the axis of rotation of the hinge shaft is connected to the first rotation motor The axis of rotation is vertical.
The gimbal stabilizer according to claim 7, wherein the base is slidable in the accommodating space between a first position and a second position, wherein when the base is in the first position, the base is The gimbal stabilizer is in an extended state; when the base is in the second position, the gimbal stabilizer is in a retracted state, and the handle has a first locking portion and a second locking portion, wherein the first locking portion The second locking portion is configured to lock the slider in the second position.
The gimbal stabilizer according to claim 9, wherein the first locking part and the second locking part comprise a buckle or a locking hole; the base is provided with the first locking part and the second locking part Corresponding holes or buckles.
The gimbal stabilizer according to claim 5, wherein a second battery and a controller are provided in the base, and the second battery is used to rotate the first rotation motor, the second rotation motor and the third rotation motor Electric motors are powered, and the controller is configured to control the first, second, and third rotating electrical machines.
The gimbal stabilizer according to claim 7, wherein a second battery and a controller are provided in the base, and the second battery is used to rotate the first rotating motor, the second rotating motor and the third rotating motor a motor is powered, the controller is configured to control the first, second and third rotary motors, the handle includes a first battery configured to supply power to the second battery Charge.
The gimbal stabilizer of claim 12, further comprising a first charging interface connected to the first battery so that a load coupled to the first charging interface can be charged.
The gimbal stabilizer of claim 13, wherein the first charging interface includes a wireless charging module configured to wirelessly charge a load placed thereon.
The gimbal stabilizer according to claim 12, wherein the handle includes a second charging interface located in the accommodating space, the second charging interface is connected to the first battery, when the stabilizer body is When placed in the accommodating space, the second battery is electrically connected to the first battery through the second charging interface, so that the first battery can charge the second battery.
The gimbal stabilizer according to claim 12, wherein the handle includes a second charging interface located in the accommodating space, the second charging interface is connected to the first battery, when the stabilizer body is When placed in the accommodating space, the first battery is electrically connected to the second battery through the second charging interface, so that the load coupled to the first charging interface can be charged together.
The gimbal stabilizer according to claim 14, wherein the wireless charging module comprises a transmitting coil and a transmitting circuit board, the gimbal stabilizer further comprises a charging switch arranged on the handle, the charging switch is configured to The charging of the load by the first battery can be turned on or off.
The gimbal stabilizer according to claim 11, further comprising an operation unit configured to control the actions of the first rotating electrical machine, the second rotating electrical machine and the third rotating electrical machine through the controller.
The gimbal stabilizer according to claim 18, wherein the operation unit is a remote control, and the remote control is detachably connected to the handle.
The gimbal stabilizer according to claim 19, wherein when the gimbal stabilizer is in a storage state, the remote controller can close the open end of the accommodating space.
The gimbal stabilizer according to claim 5, further comprising a fixed foot pad and a movable foot pad, wherein the fixed foot pad and the movable foot pad are arranged on the bottom of the base to support the gimbal stabilizer.
The gimbal stabilizer according to claim 7, further comprising a fixed foot pad and a movable foot pad, wherein the fixed foot pad and the movable foot pad are arranged on the bottom of the handle so as to support the gimbal stabilizer.
The gimbal stabilizer according to any one of claims 2-5, wherein the gimbal stabilizer further comprises a load protection shell, the load protection shell is used for installing a load, and the arm is provided with a first In the quick release fixing structure, the load protection shell is provided with a second quick release fixing structure for connecting with the first quick release fixing structure.
The gimbal stabilizer according to claim 23, wherein a third quick release fixing structure is arranged on the handle, and a fourth quick release fixing structure for connecting with the third quick release fixing structure is further arranged on the load protection shell. Remove the fixed structure.
The gimbal stabilizer according to claim 23, wherein the load protection shell comprises a casing and a support frame, the second quick release fixing structure is provided on the back of the casing, and the support frame is rotatably connected On the back of the housing, the support frame has an unfolded state and a retracted state. When the support frame is unfolded, the support frame forms an angle with the housing; when the support frame is retracted, the support frame forms an included angle with the housing. The support frame is attached to the back of the casing.
The gimbal stabilizer according to claim 25, wherein the second quick release fixing structure is an annular boss, the support frame is an annular structure, and when the support frame is retracted, the support frame is sleeved on the outer circumference of the annular boss.
The gimbal stabilizer of claim 23, wherein the first quick release fixing structure comprises a first magnet, and the second quick release fixing structure comprises a second magnet.
The gimbal stabilizer according to claim 1, wherein the rotation motor comprises a first rotation motor and a second rotation motor, one end of the first arm is mounted on the base through a hinge shaft, and the first A rotating electrical machine is installed on the other end of the first arm, and one end of the second arm is connected to the first rotating electrical machine, and can be driven to rotate by the first rotating electrical machine, and the second rotating electrical machine is arranged on the the other end of the second arm.
The gimbal stabilizer according to claim 28, further comprising a third arm and a third rotating motor, wherein one end of the third arm is connected to the second rotating motor and can be driven to rotate by the second rotating motor , the third rotating motor is arranged at the other end of the third arm.
The gimbal stabilizer according to claim 28 or 29, wherein the second arm is hinged to the first rotation motor through a hinge shaft, so as to be rotatably driven by the first rotation motor and to surround the first rotation motor The hinge shaft pivots, wherein the hinge shaft is perpendicular to the rotation axis of the first rotating electrical machine.
The gimbal stabilizer of claim 29, wherein the length of the second arm is substantially equal to the sum of the lengths of the first arm and the third arm such that the first arm and the third arm can be folded within the length of the second arm,

wherein the third arm is hinged to the second rotating motor through a hinge shaft, so as to be driven to rotate by the second rotating motor and pivot about the hinge shaft, wherein the hinge shaft is perpendicular to the hinge shaft The rotating shaft of the second rotating electrical machine.
The gimbal stabilizer of claim 29, further comprising a housing having a accommodating space, the first arm is hinged to the housing, wherein the gimbal stabilizer has an extended state and a storage state, in the extended state, the first arm, the second arm and the third arm are located outside the housing and connected to the housing; in the stowed state, the first arm, the second arm and the The third arm is accommodated in the accommodating space.
The gimbal stabilizer according to claim 32, wherein a battery and a controller are provided in the casing, the battery is used to supply power to the first rotating electrical machine, the second rotating electrical machine and the third rotating electrical machine, the The controller is configured to control the first rotating electrical machine, the second rotating electrical machine and the third rotating electrical machine.
The gimbal stabilizer of claim 33, wherein the housing includes a wireless charging module, the wireless charging module is coupled to the battery, and is configured to perform charging on a load placed on the housing. Wireless charging.
The pan-tilt stabilizer according to claim 29, further comprising an operation unit configured to control the actions of the first rotating electrical machine, the second rotating electrical machine and the third rotating electrical machine through the controller.
The gimbal stabilizer according to claim 35, wherein the operation unit is a remote controller, and the remote controller is detachably connected to the housing.
The gimbal stabilizer of any one of claims 32-34, further comprising a cover hinged to the housing and closed when the gimbal stabilizer is in the stowed state the accommodating space.