SHOCK ABSORBER OF GIMBAL, GIMBAL ASSEMBLY, AND MOVABLE PHOTOGRAPHING DEVICE

A gimbal assembly includes a gimble, a connection shaft and a shock absorber. One end of the connection shaft is connected to the gimbal. The shock absorber includes an inner support member, an outer support member sleeved outside the inner support member, and an elastic member. Two ends of the elastic member are connected to the outer support member and the inner support member, respectively. One of the inner support member and the outer support member is configured to be fixed to a movable device. Another one of the inner support member and the outer support member is configured to be fixed to another end of the connection shaft.

TECHNICAL FIELD

The present disclosure relates to shock absorbing of a gimbal mounted at a movable device, and in particular relates to a shock absorber of gimbal, a gimbal assembly, and a movable photographing device.

BACKGROUND

In order to achieve mobile photographing, long-distance photographing, or overhead photographing, a camera may be mounted at a movable device by a gimbal. For example, the camera may be mounted at the bottom of an unmanned aerial vehicle (UAV) by a gimbal. However, since the speed and direction of the movable device always change, accordingly, the existing method of directly mounting the camera on a movable device by a gimbal can easily cause the camera or the gimbal to shake due to inertia, thereby causing these devices or sensors mounted at them not to operate normally or to be damaged.

SUMMARY

In accordance with the disclosure, there is provided a gimbal assembly. The gimbal assembly includes a gimble, a connection shaft and a shock absorber. One end of the connection shaft is connected to the gimbal. The shock absorber includes an inner support member, an outer support member sleeved outside the inner support member, and an elastic member. Two ends of the elastic member are connected to the outer support member and the inner support member, respectively. One of the inner support member and the outer support member is configured to be fixed to a movable device. Another one of the inner support member and the outer support member is configured to be fixed to another end of the connection shaft.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Below, some embodiments of the present disclosure are described in detail with reference to the drawings. When no conflicts exist, the following embodiments and the features in the embodiments can be combined with each other.

FIG. 1is a schematic structural diagram of a shock absorber according to some embodiments of the present disclosure;FIG. 2illustrates a top view of the shock absorber ofFIG. 1;FIG. 3is a cross-sectional diagram of the shock absorber along an A-A line inFIG. 2;FIG. 4is a schematic structural diagram of another shock absorber according to some embodiments of the present disclosure;FIG. 5illustrates a top view of the shock absorber ofFIG. 4;FIG. 6is a cross-sectional diagram of the shock absorber along a B-B line inFIG. 5;FIG. 7illustrates a top view of another shock absorber according to some embodiments of the present disclosure; andFIG. 8is a cross-sectional diagram of the shock absorber along a C-C line inFIG. 7.

As shown inFIG. 1toFIG. 8, a shock absorber110of this embodiment includes: an outer support member1101, an inner support member1102, and a retractable elastic member1103. The inner support member1102is sleeved on an outside of the outer support member1101, and one of them is configured to be fixed to a movable device30and the other is configured to be fixed to the gimbal120. Two ends of the elastic member1103are connected to the inner support member1102and an outer support frame1201, respectively. Since the inner support member1102and the outer support member1101are respectively fixed to the gimbal120and the movable device30or to the movable device30and the gimbal120, when the gimbal120is shocked, the outer support member1201and the inner support member1102will move relative to each other under the shock, thereby driving the elastic member1103to deform elastically, to buffer the shock of the gimbal120and reduce an impact of the shock on the camera20or other sensing devices mounted at the gimbal120, and improve stability and service life of these sensing devices.

Specifically, taking the shock absorber110shown inFIG. 1as an example, the outer support member1101may be fixed to the movable device30, and the inner support member1102may be fixed to the gimbal120. When the movable device30moves forward or backward, or during acceleration or deceleration, or turning, due to the inertia effect, the gimbal120causes the inner support member1102to maintain an original movement trend, so that a relative external disposition between the inner support member1102and the outer support member1101changes, so to stretch or compress the elastic members1103having two ends fixed on the inner support member1102and the outer support member1101, respectively. When the shock absorber110inFIG. 1is accelerated to move to a left by the movable device30, a left movement speed of the outer support member1101is greater than a left movement speed of the inner support member1102within a short time after the movable device30accelerates, causing the outer support member1101and the inner support member1102to move relative to each other in a lateral direction (that is, a left to right direction in the drawing). In detail, a left half of the outer support member1101moves away from a left half of the inner support member1102, so that a distance between the left half of the outer support member1101and the left half of the inner support member1102becomes larger, thereby stretching the elastic member1103fixed between the left half of the inner support member1102and the left half of the outer support member1101; and a right half of the outer support member1101moves close to a right half of the inner support member1102, so that a distance between the right half of the outer support member1101and the right half of the inner support1102becomes smaller, thereby compressing the elastic member1103fixed between the outer support member1101and the right half of the inner support member1102. The stretched or compressed elastic member1103generates an elastic restoring force, so that the distance between the outer support member1101and the inner support member1102returns to the initial state, to buffer the shock received by the gimbal120. Similarly, when the movable device30turns, the outer support member1101and the inner support member1102move relative to each other in a circumferential direction (direction around the outer support member1101and the inner support member1102), or when the movable device30jolts, the outer support member1101and inner support member1102will move relative to each other in an axial direction (direction along an axis of the shock absorber110), the elastic member1103may be stretched or compressed, thereby generating elastic restoring force to restore the inner support member1102and outer support member to the initial state, so as counteract the possible shock received by the gimbal120.

Similarly, when the gimbal120shakes during operation, the shock absorber110also transmits an energy of the shock to the elastic member1103between the outer support member1101and the inner support member1102through the relative movement between the outer support member1101and the inner supporting1102as shown above, to buffer the shock of the gimbal120and reduce the impact of the shock on the camera20, etc., mounted at the gimbal120, thereby improving its stability and service life.

In the shock absorber110of this embodiment, by connecting the inner support member1102and the outer support member1101by the elastic member1103, the shock absorber110connecting the gimbal120and the movable device30is set. When the gimbal120receives a shock, the relative movement of the inner support member1102and the outer support member1101transmits the shock to the elastic member1103and accordingly are buffered by the elastic member1103, thereby reducing the impact of the shock on the camera20or other devices mounted at the gimbal120, to improve the stability and service life of the gimbal.

Further, referring again toFIGS. 1 to 8, from the perspective of the radial directions of the inner support member1102, one or more elastic members1103may be disposed at the same radial cross-section. When a plurality of elastic members1103are disposed at the same radial cross-section, elastic restoring forces may be generated in multiple directions, thereby buffering the shock of the gimbal120in multiple directions and improving the shock absorption effect of the shock absorber110. Optionally, a plurality of elastic members1103may be uniformly disposed along a circumferential direction of the inner support member1102, so that there can be a relatively even elastic restoring force in each direction, and a more even buffering effect can be achieved in multiple directions, and the absorbing effect of the shock absorber110can be improved. For example, the number of the elastic members1103is two, and the two elastic members1103may be disposed at a same diameter direction of the inner support member1102. Of course, the two elastic members1103can also be arbitrarily disposed within an angular range of 180 degrees. For another example, the number of the elastic members1103is three, and the three elastic members1103may be disposed at positions of three vertices of an equilateral triangle in order to obtain a more even buffering effect. Of course, this embodiment does not exclude that the three elastic members1103are disposed at positions of three vertices of a right triangle or another triangle. For another example, the number of the elastic members1103is eight, and the eight elastic members1103may be evenly disposed along the circumferential direction of the inner support member1102, as shown inFIG. 1. Of course, the eight elastic members1103may also be unevenly disposed in a radial plane of the inner support member1102.

From the perspective of an axial direction of the inner support member1102, the elastic members1103may be disposed at one or more layers along the axial direction. For example, when one layer of the elastic member1103is disposed, the layer of the elastic members1103may be disposed at any position such as a top end or a bottom end in the axial direction of the inner support member1102. Optionally, since the top end of the shock absorber110receives relatively strong shock, the elastic members1103may be directly disposed at the top end of the shock absorber110or near the top end. Of course, it can also be set in a location with strong shock. For another example, a layer of the elastic member1103is disposed at each of a top end and a bottom end of the inner support member1102, as shown inFIGS. 1 to 8. By disposing an elastic layer at each of the top and the bottom of the inner support member1102, not only can the shock absorption effect be improved, but also it can limit a position of the inner support member1102and the outer support member1101, preventing the inner support member1102or the outer support member1101from detaching. Of course, this embodiment also does not exclude that two layers of elastic members1103are disposed between the top end and the bottom end. For another example, when the number of layers of the elastic member1103is more than three, the elastic members1103may be all disposed between the top end and the bottom end; or may be disposed in such a manner that one layer is at the top, one layer is at the bottom, and other layers are between the top end and the bottom end.

The above-mentioned elastic member1103may be any suitable individual component or combined component. For example, the elastic member1103may be a rubber band, and two ends of the rubber band are respectively tied to the outer support member1101and the inner support member1102. Of course, the two ends of the rubber band in this embodiment may also be adhered to the outer support member1101and the inner support member1102, respectively, or connected to the inner support member1102and the outer support member1101through fixation members. For another example, the elastic member1103may be a spring, so that the problem of rubber band aging can be avoided, and by selecting different springs, the shock absorbing effect of the shock absorber110can be adjusted as needed. The two ends of the spring can be welded to the outer support member1101and the inner support member1102, respectively, or fixed to the inner support member1102and the outer support member1101by fixation members. For example, bolt holes can be disposed at top ends of the inner support member1102and the outer support member1101, and the bolts1104can be used as fixation members to pass through an upper spring at the top of the inner support member1102, or a through hole disposed at an end of the rubber band, to be screwed to the bolt hole, as shown inFIG. 1toFIG. 8. Similarly, a lower spring located at the bottom end of the inner support member1102can also be fixed by the bolts1104to the bottom ends of the inner support member1102and the outer support member1101.

In this embodiment, the specific structures of the outer support member1101and the inner support member1102are not limited, and they may be a frame structure or a column structure. For example, a frame structure may be set for both the outer support member1101and the inner support member1102, or one of them is set to be a frame structure to reduce the weight of the shock absorber110. The specific form of the frame structure is also not limited. In some embodiments, two opposite plates may be disposed to form an open frame structure. In other embodiments, two opposite plates may be disposed and may be connected by another plate to form a semi-closed frame structure. In other embodiments, two sets of opposite plates may also be disposed and connected to form a closed frame structure. In addition, in this embodiment, shapes of the radial cross sections of the outer support member1101and the inner supporting1102are not limited, and either shape may be circular, oval, polygonal, or any other suitable geometric shape. There is an annular space between the inner support member1102and the outer support member1101, as shown inFIGS. 4 to 8. When the shapes of the radial cross-sections of the outer support member1101and the inner support member1102are circular, e.g., the outer support member1101and the inner support member1102are sleeves, then in this scenario, a circular space is formed between the outer support member1101and the inner support member1102.

In some optional embodiments, since the gimbal sways much in the horizontal direction, accordingly, a damping member for buffering a radial movement between the inner support member1102and the outer support member1101may be installed in the annular space. In this embodiment, the material and specific structure of the damping member are not limited, as long as it can provide damping for the relative movement of the outer support member1101and the inner support member1102. For example, the damping member may be a damping rubber layer11051(as shown inFIGS. 4 and 5), a soft bag covered with damping grease, or a rubber ring11053(as shown inFIGS. 7 and 8).

Optionally, in order to adjust the damping of the damping member, a chamber may be formed in the damping member, as shown inFIGS. 6 and 8. With different sizes and shapes of the chamber, the damping members can have different damping coefficients, so that the shock absorber110has different strengths of damping, so as to adjust the shock absorbing effect of the shock absorber110. Further, it is also possible to control the damping of the damping member by controlling a number of the chambers, that is, the number of the damping members may be one or more. For example, as shown inFIGS. 4 to 6, a plurality of chambers may be formed in the damping rubber layer11051along the radial direction of the inner support member1102. The plurality of chambers can be evenly disposed in terms of one, two, three or more layers in the annular space. In addition, the chamber formed on the damping rubber layer11051may be a through hole that is open at both ends, a hole that is open at one end and closed at one end, or a hole that is closed at both ends. For another example, as shown inFIGS. 7 and 8, a rubber ring11053is installed between the inner support member1102and the outer support member1101, and an annular chamber is formed in the rubber ring11053. Likewise, the annular chamber may be open, semi-closed, or closed.

Optionally, in some embodiments, when a closed chamber is disposed in the damping member, a damping liquid may be filled in the chamber to increase the damping strength of the damping member. The damping liquid may be a medium with different damping coefficients, including but not limited to damping oil or grease.

In addition, it should be noted that when the damping member is disposed in the annular space of the outer support member1101and the inner support member1102, the two layers of elastic members1103disposed at the top end and the bottom end of the inner support member1102can prevent the damper member from detachment.

Based on the above, the damping of the shock absorber110can be adjusted by disposing a chamber in the damping member, and a number of the chambers, a type and capacity of the damping liquid filled in the chamber, etc., can be further adjusted to obtain the shock absorber110matching the design requirements, to realize different damping effects.

Further, in order to facilitate mounting of the damping member to the annular space of the inner support member1102and the outer support member1101, as shown inFIGS. 6 and 8, a mounting groove11022may be disposed at an outer surface of the inner support member1102, and an inner surface of the damping member may be sleeved in the mounting groove11022. In this embodiment, the mounting groove11022is not limited to matching the entire inner surface of the damping member, and a part of the inner surface of the damping member may be sleeved in the mounting groove11022. Specifically, in some embodiments, an annular mounting groove11022may be disposed at an outer surface of the inner support member1102to increase an area of the damping member sleeved in the mounting groove11022, thereby improving a connection strength between the damping member and the inner support member1102. In other embodiments, a plurality of mounting grooves11022may be disposed at the outer surface of the inner support member1102, and the plurality of mounting grooves11022may be disposed at intervals along at least one of the radial direction or the axial direction of the inner support1102. Correspondingly, a plurality of protrusions may be formed on the inner surface of the damping member, and the protrusions are configured to be coupled to the plurality of mounting grooves11022.

Similarly, as shown inFIG. 6, a snap-fit groove11011may be formed on the inner surface of the outer support member1101, and a protrusion configured to be snapped in the snap-fit groove11011may be formed on the outer surface of the damping member. Of course, there may be a plurality of snap-fit grooves11011which are spaced apart from each other, or the groove11011is annular.

It should be noted that those skilled in the art may choose to use only the mounting groove11022(as shown inFIG. 8) or the snap-fit groove11011, or simultaneously use the mounting groove11022and the snap-fit groove11011(as shown inFIG. 6), based on the needs of mounting strength.

FIG. 9is a schematic structural diagram of a gimbal assembly according to some embodiments of the present disclosure;FIG. 10illustrates a front view of the gimbal assembly ofFIG. 9; andFIG. 11illustrates a right view of the gimbal assembly ofFIG. 9.

As shown inFIGS. 9 to 11, the present disclosure further provides a gimbal assembly, including: a gimbal120, a connection shaft130, and the shock absorber110described above. One end of the connection shaft130is fixed to the gimbal120, and the other end of the connection shaft130is connected to one of the outer support member1101and the inner support member1102, and the other of the outer support member1101and the inner support member1102is configured to be connected to the movable device30.

When the connection shaft130is fixed to the inner support member1102, a solid or hollow inner support member1102may be used. For example, when a solid inner support member1102is used, a top end or a bottom end of the connection shaft130may be fixed to a bottom end or a top end of the solid inner support member1102by welding, screwing, or buckling. As another example, when a hollow inner support member1102is used, the hollow inner support member1102has a hollow shaft hole11021for mounting the connection shaft130. Specifically, in some embodiments, external threads may be disposed at an outer wall of the connection shaft130, and internal threads may be disposed at an inner wall of the shaft hole11021, and a top end or a bottom end of the connection shaft130may pass through the shaft hole and screwed to the shaft hole11021. In other embodiments, one end of the connection shaft130passes through the shaft hole11021and is fixedly connected to a gland140disposed at this end, and a fastener passes through a through hole disposed at the gland140to be screwed to a bolt hole of the inner support member1102, as shown inFIGS. 9-11. It should be understood that this embodiment does not exclude the use of fasteners other than the bolts1104to fix the gland140and the inner support member1102, such as screws, buckles, and does not exclude a method of directly applying welding to fix the gland140and the inner support member1102. Likewise, when the outer support member1101and the connection shaft130are fixed, the fixing method and the structures of the connection shaft130and the inner support member1102can be directly applied or applied with slight modifications, with reference to the above-described fixing method and structures, and details are not described herein again.

The gimbal120may be a single-axis gimbal, a two-axis gimbal, or a three-axis gimbal. That is, the gimbal may include one or more rotation mechanisms, one of which is fixed to the connection shaft130of the shock absorber110. For example,FIGS. 9 to 11illustrate a single-axis gimbal. The rotation mechanism is fixed to the bottom end of the connection shaft130. The top end of the connection shaft130passes through the shaft hole11021in a center of the inner support member1102and passes through the gland140, and is fastened to the top end of the inner support member1102. It should be understood that: the rotation mechanism of the single-axis gimbal can be any one of a yaw axis mechanism, a pitch axis mechanism, and a roll axis mechanism; the two-axis gimbal may be any two of a yaw axis mechanism, a pitch axis mechanism, and a roll axis mechanism; and a three-axis gimbal may simultaneously include a yaw axis mechanism, a pitch axis mechanism, and a roll axis mechanism.

Optionally, the rotation mechanism includes a support frame1201for carrying the camera20or other sensing devices, and a motor for driving the support frame1201to rotate. This embodiment does not limit the specific structural form of the support frame1201, and those skilled in the art may adopt any suitable structure as the structure of the support frame1201. For example, as shown inFIGS. 9 to 11, the support frame1201may include a frame for mounting the camera20and a rotating bracket connected to the frame. The rotating bracket is sleeved on the motor output shaft, so that when the motor drives the output shaft to rotate, the rotating bracket can be driven to rotate, thereby changing an angle of the camera20. The fixed connection between the gimbal120and the connection shaft130can be achieved through a connection bracket1202. One end of the connection bracket1202is fixed on the motor or the motor mounting base, and the other end is fixed to the connection shaft130. In this embodiment, the shock generated by the motor under operation can also be buffered by the shock absorber110.

FIG. 12is a schematic structural diagram of a movable photographing device according to some embodiments of the present disclosure. As shown inFIG. 12, the movable photographing device includes a movable device30and the above-described gimbal assembly, and the gimbal120in the gimbal assembly is configured to carry the camera20.

Specifically, the movable device30may be an unmanned aerial vehicle, a handheld device, or a vehicle. One of the outer support member1101and the inner support member1102is fixed to the movable device30, and the other is connected to the connection shaft130of the gimbal120assembly. In this embodiment, the gimbal120assembly may be installed on the top or the bottom of the movable device30.

For example, when the movable device30is a vehicle, the outer support member1101or the inner support member1102of the shock absorber110may be generally fixed on the roof, and the inner support member1102or the outer support member1101is fixed to the gimbal120by the connection shaft130. When the gimbal120receives a shock, its vibration will be buffered by the elastic member1103through the movement of the inner support member1102relative to the outer support member1101, thereby ensuring the stability of the gimbal120and improving the stability and service life of the camera20mounted at the gimbal120. Of course, if the chassis of the vehicle is relatively far from the ground or the roof is not suitable for mounting the gimbal120assembly, the outer support member1101or the inner support member1102of the shock absorber110may be mounted at the bottom of the vehicle. In this embodiment, the vehicle may be any vehicle, such as a family car, a truck, a rail vehicle, or a remotely-controlled gimbal vehicle. When a remotely-controlled gimbal vehicle is used, it is only needed to connect the chassis of the remotely-controlled gimbal vehicle to the gimbal120mounted at the remotely-controlled gimbal vehicle via the shock absorber110.

When the movable device30is a UAV, the gimbal120assembly may be mounted at the top or the bottom of the UAV. For example, at a fixed connecting member on the top or the bottom of the UAV, the shock absorber110in the gimbal120assembly is detachably connected to the UAV by the fixed connecting member. Specifically, the outer support member1101of the shock absorber110may be connected to the fixed connecting member, and the connection shaft130of the gimbal120assembly may be connected to the inner support member1102; or, it may also be that the inner support member1102of the shock absorber110is connected to the fixed connecting member, and the connection shaft130of the gimbal120assembly is connected to the outer support member1101.

According to the characteristics of gravity, when the gimbal120assembly is disposed at the top of the UAV, the inner support member1102or the outer support member1101fixed to the connection shaft130presses the UAV downward. In this scenario, the shock absorber110forms compressive shock absorption. Optionally, in order to prevent the inner support member1102or the outer support member1101fixed to the connection shaft130from colliding with the UAV, an avoidance groove may be formed at the UAV; or, a height of the inner support member1102or the outer support member1101in the axial direction is set to be smaller than the height of the outer support member1101or the inner support member1102fixed to the movable device30.

When the gimbal120assembly is disposed at the bottom of the UAV, the inner support member1102or the outer support member1101fixed to the connection shaft130pulls the UAV down. In this scenario, the shock absorber110forms a pull-down type shock absorption. In this mounting mode, due to the existence of gravity, the inner support member1102or the outer support member1101which is generally fixed to the connection shaft130will not collide with the UAV. However, it is not excluded to form an avoidance groove on the UAV; or to reasonably adjust the structural settings of the relative heights of the inner support member1102and the outer support member1101.

In this embodiment, the camera20mounted at the gimbal120may be configured to take images under visible conditions, and/or may be configured to take images under invisible conditions (e.g., infrared photography).

Finally, although the advantages associated with certain embodiments of the technology have been described in the context of these embodiments, other embodiments may also include such advantages, and not all the advantages of the disclosure are described in all the embodiments. The advantages objectively brought by the technical features in the embodiments should be regarded as the advantages of the present disclosure that are different from the existing technologies, and all belong to the scope of the present disclosure.