CN105667818A - 一种云台 - Google Patents
一种云台 Download PDFInfo
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- CN105667818A CN105667818A CN201610007033.8A CN201610007033A CN105667818A CN 105667818 A CN105667818 A CN 105667818A CN 201610007033 A CN201610007033 A CN 201610007033A CN 105667818 A CN105667818 A CN 105667818A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
- F16M13/022—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle repositionable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
- F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
- F16M11/2071—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for panning and rolling
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/041—Balancing means for balancing rotational movement of the head
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
- G03B15/006—Apparatus mounted on flying objects
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B2205/00—Adjustment of optical system relative to image or object surface other than for focusing
- G03B2205/0007—Movement of one or more optical elements for control of motion blur
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/18—Machines moving with multiple degrees of freedom
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
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Abstract
本发明提出的一种云台,航向轴臂、横滚轴臂和俯仰轴臂分别通过一个电机驱动,实现三个轴臂的各自旋转,所述电机的定子或者转子直接与相应电机所驱动的轴臂连接,避免了现有云台上电机使用输出轴与轴臂连接的方式,由于避免使用粗大的悬臂结构的输出轴,使得每个电机均能减少重量和体积,从而使得云台的重量和体积减少,进而减少无人机的负担,保证航拍效果。
Description
技术领域
本发明涉及无人飞行器技术领域,尤其涉及一种云台。
背景技术
无人驾驶飞机简称“无人机”,英文缩写为“UAV”,是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞机。无人机能够应用于警用、城市管理、农业、地质、气象、电力、抢险救灾、视频拍摄等行业。航拍设备需要通过云台进行固定、增稳,现有的云台的重量和体积较大,对无人机造成负担,影响航拍质量。其中现有的云台电机采用输出轴与云台的轴臂连接,输出轴为悬臂结构,为了使得连接可靠,需要将输出轴做的粗大,导致云台的体积和重量都会增加,给无人机造成负担。
基于以上问题,本发明提出一种云台,电机上能够避免使用输出轴,减少云台的重量和体积,避免给无人机造成负担。
发明内容
本发明的目的在于提出一种云台,能够避免电机使用输出轴,减少云台的重量和体积,避免给无人机造成负担。
为达此目的,本发明采用以下技术方案:
一种云台,包括航向轴臂、横滚轴臂和俯仰轴臂,所述航向轴臂、横滚轴臂和俯仰轴臂各自通过一个电机驱动,所述电机的定子或者转子直接与相应电机所驱动的轴臂连接。
进一步的技术方案,所述电机的定子或者转子与相应电机所驱动的轴臂之间通过紧固件连接。
进一步的技术方案,所述紧固件为螺钉,所述定子和转子上均设有与所述螺钉配合的螺钉孔。
进一步的技术方案,所述电机的定子和转子均套设在电机的连接轴上,所述连接轴靠近转子一端设有第一定位结构,与所述转子相连接的轴臂上设置有与所述第一定位结构相配合的第二定位结构。
进一步的技术方案,所述第一定位结构为设置在连接轴上的凸台。
进一步的技术方案,驱动所述航向轴臂的电机为第一电机,所述第一电机的定子与航向轴臂连接,所述第一电机的转子与用于固定云台的安装部连接。
进一步的技术方案,驱动所述横滚轴臂的电机为第二电机,所述第二电机的定子与所述航向轴臂连接,所述第二电机的转子与所述横滚轴臂连接。
进一步的技术方案,驱动所述俯仰轴臂的电机为第三电机,所述第三电机的定子与所述横滚轴臂连接,所述第三电机的转子与所述俯仰轴臂连接。
进一步的技术方案,所述连接轴远离所述转子的一端上套设有磁铁,所述磁铁正对有接收所述磁铁信号的磁编码器,所述磁编码器上连出有信号线,所述磁编码器的信号线与云台的控制器连接。
进一步的技术方案,所述云台的控制器固定在航向轴臂上。
本发明的有益效果:
本发明提出一种云台,包括航向轴臂、横滚轴臂和俯仰轴臂,能够保证无人机在拍摄过程中实现多角度拍摄,还能实现自动调整功能,保证摄像设备保持固定角度拍摄,航向轴臂、横滚轴臂和俯仰轴臂各自通过一个电机驱动,实现三个轴臂的各自旋转,所述电机的定子或者转子直接与相应电机所驱动的轴臂连接,避免了现有云台上电机使用输出轴与轴臂连接的方式,由于避免使用粗大的悬臂结构的输出轴,使得每个电机均能减少重量和体积,从而使得云台的重量和体积减少,进而减少无人机的负担,保证航拍效果。
附图说明
图1是本发明提供的云台的结构示意图;
图2是本发明提供的航向轴臂和电机的连接结构示意图;
图3是本发明提供的横滚轴臂和电机连接的结构示意图;
图4是本发明提供的俯仰轴臂和电机连接的结构示意图。
其中,1、航向轴臂;2、横滚轴臂;3、俯仰轴臂;4、定子;5、转子;6、螺钉孔;7、连接轴;8、凸台;9、第一电机;10、第二电机;11、第三电机;12、磁铁;13、磁编码器;14、控制器。
具体实施方式
下面结合附图并通过具体实施方式来进一步说明本发明的技术方案。
如图1所示,一种云台,包括航向轴臂1、横滚轴臂2和俯仰轴臂3,航向轴臂1、横滚轴臂2和俯仰轴臂3各自通过一个电机驱动,所述电机的定子4或者转子5直接与相应电机所驱动的轴臂连接,避免了使用悬臂结构的输出轴进行连接,能够增强电机和轴臂之间的连接强度和牢靠性,能够减少云台的重量和体积。
具体的,电机的定子4或者转子5与相应电机所驱动的轴臂之间通过紧固件连接。紧固件连接的连接方式牢靠,不易损坏。优选的,如图2-4所示,紧固件为螺钉,定子4和转子5上均设有与螺钉配合的螺钉孔6,螺钉连接电机和轴臂,能够实现可拆卸连接,便于更换和维修,还可以根据实际情况选择上述的连接方式,不限于螺钉连接。
如图2-4所示,电机的定子4和转子5均套设在电机的连接轴7上,连接轴7靠近转子5一端设有第一定位结构,与转子5相连接的轴臂上设置有与第一定位结构相配合的第二定位结构,通过定位结构能够便于连接,操作方便快捷,节省时间。
第一定位结构为设置在连接轴7上的凸台8,与第二定位结构相配合。
本具体实施方式中一种优选的云台为:如图1所示,驱动航向轴臂1的电机为第一电机9,第一电机9的定子4与航向轴臂1连接,第一电机9的转子5与用于固定云台的安装部连接。驱动横滚轴臂2的电机为第二电机10,第二电机10的定子4与航向轴臂1连接,第二电机10的转子5与横滚轴臂2连接。驱动俯仰轴臂3的电机为第三电机11,第三电机11的定子4与横滚轴臂2连接,第三电机11的转子5与俯仰轴臂3连接。连接轴7远离转子5的一端上套设有磁铁12,磁铁12正对有接收磁铁12信号的磁编码器13,磁编码器13上连出有信号线,磁编码器13的信号线与云台的控制器14连接,云台的控制器14固定在航向轴臂1上。
电机正装是指电机的转子5与转动端连接,电机的定子4与固定端连接。根据以上定义可知,第一电机9为反装,第二电机10和第三电机11为正装,当控制器14固定在航向轴臂1上时,第一电机9反装可以使得磁编码器13、电机与控制器14的连线直接从航向轴臂1中穿过,避免绕线,第二电机10和第三电机11正装同样是便于将相应电机内的磁编码器13、电机与控制器14的连线能够在对应的轴臂内穿过,避免绕线,同时减少信号线或者电源线的裸露。
申请人声明,本发明的上述实施例仅是为了清楚说明本发明所作的举例,而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说,在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本发明权利要求的保护范围之内。
Claims (10)
1.一种云台,包括航向轴臂(1)、横滚轴臂(2)和俯仰轴臂(3),所述航向轴臂(1)、横滚轴臂(2)和俯仰轴臂(3)各自通过一个电机驱动,其特征在于,所述电机的定子(4)或者转子(5)直接与相应电机所驱动的轴臂连接。
2.根据权利要求1所述的云台,其特征在于,所述电机的定子(4)或者转子(5)与相应电机所驱动的轴臂之间通过紧固件连接。
3.根据权利要求2所述的云台,其特征在于,所述紧固件为螺钉,所述定子(4)和转子(5)上均设有与所述螺钉配合的螺钉孔(6)。
4.根据权利要求1所述的云台,其特征在于,所述电机的定子(4)和转子(5)均套设在电机的连接轴(7)上,所述连接轴(7)靠近转子(5)一端设有第一定位结构,与所述转子(5)相连接的轴臂上设置有与所述第一定位结构相配合的第二定位结构。
5.根据权利要求4所述的云台,其特征在于,所述第一定位结构为设置在连接轴(7)上的凸台(8)。
6.根据权利要求1-5任一所述的云台,其特征在于,驱动所述航向轴臂(1)的电机为第一电机(9),所述第一电机(9)的定子(4)与航向轴臂(1)连接,所述第一电机(9)的转子(5)与用于固定云台的安装部连接。
7.根据权利要求6所述的云台,其特征在于,驱动所述横滚轴臂(2)的电机为第二电机(10),所述第二电机(10)的定子(4)与所述航向轴臂(1)连接,所述第二电机(10)的转子(5)与所述横滚轴臂(2)连接。
8.根据权利要求7所述的云台,其特征在于,驱动所述俯仰轴臂(3)的电机为第三电机(11),所述第三电机(11)的定子(4)与所述横滚轴臂(2)连接,所述第三电机(11)的转子(5)与所述俯仰轴臂(3)连接。
9.根据权利要求4所述的云台,其特征在于,所述连接轴(7)远离所述转子(5)的一端上套设有磁铁(12),所述磁铁(12)正对有接收所述磁铁(12)信号的磁编码器(13),所述磁编码器(13)上连出有信号线,所述磁编码器(13)的信号线与云台的控制器(14)连接。
10.根据权利要求9所述的云台,其特征在于,所述云台的控制器(14)固定在航向轴臂(1)上。
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