Description:FIELD OF THE INVENTION

The present disclosure relates to a two-axis gimbal to support and stabilize a payload holder, having a payload, moving in a plurality of axes, and providing a greater field of regard.

BACKGROUND

Gimbal is a mount or a stabilizer that permits the rotation of an object around one or more axes. The gimbals may be used in the field of photography, videography, on a ship, gyroscopes, shipboard compasses, etc. Further, based on the number of axes that the gimbal imparts rotation of the object, the gimbal can be a two-axis gimbal or a three-axis gimbal. The conventional configuration of the gimbal includes but is not limited to, a holder to hold the object, a motor to rotate the holder, and a feedback unit. The motor rotates and generates power to transfer to the holder through a belt drive or a gear drive to rotate the holder. Further, the feedback unit generates feedback for pivoting the payload holder. The pivoting of the payload holder is performed by a plurality of wire mechanisms which are controlled manually.

However, the conventional configuration of the gimbal has limitations, for example, the wire routing adds additional resistance to the rotation of the gimbal and also leads to a complex mechanism. Further, the configuration as disclosed uses the transmission system, thus leading to a bulky configuration with an increased number of components. Further, the moving parts in the gimbal, for example, the transmission system increase the possibility of failure of the gimbal. The bulky configuration of the gimbal also restricts a field of regard of the payload, where the field of regard is defined as a degree of angular movement exhibited by a payload provided in the payload holder. Further, conventionally, the feedback unit disposed in the housing requires an additional counterweight member to maintain the stability of the gimbal. Thus, this configuration also leads to a bulky configuration of the gimbal.

Further, the conventional configuration of the gimbal is not suitable for deployment in compact space and is limited by the geographical condition of the deployment area, where the gimbal is to be deployed. For example, the deployment of a component having the gimbal in a high-altitude area may lead to the freezing of a lubricant of the transmission system, thus impacting the overall working of the gimbal. Similarly, the deployment of the component having the gimbal in the desert area may jam the gimbal, as the gimbal may receive dust, which impacts the overall working of the gimbal.

The conventional configuration of the gimbal requires periodic maintenance, increases reliability issues, and also has an unstable center of gravity. Further, the conventional configuration of the gimbal is embodied in such a manner that if a power supply of one of the components of the gimbal gets damaged, the user has to replace all the related components which becomes a tedious task for the user and also is not cost-effective.

Therefore, in light of the foregoing discussions, there is a need to provide a compact gimbal that may also be deployed in a small space without compromising operation of the gimbal and also, while overcoming the limitations/drawbacks of the conventional configuration of the gimbal.

SUMMARY

This summary is provided to introduce a selection of concepts, in a simplified format, that are further described in the detailed description of the invention. This summary is neither intended to identify key or essential inventive concepts of the invention and nor is it intended for determining the scope of the invention.

The present invention aims to provide a compact two-axis gimbal that may also be deployed in a small space without compromising operation of the gimbal.

In an embodiment, the two-axis gimbal is disclosed that has a payload holder, an inner body, and an outer body. The payload holder is adapted to hold a payload whereas the inner body is adapted to receive the payload holder. Further, the outer body is adapted to receive the inner body and includes a first drive motor and a first feedback unit. The first drive motor is coupled to the outer body and is adapted to pivot the inner body about a first axis. The first feedback unit is installed opposite to the first drive motor and is adapted to generate a first feedback signal corresponding to a degree of pivoting of the inner body about the first axis. Further, the inner body includes a second drive motor and a second feedback unit. The second drive motor is coupled to the inner body and adapted to pivot the payload holder about a second axis. Further, the second feedback unit is installed opposite to the second drive motor and is adapted to generate a second feedback signal corresponding to a degree of pivoting of the payload holder about the second axis.

In another embodiment, a vehicle having a two-axis gimbal is disclosed. The two-axis gimbal comprises a payload holder, an inner body, and an outer body. The payload holder is adapted to hold a payload whereas the inner body is adapted to receive the payload holder. Further, the outer body is adapted to receive the inner body and includes a first drive motor and a first feedback unit. The first drive motor is coupled to the outer body and is adapted to pivot the inner body about a first axis. The first feedback unit is installed opposite to the first drive motor and is adapted to generate a first feedback signal corresponding to a degree of pivoting of the inner body about the first axis. Further, the inner body includes a second drive motor and a second feedback unit. The second drive motor is coupled to the inner body and adapted to pivot the payload holder about a second axis. Further, the second feedback unit is installed opposite to the second drive motor and is adapted to generate a second feedback signal corresponding to a degree of pivoting of the payload holder about the second axis.

The present disclosure ensures a compact configuration of the two-axis gimbal while maintaining the performance of the gimbal. The configuration of the two-axis gimbal as disclosed may be deployed in a small space area. Further, mechanized movement of the inner body and the payload holder in the first axis and the second axis, respectively, support and balance the payload holder having the payload. The present configuration of the two-axis gimbal ensures a greater field of regard in the two-axis gimbal. Further, the present configuration also maintains the stability of the two-axis gimbal.

To further clarify advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof, which is illustrated in the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. The invention will be described and explained with additional specificity and detail with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features, aspects, and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:

Figure 1 illustrates a schematic view of a vehicle with a two-axis gimbal, according to an embodiment of the present disclosure;
Figure 2A illustrates an assembled view of the two-axis gimbal, according to an embodiment of the present disclosure; and
Figure 2B illustrates a front view of the two-axis gimbal, according to an embodiment of the present disclosure.

Further, skilled artisans will appreciate that elements in the drawings are illustrated for simplicity and may not have necessarily been drawn to scale. Furthermore, in terms of the construction of the device, a plurality of components of the device may have been represented in the drawings by conventional symbols, and the drawings may show only those specific details that are pertinent to understanding the embodiments of the present invention so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having benefit of the description herein.

DETAILED DESCRIPTION OF FIGURES

For the purpose of promoting an understanding of the principles of the invention, reference will now be made to the embodiment illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended, such alterations and further modifications in the illustrated system, and such further applications of the principles of the invention as illustrated therein being contemplated as would normally occur to one skilled in the art to which the invention relates. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skilled in the art to which invention belongs. The system and examples provided herein are illustrative only and not intended to be limiting.

For example, the term “some” as used herein may be understood as “none” or “one” or “more than one” or “all.” Therefore, the terms “none,” “one,” “more than one,” “more than one, but not all” or “all” would fall under the definition of “some.” It should be appreciated by a person skilled in the art that the terminology and structure employed herein is for describing, teaching, and illuminating some embodiments and their specific features and elements and therefore, should not be construed to limit, restrict or reduce the spirit and scope of the present disclosure in any way.

For example, any terms used herein such as, “includes,” “comprises,” “has,” “consists,” and similar grammatical variants do not specify an exact limitation or restriction, and certainly do not exclude the possible addition of a plurality of features or elements, unless otherwise stated. Further, such terms must not be taken to exclude the possible removal of the plurality of the listed features and elements, unless otherwise stated, for example, by using the limiting language including, but not limited to, “must comprise” or “needs to include.”

Whether or not a certain feature or element was limited to being used only once, it may still be referred to as “plurality of features” or “plurality of elements” or “at least one feature” or “at least one element.” Furthermore, the use of the terms “plurality of” or “at least one” feature or element do not preclude there being none of that feature or element, unless otherwise specified by limiting language including, but not limited to, “there needs to be plurality of...” or “plurality of elements is required.”

Unless otherwise defined, all terms and especially any technical and/or scientific terms, used herein may be taken to have the same meaning as commonly understood by a person ordinarily skilled in the art.

Reference is made herein to some “embodiments.” It should be understood that an embodiment is an example of a possible implementation of any features and/or elements of the present disclosure. Some embodiments have been described for the purpose of explaining plurality of the potential ways in which the specific features and/or elements of the proposed disclosure fulfil the requirements of uniqueness, utility, and non-obviousness.

Use of the phrases and/or terms including, but not limited to, “a first embodiment,” “a further embodiment,” “an alternate embodiment,” “one embodiment,” “an embodiment,” “multiple embodiments,” “some embodiments,” “other embodiments,” “further embodiment”, “furthermore embodiment”, “additional embodiment” or other variants thereof do not necessarily refer to the same embodiments. Unless otherwise specified, plurality of particular features and/or elements described in connection with plurality of embodiments may be found in one embodiment, or may be found in more than one embodiment, or may be found in all embodiments, or may be found in no embodiments. Although plurality of features and/or elements may be described herein in the context of only a single embodiment, or in the context of more than one embodiment, or in the context of all embodiments, the features and/or elements may instead be provided separately or in any appropriate combination or not at all. Conversely, any features and/or elements described in the context of separate embodiments may alternatively be realized as existing together in the context of a single embodiment.

Any particular and all details set forth herein are used in the context of some embodiments and therefore should not necessarily be taken as limiting factors to the proposed disclosure.

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

For the sake of clarity, the first digit of a reference numeral of each component of the present disclosure is indicative of the Figure number, in which the corresponding component is shown. For example, reference numerals starting with digit “1” are shown at least in Figure 1. Similarly, reference numerals starting with digit “2” are shown at least in Figure 2.

Figure 1 illustrates a schematic diagram of a vehicle 100 having a two-axis gimbal 102, in accordance with an embodiment of the present invention. The vehicle 100 may be an aerial vehicle, such as a drone, or a terrestrial vehicle, such as an unmanned vehicle. The two-axis gimbal 102 may carry a payload holder (not shown), such that the two-axis gimbal 102 provides a greater field of regard to the payload holder.

Figure 2A illustrates an assembled view of the two-axis gimbal 102 whereas Figure 2B illustrates a front view of the two-axis gimbal 102, in accordance with an embodiment of the present invention. The two-axis gimbal 102 as disclosed in the present disclosure has a compact structure and can be deployed in a small space without compromising the working efficiency of the two-axis gimbal 102. The two-axis gimbal 102 configures to stabilize a payload holder 206 while moving in a plurality of axis. In an implementation, the two-axis gimbal 102 may be implemented, but not limited, on the vehicle 100.

The two-axis gimbal 102 may include but is not limited to, an outer body 202, an inner body 204, a payload holder 206, and a counterweight 268, details of which will be provided in subsequent paragraphs.

In an embodiment, the outer body 202 is adapted to receive the inner body 204. The outer body 202 is embodied in a circumferential profile, where the outer body 202 includes a front surface 208 and a rear surface. The rear surface is adapted to mount the outer body 202 to the vehicle 100 while the outer body 202 is adapted to receive the inner body 204 in a cavity 266 formed on the front surface 208 of the outer body 202.

The outer body 202 comprises a first drive motor 210 and a first feedback unit 212, such that the first drive motor 210 is coupled to the outer body 202 and the first feedback unit 212 is coupled to the outer body 202 opposite to the first drive motor 210. This configuration ensures that the first drive motor 210 and the first feedback unit 212 act as a counterweight for each other thereby doing away with the need for a dedicated counterweight. The outer body 202 may also include a pair of flanges 214, 216 formed on the outer body 202, such that each of the flanges 214, 216 are disposed opposite to each other. Further, a first flange 214 from the pair of flanges 214, 216 is adapted to support the first drive motor 210 in the outer body 202. A second flange 216 from the pair of flanges 214, 216 is adapted to support the first feedback unit 212 in the outer body 202. The first drive motor 210 is adapted to pivot the inner body 204 about a first axis AA’. The first feedback unit 212 is adapted to generate a first feedback signal corresponding to a degree of pivoting of the inner body 204 about the first axis AA’.

In an embodiment, the inner body 204 is adapted to receive the payload holder 206 and the payload holder 206 is adapted to hold a payload 206A (as shown in Figure 2) that can be a lens. The inner body 204 comprises a second drive motor 218 and a second feedback unit 220. The second drive motor 218 is coupled to the inner body 204. The second feedback unit 220 is installed opposite the second drive motor 218. This configuration ensures that the second drive motor 218 and the second feedback unit 220 act as the counterweight for each other. More precisely, the inner body 204 is embodied in a square-shaped profile. The inner body 204 comprises a plurality of brackets 222, 224, a pair of flanges 226, 228, and an opening 230. Each of the plurality of brackets 222, 224 is disposed oppositely with each other and attached with the pair of flanges 214, 216 of the outer body 202. Each of the plurality of brackets 222, 224 is attached with the pair of flanges 214, 216 of the outer body 202 through various attachment means, for example, a plurality of fasteners. Further, each of the pair of flanges 226, 228 is disposed oppositely with each other and adjacent to each of the plurality of brackets 222, 224. A first flange 226 from the pair of flanges 226, 228 is adapted to support the second drive motor 218 in the inner body 204. The second drive motor 218 is adapted to pivot the payload holder 206 about a second axis BB’. Further, the opening 230 is adapted to receive the payload holder 206 in the inner body 204.

Further, a second flange 228 from the pair of flanges 226, 228 is adapted to support the second feedback unit 220 in the inner body 204. The second feedback unit 220 is adapted to generate a second feedback signal corresponding to a degree of pivoting of the payload holder 206 about the second axis BB’. In an embodiment, the first drive motor 210 and the second drive motor 218 are frameless brushless direct-drive DC motors. Further, the first feedback unit 212, and the second feedback unit 220 are angular incremental encoders. In an embodiment, the first axis AA’ is an azimuth axis, and the second axis BB’ is an elevation axis. The configuration of the first drive motor 210, the second drive motor 218, the first feedback unit 212, and the second feedback unit 220 ensure the stability of the two-axis gimbal 102. Further, the configuration of the second feedback unit 220 and the first feedback unit 212 ensures the generation of appropriate feedback of the degree of pivoting of the payload holder 206 and the inner body 204 respectively while maintaining the stability of the two-axis gimbal 102.

In an embodiment, the counterweight 268 (as shown in Figure 2B) is disposed oppositely to the payload holder 206 and in the cavity 266 (as shown in Figure 2B) of the outer body 202. This configuration ensures the stability of the two-axis gimbal along a central axis.

Referring to Figure 2B, the second drive motor 218 is housed inside the housing 232. The second drive motor 218 of the inner body 204, comprises a stator 234 and a rotor 236, such that the stator 234 is attached to the inner body 204. The rotor 236 is housed inside the stator 234. The rotor 236 is rotatably coupled with the payload holder 206 through a drive shaft 238. The drive shaft 238 is supported on a plurality of bearings 240. The second drive motor 218 activates to generate power in the two-axis gimbal 102 to pivot the payload holder 206 in the second-axis BB’. More precisely, the drive shaft 238 along with the rotor 236 rotates to pivot the payload holder 206 in the second axis BB’ and simultaneously, impart the rotation to the second feedback unit 220.

In an embodiment, the second feedback unit 220 comprises a stator 242, and a rotor 244. The rotor 244 is housed inside the stator 242 and rotatably coupled with the payload holder 206 through a driven shaft 246. The driven shaft 246 is supported on a plurality of bearings 248 and disposed coaxially with respect to the drive shaft 238 in the payload holder 206. The driven shaft 246 receives the rotation from the drive shaft 238 and imparts the rotation to the rotor 244. Further, upon rotation of the rotor 244, the second feedback unit 220 senses pivoting of the payload holder 206 about the second axis BB’. Further, upon sensing, the second feedback unit 220 generates the second feedback signal corresponding to the degree of pivoting of the payload holder 206 about the second axis BB’. The configuration as disclosed ensures the greater field of regard of the two-axis gimbal 102 in the second axis BB’, that is, in the elevation axis or in a vertical axis.

Further, in an embodiment, based on the degree of pivoting of the payload holder 206 in the second axis, the first drive motor 210 is adapted to pivot the inner body 204 about the first axis AA’. In another implementation, the first drive motor 210 may be adapted to pivot the inner body 204 about the first axis AA’ independently. Further, the first feedback unit 212 is adapted to generate the first feedback signal corresponding to the degree of pivoting of the inner body 204 about the first axis AA’, that is, in the azimuth axis or in a horizontal axis.

In an embodiment, the first drive motor 210 comprises a stator 250, and a rotor 252. The rotor 252 is coupled inside the stator 250 and rotatably coupled with the inner body 204 through a drive shaft 254. The drive shaft 254 is supported on a plurality of bearings 256. The drive shaft 254 along with the rotor 252 rotates to pivot the inner body 204 about the first axis AA’ and simultaneously, impart the rotation to the first feedback unit 212. More precisely, the drive shaft 254 along with the rotor 252 rotates to pivot the inner body 204 along with the payload holder 206 about the first axis AA’ in a manner that the payload holder 206, previously pivoted in the second axis BB’, also pivots in the first axis AA’. In an embodiment, the payload holder 206 is pivoted in the second axis BB'. Accordingly, the first drive motor 210 pivots the inner body 204 along with the payload holder 206, pivoted in the second axis BB’, in the first axis AA’. The first drive motor 210 pivots the inner body 204 along with the payload holder 206. In another embodiment, the drive shaft 254 along with the rotor 252 may rotate to pivot the inner body 204 with the payload holder 206 in the first axis AA’ independent of the pivoting of the payload holder 206 in the second axis BB’.

Further, the first feedback unit 212 receives the rotation from the first drive motor 210. In an embodiment, the first feedback unit 212 comprises a stator 258, and a rotor 260. The rotor 260 is rotatably coupled with the inner body 204 through a driven shaft 262. The driven shaft 262 is supported on a plurality of bearings 264 and disposed coaxially with respect to the drive shaft 254 in the inner body 204. The driven shaft 262 receives the rotation from the drive shaft 254 and imparts the rotation to the rotor 260 to rotate. Further, upon the rotation, the first feedback unit 212 senses pivoting of the inner body 204 about the first axis AA’. The first feedback unit 212 generates the first feedback signal corresponding to the degree of pivoting of the inner body 204 about the first axis AA’.

More precisely, the first feedback unit 212 generates the first feedback signal corresponding to the degree of pivoting of the inner body 204 along with the payload holder 206 about the first axis AA’. The configuration as disclosed ensures the greater field of regard for the two-axis gimbal 102 in the first axis AA’, that is, in the azimuth axis or in a horizontal axis. In another implementation, the first feedback unit 212 generates the first feedback signal corresponding to the degree of pivoting of the inner body 204 along with the payload holder 206 in the first axis AA’, independent of the pivoting of the payload holder 206 in the second axis BB’. Further, the configuration as disclosed ensures the greater field of regard in the first axis AA’, that is, in the azimuth axis or in the horizontal axis, independent of the pivoting of the payload holder 206 in the second axis BB’.

Further, an example is provided in subsequent paragraphs to provide more clarity over the working of the invention disclosed in the present disclosure.

In the example, the two-axis gimbal 102 having a payload holder 206 is mounted on the vehicle 100 (as shown in Figure 1), where the vehicle 100 is in running condition. In this case, the two-axis gimbal 102 operates to detect obstacles approaching the vehicle 100 and inform the user about the same. More precisely, in a scenario, when the vehicle 100 is in running condition and is about to take a turn, the rotor 236 along with the drive shaft 238 rotates to pivot the payload holder 206 having the payload 206A in the second axis BB’. The second axis BB’ is the elevation axis or the vertical axis. The rotor 236 along with the drive shaft 238 rotates to pivot the payload holder 206, in the second axis BB’, according to the direction of the obstacle approaching the vehicle 100 to be aligned with the direction of the obstacle.

Further, simultaneously, the rotation is imparted to the second feedback unit 220. More precisely, the driven shaft 246 receives the rotation from the drive shaft 238 and imparts the rotation to the rotor 244 to rotate in the second axis BB’. Accordingly, the second feedback unit 220 senses pivoting of the payload holder 206 about the second axis BB’. Further, the second feedback unit 220 generates the second feedback signal corresponding to the degree of pivoting, that is, change in an angular orientation, of the payload holder 206 about the second axis BB’, to accordingly tracks the obstacle, approaching the vehicle 100, in the second axis BB’.

Further, the first drive motor 210 and the first feedback unit 212 are adapted to pivot the inner body 204 for tracking the obstacle in the first axis AA’. More precisely, the rotor 252 along with the drive shaft 254 rotates to pivot the inner body 204 having the payload holder 206, in the first axis AA’. The payload holder 206 is adapted to support the payload 206A, that is, the lens. The first axis AA’ is the azimuth axis or the horizontal axis. The rotor 252 along with the drive shaft 254 rotates to pivot the inner body 204 along with the payload holder 206, in the first axis AA’, according to the pivoting of the payload holder 206 in the second axis BB’ and the direction of the obstacle approaching towards the vehicle 100. In another implementation, the rotor 252 along with the drive shaft 254 rotates to pivot the inner body 204 along with the payload holder 206, in the first axis AA’, independent of the pivoting of the payload holder 206 in the second axis BB’.

Further, simultaneously, the rotation is imparted to the first feedback unit 212. More precisely, the driven shaft 262 receives the rotation from the drive shaft 254 and imparts the rotation to the rotor 260 to rotate in the first axis AA’. Accordingly, the first feedback unit 212 senses pivoting of the inner body 204 about the first axis AA’. Further, the first feedback unit 212 generates the first feedback signal corresponding to the degree of pivoting, that is, a change in the angular orientation of the inner body 204 about the first axis AA’. More precisely, the first feedback unit 212 generates the first feedback signal corresponding to the degree of pivoting of the inner body 204 along with the payload holder 206, that is, a change in the angular orientation of the inner body 204 along with the payload holder 206 about the first axis AA’. The degree of pivoting of the inner body 204 along with the payload holder 206 depends on the pivoting of the payload holder 206 in the second axis BB’ and the direction of the obstacle approaching the vehicle 100, to track the obstacle approaching the vehicle 100, in the first axis AA’. In another implementation, the degree of pivoting of the inner body 204 along with the payload holder 206 is independent of the pivoting of the payload holder 206 in the second axis BB’.

Referring to Figures 2A and 2B, the payload 206A has a wire routing (not shown). The wire routing from the payload 206A channels through a central hole passage (not shown) given in the drive shaft 238 of the inner body 204 followed by a slot (not shown) provided in a top-right portion of the inner body 204. Further, then the wire routing is channeled through a central hole passage (not shown) provided in the drive shaft 254 of the outer body 202 and then to the outer body 202. In an embodiment, the second drive motor has a wire routing. The wire routing from the second driver motor 218 channels through a slot (not shown) provided in the top-right portion of the inner body 204. Further, the wire routing is channeled through a central hole passage (not shown) provided in the drive shaft 254 of the outer body 202 and then to the outer body 202. In an embodiment, the second feedback unit 220 has a wire routing. The wire routing from the second feedback unit 220 channels through a slot (not shown) provided in a bottom-left portion of the inner body 204. Further, the wire routing is channeled through a central hole passage (not shown) provided in the driven shaft 262 of the outer body 202 and then to the outer body 202. The configuration as disclosed ensures minimum resistance to movement of the two-axis gimbal 102 due to wire stiffness. The minimum resistance is ensured as the wires run along a center of the shafts 254, 262, hence coincide with rotational axis of two-axis gimbal 102, thus resulting in the minimum resistance.

As would be gathered, the two-axis gimbal 102 of the present disclosure offers a comprehensive approach for tracking the obstacle by the two-axis gimbal 102, even if the two-axis gimbal 102 is mounted on the running vehicle 100. The two-axis gimbal 102 drives the payload holder 206 having the payload 206A in both the azimuth axis and the elevation axis either independently or depending on each other ensuring the greater field of regard. Further, the two-axis gimbal 102 supports and balance the payload holder 206 in the two-axis gimbal 102 through the counterweight 268. The configuration of the first drive motor 210, the second drive motor 218, the first feedback unit 212, and the second feedback unit 220 ensure a simple, lightweight, and compact configuration of the two-axis gimbal 102. Also, the configuration as disclosed ensures that the failure of one component will not impact the working of other components in the two-axis gimbal 102. Further, the configuration as disclosed in the present disclosure ensures the stability of the two-axis gimbal 102 while maintaining required performance, such as velocity, acceleration, and position accuracy. The configuration as disclosed ensures simple wire routing as each component of the two-axis gimbal 102 has individual wire routing, thus, ensuring the shortest possible path for the individual wire routing. This configuration results in the minimum resistance during the movement of the two-axis gimbal 102. Further, the configuration as disclosed ensures the vibration-proof and shockproof structure of the two-axis gimbal 102. The present configuration also ensures ease of serviceability of the two-axis gimbal 102.

While specific language has been used to describe the present disclosure, any limitations arising on account thereto, are not intended. As would be apparent to a person in the art, various working modifications may be made to the method in order to implement the inventive concept as taught herein. The drawings and the foregoing description give examples of embodiments. Those skilled in the art will appreciate that plurality of the described elements may well be combined into a single functional element. Alternatively, certain elements may be split into multiple functional elements. Elements from one embodiment may be added to another embodiment.
, Claims:1. A two-axis gimbal (102) comprising:
a payload holder (206) adapted to hold a payload (206A);
an inner body (204) adapted to receive the payload holder (206);
an outer body (202) adapted to receive the inner body (204), wherein the outer body (202) comprising:
a first drive motor (210) coupled to the outer body (202) and adapted to pivot the inner body (204) about a first axis (AA’); and
a first feedback unit (212) installed opposite to the first drive motor (210) and adapted to generate a first feedback signal corresponding to a degree of pivoting of the inner body (204) about the first axis (AA’); and
wherein the inner body (204) comprising;
a second drive motor (218) coupled to the inner body (202) and adapted to pivot the payload holder (206) about a second axis (BB’); and
a second feedback unit (220) installed opposite to the second drive motor (218) and adapted to generate a second feedback signal corresponding to a degree of pivoting of the payload holder (206) about the second axis (BB’).

2. The two-axis gimbal (102) as claimed in claim 1, wherein the first axis (AA’) is an azimuth axis and the second axis (BB’) is an elevation axis.

3. The two-axis gimbal (102) as claimed in claim 1, comprising a counterweight (268) disposed oppositely to the payload holder (206) and in a cavity (266) of the outer body (202).

4. The two-axis gimbal (102) as claimed in claim 1, wherein the outer body (202) is embodied in a circumferential profile, wherein the outer body (202) comprises:
a pair of flanges (214, 216) formed on the outer body (202), wherein, each of the pair of flanges (214, 216) is disposed oppositely with each other,
a first flange (214) from the pair of flanges (214, 216) is adapted to support the first drive motor (210) in the outer body (202); and
a second flange (216) from the pair of flanges (214, 216) is adapted to support the first feedback unit (212) in the outer body (202).

5. The two-axis gimbal (102) as claimed in claim 1, wherein the inner body (204) is embodied in a square-shaped profile, wherein the inner body (204) comprises:
a plurality of brackets (222, 224), wherein each of the plurality of brackets (222, 224) is disposed oppositely with each other and attached with a pair of flanges (214, 216) of the outer body (202);
a pair of flanges (226, 228), wherein each of the pair of flanges (226, 228) is disposed oppositely with each other and adjacent to each of the plurality of brackets (222, 224), wherein,
a first flange (226) from the pair of flanges (226, 228) is adapted to support the second drive motor (218) in the inner body (204);
a second flange (228) from the pair of flanges (226, 228) is adapted to support the second feedback unit (220) in the inner body (204); and
an opening (230) adapted to receive the payload holder (206) in the inner body (204).

6. The two-axis gimbal (102) as claimed in claim 5, wherein the second drive motor (218) comprises:
a stator (234) attached to the inner body (204); and
a rotor (236) housed inside the stator (234) and rotatably coupled with the payload holder (206) through a drive shaft (238), wherein,
the drive shaft (238) is supported on a plurality of bearings (240), and
the drive shaft (238) along with the rotor (236) rotates to pivot the payload holder (306) about the second axis (BB’) and simultaneously, impart the rotation to the second feedback unit (220).

7. The two-axis gimbal (102) as claimed in claim 6, wherein the second feedback unit (220) comprises:
a stator (242); and
a rotor (244) housed inside the stator (242) and rotatably coupled with the payload holder (206) through a driven shaft (246), wherein,
the driven shaft (246) is supported on a plurality of bearings (248), and disposed coaxially with respect to the drive shaft (238) in the payload holder (206), and
the driven shaft (246) receives the rotation from the drive shaft (238) and imparts the rotation to the rotor (244) to rotate, wherein the second feedback unit (220) senses pivoting of the payload holder (206) about the second axis (BB’) and generates the second feedback signal corresponding to the degree of pivoting of the payload holder (206) about the second axis.

8. The two-axis gimbal (102) as claimed in claim 4, wherein the first drive motor (210) comprises:
a stator (250); and
a rotor (252) housed inside the stator (250) and rotatably coupled with the inner body (204) through a drive shaft (254), wherein,
the drive shaft (254) is supported on a plurality of bearings (256), and
the drive shaft (254) along with the rotor (252) rotates to pivot the inner body (204) about the first axis (AA’) and simultaneously, impart the rotation to the first feedback unit (212).

9. The two-axis gimbal (102) as claimed in claim 8, wherein the first feedback unit (212) comprises:
a stator (258); and
a rotor (260) housed inside the stator (258) and rotatably coupled with the inner body (204) through a driven shaft (262), wherein,
the driven shaft (262) is supported on a plurality of bearings (264) and disposed coaxially with respect to the drive shaft (254) in the inner body (204), and
the driven shaft (262) receives the rotation from the drive shaft (254) and imparts the rotation to the rotor (260) to rotate, wherein the first feedback unit (212) senses pivoting of the inner body (204) about the first axis (AA’) and generates the first feedback signal corresponding to the degree of pivoting of the inner body (204) about the first axis (AA’).

10. A vehicle (100) having a two-axis gimbal (102), comprising:
a payload holder (206) adapted to hold a payload (206A);
an inner body (204) adapted to receive the payload holder (206);
an outer body (202) adapted to receive the inner body (204), wherein the outer body (202) comprising:
a first drive motor (210) coupled to the outer body (202) and adapted to pivot the inner body (204) about a first axis (AA’); and
a first feedback unit (212) installed opposite to the first drive motor (210) and adapted to generate a first feedback signal corresponding to a degree of pivoting of the inner body (204) about the first axis (AA’); and
wherein the inner body (204) comprising;
a second drive motor (218) coupled to the inner body (202) and adapted to pivot the payload holder (206) about a second axis (BB’); and
a second feedback unit (220) installed opposite to the second drive motor (218) and adapted to generate a second feedback signal corresponding to a degree of pivoting of the payload holder (206) about the second axis (BB’).