Gimbal having parallel stability mechanism

• US 10,558,110 B2
• Filed: 07/19/2018
• Issued: 02/11/2020
• Est. Priority Date: 08/14/2015
• Status: Active Grant

• Current Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Original Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Inventors: Ye, Fangming
• Primary Examiner(s): Reisner, Noam
• Application Number:
  US16/039,840
• Publication Number:
  US 20180329281A1
• Time in Patent Office: 572 Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 20/87 Mounting of imaging devices, e.g. mounting of gimbals
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 80/30 with arrangements for data transmission
• CPC Class Codes: F16C 11/045 with at least a pair of arms pivoting relatively to at least one other arm, all arms being mounted on one pin crank-pins F16C11/02
• CPC Class Codes: F16C 11/06 Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts F16D3/16
• CPC Class Codes: F16C 2326/01 Parts of vehicles in general engines F16C2360/00
• CPC Class Codes: F16M 11/08 around a vertical axis , e.g. panoramic heads F16M11/12 takes precedence
• CPC Class Codes: F16M 11/105 the horizontal axis being the roll axis, e.g. for creating a landscape-portrait rotation
• CPC Class Codes: F16M 11/18 with mechanism for moving the apparatus relatively to the stand
• CPC Class Codes: F16M 11/2021 around a horizontal axis F16M11/2035 takes precedence
• CPC Class Codes: F16M 11/2064 for tilting and panning F16M11/2078 takes precedence
• CPC Class Codes: F16M 13/02 for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
• CPC Class Codes: G03B 17/561 Support related camera accessories

Abstract

A gimbal mechanism includes a first actuator providing rotation about a first actuator axis, a second actuator providing rotation about a second actuator axis different from the first actuator axis, a first coupler operatively coupling the first actuator and a payload and being configured to affect rotation of the payload about the first actuator axis, and a second coupler operatively coupling the second actuator and the payload and being configured to affect rotation of the payload about the second actuator axis. The first actuator and the second actuator are fixed in position and orientation relative to one another and relative to a support structure. The support structure is configured to support at least one of the first actuator or the second actuator.

Claims

1. A gimbal mechanism for providing movement of a payload about at least two degrees of freedom, the gimbal mechanism comprising:

a first actuator providing rotation about a first actuator axis;

a second actuator providing rotation about a second actuator axis different from the first actuator axis;

a first coupler operatively coupling the first actuator and the payload, the first coupler being configured to affect rotation of the payload about the first actuator axis; and

a second coupler operatively coupling the second actuator and the payload, the second coupler being configured to affect rotation of the payload about the second actuator axis and comprising;

a joint member configured to be coupled to the payload; and

a cantilever member coupled to the second actuator and configured to translate a torque generated by the second actuator to the payload via the joint member, the cantilever member comprising a first cantilever component and a second cantilever component movably coupled to each other via a hinge, and the hinge being configured to provide free rotation of the second cantilever component about a hinge axis;

wherein the first actuator and the second actuator are fixed in position and orientation relative to one another and relative to a support structure, the support structure being configured to support at least one of the first actuator or the second actuator.

2. The gimbal mechanism of claim 1, wherein the gimbal mechanism is configured to:

provide rotation of less than or equal to 90 degrees of the payload about the first actuator axis; and

provide rotation of less than or equal to 90 degrees of the payload about the second actuator axis.

3. The gimbal mechanism of claim 1, wherein:

the joint member is a second joint member and the cantilever member is a second cantilever member; and

the first coupler comprises;

a first joint member coupled to the payload; and

a first cantilever member coupled to the first actuator and configured to translate a torque generated by the first actuator to the payload via the first joint member.

4. The gimbal mechanism of claim 3, wherein:

the first joint member comprises a first joint member axis configured to provide free rotation of the payload about the second actuator axis; and

the second joint member comprises a second joint member axis configured to provide free rotation of the payload about the first actuator axis.

5. The gimbal mechanism of claim 4, wherein the first joint member axis and the second joint member axis are configured to remain orthogonal to each other during actuation of the first actuator or the second actuator, such that the payload is free to rotate about both the first actuator axis and the second actuator axis.

6. The gimbal mechanism of claim 5, wherein, during actuation of the first actuator, the second joint member axis is configured to be co-axial with the first actuator axis, thereby allowing free rotation of the payload about the first actuator axis.

7. The gimbal mechanism of claim 5, wherein, during actuation of the second actuator, the first joint member axis is configured to be co-axial with the second actuator axis or with an axis comprising a component of the second actuator axis, thereby allowing free rotation of the payload about the second actuator axis.

8. The gimbal mechanism of claim 1, wherein the first cantilever component and the second cantilever component are configured to allow adjustment of the orientation of the second joint member during actuation of the first actuator or the second actuator.

9. The gimbal mechanism of claim 1, further comprising:

the support structure;

wherein the first actuator and the second actuator are coupled to the support structure.

10. The gimbal mechanism of claim 9, wherein the first actuator is coupled to the support structure at a first location, and the second actuator is coupled to the support structure at a second location different from the first location.

11. The gimbal mechanism of claim 10, wherein the first location is disposed on a first plane, and the second location is disposed on a second plane orthogonal to the first plane.

12. The gimbal mechanism of claim 1, wherein the first actuator axis and the second actuator axis are positioned at a non-zero angle relative to one another.

13. The gimbal mechanism of claim 1, wherein the payload is a camera.

14. The gimbal mechanism of claim 1, further comprising:

a third actuator providing rotation about a third actuator axis, the third actuator axis being different from the first actuator axis and the second actuator axis.

15. The gimbal mechanism of claim 14, wherein the third actuator is coupled to the first actuator or the second actuator.

16. The gimbal mechanism of claim 14, wherein the third actuator axis is orthogonal to both the first actuator axis and the second actuator axis.

17. The gimbal mechanism of claim 14, wherein the payload is coupled to the third actuator.

18. The gimbal mechanism of claim 1, wherein the gimbal mechanism is coupled to an unmanned aerial vehicle.

19. The gimbal mechanism of claim 18, wherein the gimbal mechanism is coupled to the unmanned aerial vehicle via the support structure supporting the first actuator, the second actuator, the first coupler, the second coupler, and the payload.