WO2018205368A1 - 云台结构 - Google Patents
云台结构 Download PDFInfo
- Publication number
- WO2018205368A1 WO2018205368A1 PCT/CN2017/090414 CN2017090414W WO2018205368A1 WO 2018205368 A1 WO2018205368 A1 WO 2018205368A1 CN 2017090414 W CN2017090414 W CN 2017090414W WO 2018205368 A1 WO2018205368 A1 WO 2018205368A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- motor
- stator
- housing
- pan
- signal control
- Prior art date
Links
- 230000002452 interceptive effect Effects 0.000 abstract 1
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
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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
-
- 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
- H02K5/22—Auxiliary parts of casings not covered by groups H02K5/06-H02K5/20, e.g. shaped to form connection boxes or terminal boxes
- H02K5/225—Terminal boxes or connection arrangements
-
- 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
-
- 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
-
- 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
- F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
-
- 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
- F16M11/2021—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis
- F16M11/2028—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis for rolling, i.e. for creating a landscape-portrait rotation
-
- 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
- F16M11/2042—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction constituted of several dependent joints
- F16M11/205—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. gimbals
-
- 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
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/18—Means for mounting or fastening magnetic stationary parts on to, or to, the stator structures
- H02K1/187—Means for mounting or fastening magnetic stationary parts on to, or to, the stator structures to inner stators
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- 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
Definitions
- the invention relates to the field of cloud platform technology, in particular to a cloud platform structure.
- the micro controller needs to control the data of the gimbal motor and the transmission camera through the wire, but it is limited by the pan/tilt volume. Smaller, the arrangement of the wires from the structure will cause the following problems: the space of the gimbal is small and the number of wires is large, which makes the arrangement of the wires difficult, or the wires are easily broken.
- the cloud platform structure needs to control many components, and it requires multiple signals to work at the same time, which leads to the need to set multiple wires on the gimbal. The arrangement of multiple wires is not easy to cause excessive turning force, resulting in waste of driving force.
- the invention provides a gimbal structure.
- a pan/tilt structure includes: a camera assembly, a first motor, a second motor, and a motor housing, the first motor driving the camera assembly to rotate about a first axis of rotation, and the second motor driving the camera The assembly rotates about a second axis of rotation perpendicular to the first axis of rotation; wherein the first motor includes a first stator, the first stator is provided with a first signal control line; and the second motor The second stator is provided with a second signal control line; the first stator and the second stator are respectively mounted on the motor housing; the first signal control line And the second signal The control lines merge to form a first wire structure.
- the motor housing includes a first housing disposed along the second rotating shaft direction and a second housing disposed at a first end of the first housing along the first rotating shaft direction,
- the first housing includes a first mounting portion for mounting the first stator
- the second housing includes a second mounting portion for mounting the second stator.
- the first motor further includes a first rotor and a first motor shaft, the first mounting portion includes a first receiving portion for receiving the first rotor; and the second motor further includes a second a rotor and a second motor shaft, the second mounting portion including a second receiving portion for receiving the second rotor.
- the first rotor protrudes from the first receiving portion from the first housing; the motor housing further includes a third housing, and the third housing is disposed on the first housing a rotor coupled to the first motor shaft.
- the motor housing further includes a fourth housing, the fourth housing is disposed at a second end of the first housing along the first rotating shaft direction; the camera assembly is mounted at the second housing Between the second housing and the fourth housing, and connected to the second motor shaft.
- first connector disposed between the first stator and the second stator, the second signal control line passing through the first connector and the The first signal control lines merge to form the first wire structure.
- the first stator includes a first inlet port
- the second stator includes a first outlet port
- the first connector is disposed at the first outlet port and the first inlet port
- the second signal control line passes through the second stator from the first outlet port, and penetrates into the first stator from the first inlet port through the first connector.
- the first signal control lines merge to form the first wire structure.
- the first connector includes a first connection port and a second connection port that are connected to each other, and the first connection port is disposed on the first stator and communicates with the first inlet port.
- the second connection port is disposed on the second stator and communicates with the first outlet port.
- the camera assembly includes a camera signal control line
- the pan/tilt structure further includes a second connector disposed on the first stator, the first wire structure passing through the second connector The first stator is threaded out and merged with the camera signal control line to form a second wire structure.
- the camera assembly includes a camera outlet end, and the camera signal control line passes out of the camera assembly from the camera outlet end.
- first rotation axis direction is a roll axis direction of the pan/tilt structure
- second rotation axis direction is a pitch axis direction of the pan/tilt structure
- the pan/tilt structure of the present invention can control the first signal of the first motor by mounting the first stator of the first motor and the second stator of the second motor on the same component (ie, the motor housing)
- the line and the second signal control line of the second motor are combined into one strand (ie, the first wire structure is formed), and the wires are reasonably arranged by the above manner, which can effectively avoid the situation that the multiple wires in the pan/tilt are simultaneously moved and interfere with each other, and can Reducing the torque generated by the motor (ie, the first motor and the second motor) when driving the camera assembly and the rotational resistance of the wire to the pan/tilt, fully utilizing the space, effectively improving the service life of the wire.
- FIG. 1 is a perspective view showing a structure of a pan/tilt head according to an embodiment of the present invention.
- FIG. 2 is an exploded view of the gimbal structure at an angle according to an embodiment of the present invention.
- FIG 3 is an exploded view of the gimbal structure shown at another angle according to an embodiment of the present invention.
- FIG. 4 is a perspective view showing the assembly of a motor housing and a motor assembly of a pan-tilt structure according to an embodiment of the present invention.
- FIG. 5 is a schematic plan view showing the assembly of a motor housing and a motor assembly of a pan-tilt structure according to an embodiment of the invention.
- Fig. 6 is an exploded view of a motor assembly of a pan/tilt structure according to an embodiment of the present invention.
- Fig. 7 is an exploded perspective view showing the motor assembly of the pan/tilt structure according to an embodiment of the present invention.
- FIG. 8 is a perspective view of a motor assembly of a pan/tilt structure according to an embodiment of the invention.
- FIG. 9 is a schematic plan view showing a motor assembly of a pan-tilt structure according to an embodiment of the present invention.
- FIG. 10 is a perspective view of a motor housing of a pan/tilt structure according to an embodiment of the invention.
- Figure 11 is a plan view showing a motor housing of a pan-tilt structure according to an embodiment of the present invention.
- FIG. 12 is a schematic diagram showing the structure of a camera assembly of a pan-tilt structure according to an embodiment of the invention.
- pan/tilt structure of the present invention will be described in detail below with reference to the accompanying drawings.
- the features of the embodiments and embodiments described below may be combined with each other without conflict.
- a pan/tilt structure 1 includes: a camera assembly 10, a first motor 20, a second motor 30, and a motor housing 40.
- the first motor 20 can be driven.
- the camera assembly 10 is rotated about a first axis of rotation 510, and the second motor 30 is capable of driving the camera
- the assembly 10 is rotated about a second axis of rotation 520 that is perpendicular to the first axis of rotation 510.
- the first motor 20 and the second motor 30 together constitute a motor assembly of the pan/tilt structure 1, and the motor assembly is mounted on the motor housing 40 to complete the motor housing. Assembly of 40 with the first motor 20 and the second motor 30.
- the first motor 20 includes a first stator 210, and the first stator 210 is provided with a first signal control line.
- the second motor 30 includes a second stator 310, and the second stator 310 is provided with a second signal control line.
- the first stator 210 and the second stator 310 are both mounted on the motor housing 40.
- the first signal control line and the second signal control line are combined to form a first wire structure 810, as shown in FIG.
- the pan/tilt structure 1 of the present invention is provided with the first stator 210 of the first motor 20 and the second stator 310 of the second motor 30 in the same component (ie, the motor housing 40).
- the first signal control line of the first motor 20 and the second signal control line of the second motor 30 can be combined into one unit (ie, the first wire structure 810 is formed).
- the pan-tilt structure 1 of the present invention is reasonably The arrangement of the wires can effectively avoid the situation that the multiple wires in the gimbal are simultaneously moved to interfere with each other, and can reduce the torque generated by the motor (ie, the first motor 20 and the second motor 30) when driving the camera assembly 10 and the wire pair.
- the rotation resistance generated by the gimbal makes full use of the space and effectively improves the service life of the wire.
- the motor housing 40 includes a first housing 410 and an edge disposed along the second rotating shaft direction 520 .
- the first rotating shaft direction 510 is disposed on the second housing 420 of the first end of the first housing 410, and the first housing 410 includes a first mounting for mounting the first stator 210.
- the second housing 420 includes a second mounting portion 421 for mounting the second stator 310.
- the first housing 410 and the second housing 420 are integrally formed.
- the first stator 210 of the first motor 20 is received in the first housing In the first mounting portion 411 of the body 410, the second stator 310 of the second motor 30 is received in the second mounting portion 421 of the second housing 420, and the first mounting portion 411 and the second mounting portion
- the setting portion 421 not only serves to accommodate the first stator 210 And the function of the second stator 310, but also the positioning of the first motor 20 and the second motor 30.
- the first motor 20 includes a first stator 210 , a first rotor 220 mounted on the first stator 210 , and a first motor
- the first motor shaft 230 on the first rotor 220, the first housing 410 of the motor housing 40 includes a first mounting portion 411 for mounting the first stator 210, the first The mounting portion 411 includes a first receiving portion 412 for receiving the first rotor 220.
- the second motor 30 includes a second stator 310, a second rotor 320 mounted on the second stator 310, and a second motor shaft 330 mounted on the second rotor 320 (as shown in FIG. 3).
- the second housing 420 includes a second mounting portion 421 for mounting the second stator 310, and the second mounting portion 421 includes a second portion for receiving the second rotor 320.
- the first stator 210 of the first motor 20 is received in the first housing In the first mounting portion 411 of the body 410, the first rotor 220 of the first motor 20 is received in the first receiving portion 412 of the first housing 410 and partially protrudes from the first housing 410 (shown in Figure 4).
- the second stator 310 of the second motor 30 is received in the second mounting portion 421 of the second housing 420, and the second rotor 320 of the second motor 30 is received in the second housing 420.
- the second receiving portion 422 is partially protruded from the second housing 420 (as shown in FIG. 4).
- the first mounting portion 411 and the second mounting portion 421 function not only to accommodate the first stator 210 and the second stator 310 but also to position the first motor 20 and the second motor 30.
- the first rotor 220 of the first motor 20 protrudes from the first receiving portion 412 partially from the second housing 420
- the second rotor 320 of the second motor 30 is from the second
- the receiving portion 422 is partially protruded from the second housing 420. Therefore, the first receiving portion 412 and the second receiving portion 422 not only serve to accommodate the first rotor 220 and the second rotor 320, but also the first motor.
- the 20 and second motor 30 serve to further position.
- the motor housing 40 further includes a third housing 430 and a fourth housing 440 .
- the third housing 430 is disposed on the first rotor 220 . Projecting from a portion of the first housing 410 and coupled to the first motor shaft 230, ie, one end of the first motor shaft 230 The first motor shaft 230 is connected to the camera housing 10 and is coupled to the camera assembly 10 to rotate the camera assembly 10 about the first rotation axis direction 510.
- the fourth housing 440 is disposed at the second end of the first housing 410 along the first rotation axis direction 510, and the camera assembly 10 is mounted on the second housing 420 and the fourth housing Between the bodies 440 and connected to the second motor shaft 330, the second motor shaft 330 can drive the camera assembly 10 to rotate about the second axis of rotation 520.
- the pan-tilt structure 1 further includes a first connector 610 , and the first connector 610 is disposed between the first stator 210 and the second stator 310 .
- the second signal control line is merged with the first signal control line by the first connector 610 to form the first wire structure 810.
- the first connector 610 is a coaxial connector.
- the first stator 210 includes a first connecting portion 211, and the first connecting portion 211 is provided with a first incoming port.
- the second stator 310 includes a second connecting portion 311 disposed in a bent shape, and the second connecting portion 311 is bent and connected to the first connecting portion 211 of the first stator 210, and the second connecting portion
- the first outlet 610 is disposed on the portion 311, and the first connector 610 is connected between the first outlet port and the first inlet port.
- the second signal control line passes through the second outlet 310 from the first outlet port of the second connection portion 311, and passes through the first connector 610 from the first connection of the first connection portion 211.
- a line port penetrates into the first stator 210 and is combined with the first signal control line to form the first wire structure 810.
- the first connector 610 includes a first connection port 611 and a second connection port 612 connected to each other, and the first connection port 611 is disposed on the first connection portion 211 of the first stator 210 and The first connection port 612 is disposed on the second connection portion 311 of the second stator 310 and communicates with the first outlet port.
- the first housing 410 is further provided with a connecting hole 413.
- the first connection port 611 and the second connection port 612 of the connector 610 are connected to each other at the connection hole 413, so that the second signal control line is connected to the second stator 310 and then through the first connector 610.
- the first wire structure 810 is formed by being merged into the first stator 210 and merged with the first signal control line.
- the first motor 20 is mounted on the first housing 410 from above the first housing 410, so that the first stator 210 of the first motor 20 is received in the first housing 410.
- the first rotor 220 of the first motor 20 is received in the first receiving portion 412 of the first housing 410 and partially protrudes from the first housing 410.
- the second connecting portion 311 of the second motor 30 is passed through the connecting hole 413 of the first housing 410 from below the first housing 410, so that the first connector 610 is first.
- the connection port 611 and the second connection port 612 are connected to each other.
- the second motor 30 is mounted on the second housing 420 from the right side of the second housing 420, so that the second stator 310 of the second motor 30 is received in the second In the second mounting portion 421 of the second housing 420, the second rotor 320 of the second motor 30 is received in the second receiving portion 422 of the second housing 420 and partially protrudes from the second housing
- the body 420 is configured to mount the first motor 20 and the second motor 30 to the motor housing 40.
- the camera assembly 10 includes a camera signal control line 110, and the pan/tilt structure 1 further includes a second connection disposed on the first stator 210.
- the first wire structure 810 passes through the first stator 210 through the second connector 620 and merges with the camera signal control line 110 to form a second wire structure 820, the second wire
- the structure 820 can be passed through the motor housing 40 to be connected to an external device.
- the second connector 620 is a coaxial connector.
- the pan/tilt structure 1 of the present invention merges the first wire structure 810 with the camera signal control line 110 to form a second wire structure 820 by the above arrangement, that is, the first signal control line of the first motor 20,
- the second signal control line of the second motor 30 and the camera signal control line 110 of the camera assembly 10 are combined into one unit (ie, the second wire structure 820 is formed), thereby realizing the integration of all the wires in the motor housing 40 into one strand, further
- the arrangement of the wires inside the pan/tilt is optimized, which can better avoid the situation that multiple wires in the gimbal are simultaneously moved and interfere with each other, and can reduce the movement of the motor (ie, the first motor 20 and the second motor 30) to drive the camera assembly 10
- the torque generated by the wire and the rotational resistance of the wire to the gimbal make full use of the space, effectively improving the service life of the wire.
- the first stator 210 further includes a third connecting portion 212, and the third connecting portion 212 A second outlet port is disposed on the third connection portion 212 and communicates with the second outlet port.
- the first wire structure 810 passes through the first stator 210 through the second outlet port and the second connector 620.
- the camera assembly 10 includes a camera outlet 120 that passes out of the camera assembly 10 from the camera outlet 120.
- the pan-tilt structure 1 is a two-axis pan/tilt
- the first rotating axis direction 510 is a roll axis direction of the pan-tilt structure 1 .
- the second axis of rotation direction 520 is a pitch axis direction of the pan-tilt structure 1 .
- the pan/tilt structure 1 further includes a damper plate 710 for connecting the pan-tilt structure 1 with other external devices.
- a third component 430 of the motor housing 40 is provided with a connection component 720.
- the mounting bracket 710 is mounted on the third housing of the motor housing 40 through the connection component 720. On 430.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Studio Devices (AREA)
- Accessories Of Cameras (AREA)
- Manufacture Of Motors, Generators (AREA)
Abstract
一种云台结构(1),包括:相机组件(10)、第一电机(20)、第二电机(30)以及电机壳体(40),第一电机(20)驱动相机组件(10)绕第一转轴方向(510)转动,第二电机(30)驱动相机组件(10)绕垂直于第一转轴方向(510)的第二转轴方向(520)转动;其中,第一电机(20)包括第一定子(210),第一定子(210)上设有第一信号控制线;第二电机(30)包括第二定子(310),第二定子(310)上设有第二信号控制线;第一定子(210)以及第二定子(310)均装设于电机壳体(40)上;第一信号控制线与第二信号控制线合并形成第一线材结构(810)。该云台结构通过上述方式合理地布置导线,能够有效避免云台内部多路导线同时运动而相互干扰的情况。
Description
本发明涉及云台技术领域,特别涉及一种云台结构。
随着科学技术水平高速发展,人们对电子设备的小型化、可靠性、高精密性提出了越来越高的要求,在无人机航拍领域,采用更小的飞行器以及采用更小的云台相机成为了一种新的技术趋势,能够使用户最为便捷的携带拍摄产品。
小型飞行器由于受到空间与有限承载重量的限制,往往选择比较小的云台与摄像头作为拍摄设备,那么微型控制器需要通过导线控制云台的电机与传输摄像头的数据,但受限于云台体积较小,从结构上布置导线将会产生以下几个问题:云台空间狭小而且导线的数目多,导致导线布置困难,或者容易把导线卡断。云台结构需要控制的元件多,需要多路信号同时工作,导致云台上需要设置多路导线,多路导线布置不好容易引起转动力过大,导致驱动力的浪费。
发明内容
本发明提供一种云台结构。
一种云台结构,包括:相机组件、第一电机、第二电机以及电机壳体,所述第一电机驱动所述相机组件绕第一转轴方向转动,所述第二电机驱动所述相机组件绕垂直于所述第一转轴方向的第二转轴方向转动;其中,所述第一电机包括第一定子,所述第一定子上设有第一信号控制线;所述第二电机包括第二定子,所述第二定子上设有第二信号控制线;所述第一定子以及所述第二定子均装设于所述电机壳体上;所述第一信号控制线与所述第二信号
控制线合并形成第一线材结构。
进一步地,所述电机壳体包括沿所述第二转轴方向设置的第一壳体以及沿所述第一转轴方向设置于所述第一壳体的第一端的第二壳体,所述第一壳体包括用于装设所述第一定子的第一装设部,所述第二壳体包括用于装设所述第二定子的第二装设部。
进一步地,所述第一电机还包括第一转子和第一电机轴,所述第一装设部包括用于***述第一转子的第一收容部;所述第二电机还包括第二转子和第二电机轴,所述第二装设部包括用于***述第二转子的第二收容部。
进一步地,所述第一转子自所述第一收容部凸出于所述第一壳体;所述电机壳体还包括第三壳体,所述第三壳体罩设于所述第一转子,并与所述第一电机轴连接。
进一步地,所述电机壳体还包括第四壳体,所述第四壳体沿所述第一转轴方向设置于所述第一壳体的第二端;所述相机组件装设于所述第二壳体与所述第四壳体之间,并与所述第二电机轴连接。
进一步地,还包括第一连接器,所述第一连接器设置于所述第一定子与所述第二定子之间,所述第二信号控制线通过所述第一连接器与所述第一信号控制线合并形成所述第一线材结构。
进一步地,所述第一定子包括第一进线端口,所述第二定子包括第一出线端口,所述第一连接器设置于所述第一出线端口与所述第一进线端口之间;所述第二信号控制线自所述第一出线端口穿出所述第二定子,并通过所述第一连接器自所述第一进线端口穿入所述第一定子内与所述第一信号控制线合并形成所述第一线材结构。
进一步地,所述第一连接器包括相互连接的第一连接端口和第二连接端口,所述第一连接端口设置于所述第一定子上并与所述第一进线端口连通,所述第二连接端口设置于所述第二定子上并与所述第一出线端口连通。
进一步地,所述相机组件包括相机信号控制线,所述云台结构还包括设置于所述第一定子上的第二连接器,所述第一线材结构通过所述第二连接器
穿出所述第一定子,并与所述相机信号控制线合并形成第二线材结构。
进一步地,所述相机组件包括相机出线端,所述相机信号控制线自所述相机出线端穿出所述相机组件。
进一步地,所述第一转轴方向为所述云台结构的横滚轴方向,所述第二转轴方向为所述云台结构的俯仰轴方向。
本发明的云台结构,通过把第一电机的第一定子和第二电机的第二定子装设在同一个部件(即电机壳体)上,能够将第一电机的第一信号控制线与第二电机的第二信号控制线合并成一股(即形成第一线材结构),通过上述方式合理地布置导线,能够有效避免云台内部多路导线同时运动而相互干扰的情况,并能降低电机(即第一电机和第二电机)驱动相机组件运动时对线材产生的扭力以及线材对云台产生的转动阻力,充分利用空间,有效提升了线材的使用寿命。
图1是本发明一实施例示出的云台结构的立体示意图。
图2是本发明一实施例示出的云台结构在一角度下的***图。
图3是本发明一实施例示出的云台结构在另一角度下的***图。
图4是本发明一实施例示出的云台结构的电机壳体与电机组件装配的立体示意图。
图5是本发明一实施例示出的云台结构的电机壳体与电机组件装配的平面示意图。
图6是本发明一实施例示出的云台结构的电机组件的***图。
图7是本发明一实施例示出的云台结构的电机组件的分解示意图。
图8是本发明一实施例示出的云台结构的电机组件的立体示意图。
图9是本发明一实施例示出的云台结构的电机组件的平面示意图。
图10是本发明一实施例示出的云台结构的电机壳体的立体示意图。
图11是本发明一实施例示出的云台结构的电机壳体的平面示意图。
图12是本发明一实施例示出的云台结构的相机组件的走线结构示意图。
这里将详细地对示例性实施例进行说明,其示例表示在附图中。下面的描述涉及附图时,除非另有表示,不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反,它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
在本发明使用的术语是仅仅出于描述特定实施例的目的,而非旨在限制本发明。在本发明和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式,除非上下文清楚地表示其他含义。还应当理解,本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
本发明说明书以及权利要求书中使用的“第一”“第二”以及类似的词语并不表示任何顺序、数量或者重要性,而只是用来区分不同的组成部分。同样,“一个”或者“一”等类似词语也不表示数量限制,而是表示存在至少一个。除非另行指出,“前部”、“后部”、“下部”和/或“上部”等类似词语只是为了便于说明,而并非限于一个位置或者一种空间定向。“包括”或者“包含”等类似词语意指出现在“包括”或者“包含”前面的元件或者物件涵盖出现在“包括”或者“包含”后面列举的元件或者物件及其等同,并不排除其他元件或者物件。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接,而且可以包括电性的连接,不管是直接的还是间接的。
下面结合附图,对本发明的云台结构进行详细说明。在不冲突的情况下,下述的实施例及实施方式中的特征可以相互组合。
参见图1至图5所示,本发明实施例提供的云台结构1,包括:相机组件10、第一电机20、第二电机30以及电机壳体40,所述第一电机20能够驱动所述相机组件10绕第一转轴方向510转动,所述第二电机30能够驱动所述相机
组件10绕垂直于所述第一转轴方向510的第二转轴方向520转动。其中,所述第一电机20和所述第二电机30共同组成所述云台结构1的电机组件,将所述电机组件装设在所述电机壳体40上即可完成电机壳体40与第一电机20以及第二电机30之间的装配。
配合参见图6至图9所示,所述第一电机20包括第一定子210,所述第一定子210上设有第一信号控制线。所述第二电机30包括第二定子310,所述第二定子310上设有第二信号控制线。所述第一定子210以及所述第二定子310均装设于所述电机壳体40上。所述第一信号控制线与所述第二信号控制线合并形成第一线材结构810,如图2所示。
由上述实施例可知,本发明的云台结构1,通过把第一电机20的第一定子210和第二电机30的第二定子310装设在同一个部件(即电机壳体40)上,能够将第一电机20的第一信号控制线与第二电机30的第二信号控制线合并成一股(即形成第一线材结构810),本发明的云台结构1通过上述方式合理地布置导线,能够有效避免云台内部多路导线同时运动而相互干扰的情况,并能降低电机(即第一电机20和第二电机30)驱动相机组件10运动时对线材产生的扭力以及线材对云台产生的转动阻力,充分利用了空间,有效提升了线材的使用寿命。
配合参见图1、图4、图5、图10以及图11所示,在一实施方式中,所述电机壳体40包括沿所述第二转轴方向520设置的第一壳体410以及沿所述第一转轴方向510设置于所述第一壳体410的第一端的第二壳体420,所述第一壳体410包括用于装设所述第一定子210的第一装设部411,所述第二壳体420包括用于装设所述第二定子310的第二装设部421。可选地,所述第一壳体410和所述第二壳体420为一体成型设置。
将所述第一电机20和所述第二电机30组成的电机组件装设在所述电机壳体40上后,所述第一电机20的第一定子210收容于所述第一壳体410的第一装设部411内,所述第二电机30的第二定子310收容于所述第二壳体420的第二装设部421内,第一装设部411和第二装设部421不仅起到收容第一定子210
和第二定子310的作用,而且还对第一电机20和第二电机30起到了定位的作用。
配合参见图2至图11所示,在一实施方式中,所述第一电机20包括第一定子210、装设于所述第一定子210上的第一转子220、以及装设于所述第一转子220上的第一电机轴230,所述电机壳体40的第一壳体410包括用于装设所述第一定子210的第一装设部411,所述第一装设部411包括用于***述第一转子220的第一收容部412。所述第二电机30包括第二定子310、装设于所述第二定子310上的第二转子320、以及装设于所述第二转子320上的第二电机轴330(如图3所示),所述第二壳体420包括用于装设所述第二定子310的第二装设部421,所述第二装设部421包括用于***述第二转子320的第二收容部422。
将所述第一电机20和所述第二电机30组成的电机组件装设在所述电机壳体40上后,所述第一电机20的第一定子210收容于所述第一壳体410的第一装设部411内,所述第一电机20的第一转子220收容于所述第一壳体410的第一收容部412内,并部分凸出于所述第一壳体410(如图4所示)。所述第二电机30的第二定子310收容于所述第二壳体420的第二装设部421内,所述第二电机30的第二转子320收容于所述第二壳体420的第二收容部422内,并部分凸出于所述第二壳体420(如图4所示)。第一装设部411和第二装设部421不仅起到收容第一定子210和第二定子310的作用,而且还对第一电机20和第二电机30起到了定位的作用。另外,由于所述第一电机20的第一转子220自所述第一收容部412部分凸出于所述第二壳体420,所述第二电机30的第二转子320自所述第二收容部422部分凸出于所述第二壳体420,因此,第一收容部412和第二收容部422不仅起到收容第一转子220和第二转子320的作用,而且还对第一电机20和第二电机30起到了进一步定位的作用。
进一步地,配合参见图1至图4所示,所述电机壳体40还包括第三壳体430和第四壳体440,所述第三壳体430罩设于所述第一转子220凸出于所述第一壳体410的部分,并与所述第一电机轴230连接,即所述第一电机轴230的一端
与所述第三壳体430连接,所述第一电机轴230的另一端穿过所述第一壳体410后与相机组件10连接,能够带动相机组件10绕第一转轴方向510转动。所述第四壳体440沿所述第一转轴方向510设置于所述第一壳体410的第二端,所述相机组件10装设于所述第二壳体420与所述第四壳体440之间,并与所述第二电机轴330连接,所述第二电机轴330能够带动相机组件10绕第二转轴方向520转动。
配合参见图6至图9所示,所述云台结构1还包括第一连接器610,所述第一连接器610设置于所述第一定子210与所述第二定子310之间,所述第二信号控制线通过所述第一连接器610与所述第一信号控制线合并形成所述第一线材结构810。可选地,所述第一连接器610为同轴连接器。
其中,所述第一定子210包括第一连接部211,所述第一连接部211上设有第一进线端口。所述第二定子310包括呈弯折状设置的第二连接部311,第二连接部311弯折设置后与所述第一定子210的第一连接部211连接,并且所述第二连接部311上设有第一出线端口,所述第一连接器610连接于所述第一出线端口与所述第一进线端口之间。所述第二信号控制线自所述第二连接部311的第一出线端口穿出所述第二定子310,并通过所述第一连接器610自所述第一连接部211的第一进线端口穿入所述第一定子210内,进而与所述第一信号控制线合并形成所述第一线材结构810。
进一步地,所述第一连接器610包括相互连接的第一连接端口611和第二连接端口612,所述第一连接端口611设置于所述第一定子210的第一连接部211上并与所述第一进线端口连通,所述第二连接端口612设置于所述第二定子310的第二连接部311上并与所述第一出线端口连通。
参见图10所示,所述第一壳体410上还设有连接孔413,所述第一电机20与所述第二电机30装设到所述电机壳体40时,所述第一连接器610的第一连接端口611和第二连接端口612在所述连接孔413处相互连接,从而实现所述第二信号控制线连接所述第二定子310后通过所述第一连接器610穿入所述第一定子210内与所述第一信号控制线合并形成所述第一线材结构810。
配合参见图4至图11所示,对所述第一电机20与所述第二电机30装设到所述电机壳体40的过程进行详细介绍。首先将所述第一电机20自所述第一壳体410的上方装设到第一壳体410上,使得所述第一电机20的第一定子210收容于所述第一壳体410的第一装设部411内,所述第一电机20的第一转子220收容于所述第一壳体410的第一收容部412内并部分凸出于所述第一壳体410。然后再将所述第二电机30的第二连接部311自所述第一壳体410的下方穿过所述第一壳体410的连接孔413,使得所述第一连接器610的第一连接端口611和第二连接端口612相互连接。最后再将所述第二电机30自所述第二壳体420的右侧方装设到所述第二壳体420上,使得所述第二电机30的第二定子310收容于所述第二壳体420的第二装设部421内,所述第二电机30的第二转子320收容于所述第二壳体420的第二收容部422内并部分凸出于所述第二壳体420,完成将所述第一电机20与所述第二电机30装设到所述电机壳体40上。
配合参见图2至图12所示,在一实施方式中,所述相机组件10包括相机信号控制线110,所述云台结构1还包括设置于所述第一定子210上的第二连接器620,所述第一线材结构810通过所述第二连接器620穿出所述第一定子210,并与所述相机信号控制线110合并形成第二线材结构820,所述第二线材结构820可以穿出所述电机壳体40与外部设备相连。可选地,所述第二连接器620为同轴连接器。
本发明的云台结构1通过上述设置方式,将所述第一线材结构810与所述相机信号控制线110合并形成第二线材结构820,也就是将第一电机20的第一信号控制线、第二电机30的第二信号控制线以及相机组件10的相机信号控制线110合并成一股(即形成第二线材结构820),从而实现将电机壳体40内全部的导线合并成一股,进一步优化了云台内部的导线布置,能够更好地避免云台内部多路导线同时运动而相互干扰的情况,并能降低电机(即第一电机20和第二电机30)驱动相机组件10运动时对线材产生的扭力以及线材对云台产生的转动阻力,充分利用空间,有效提升了线材的使用寿命。
进一步地,所述第一定子210还包括第三连接部212,所述第三连接部212
上设有第二出线端口,所述第二连接器620设置于所述第三连接部212上并与所述第二出线端口连通。所述第一线材结构810通过所述第二出线端口以及所述第二连接器620穿出所述第一定子210。可选地,所述相机组件10包括相机出线端120,所述相机信号控制线110自所述相机出线端120穿出所述相机组件10。
配合参见图1、图2以及图12所示,在一实施方式中,所述云台结构1为两轴云台,所述第一转轴方向510为所述云台结构1的横滚轴方向,所述第二转轴方向520为所述云台结构1的俯仰轴方向。进一步地,所述云台结构1还包括减震板710,减震板710用于将云台结构1与外部其他设备连接。可选地,所述电机壳体40的第三壳体430上设有连接组件720,所述安装架710通过所述连接组件720装设于所述电机壳体40的第三壳体430上。
以上所述仅是本发明的较佳实施例而已,并非对本发明做任何形式上的限制,虽然本发明已以较佳实施例揭露如上,然而并非用以限定本发明,任何熟悉本专业的技术人员,在不脱离本发明技术方案的范围内,当可利用上述揭示的技术内容做出些许更动或修饰为等同变化的等效实施例,但凡是未脱离本发明技术方案的内容,依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰,均仍属于本发明技术方案的范围内。
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Claims (11)
- 一种云台结构,其特征在于,包括:相机组件、第一电机、第二电机以及电机壳体,所述第一电机驱动所述相机组件绕第一转轴方向转动,所述第二电机驱动所述相机组件绕垂直于所述第一转轴方向的第二转轴方向转动;其中,所述第一电机包括第一定子,所述第一定子上设有第一信号控制线;所述第二电机包括第二定子,所述第二定子上设有第二信号控制线;所述第一定子以及所述第二定子均装设于所述电机壳体上;所述第一信号控制线与所述第二信号控制线合并形成第一线材结构。
- 根据权利要求1所述的云台结构,其特征在于,所述电机壳体包括沿所述第二转轴方向设置的第一壳体以及沿所述第一转轴方向设置于所述第一壳体的第一端的第二壳体,所述第一壳体包括用于装设所述第一定子的第一装设部,所述第二壳体包括用于装设所述第二定子的第二装设部。
- 根据权利要求2所述的云台结构,其特征在于,所述第一电机还包括第一转子和第一电机轴,所述第一装设部包括用于***述第一转子的第一收容部;所述第二电机还包括第二转子和第二电机轴,所述第二装设部包括用于***述第二转子的第二收容部。
- 根据权利要求2所述的云台结构,其特征在于,所述第一转子自所述第一收容部凸出于所述第一壳体;所述电机壳体还包括第三壳体,所述第三壳体罩设于所述第一转子,并与所述第一电机轴连接。
- 根据权利要求2所述的云台结构,其特征在于,所述电机壳体还包括第四壳体,所述第四壳体沿所述第一转轴方向设置于所述第一壳体的第二端;所述相机组件装设于所述第二壳体与所述第四壳体之间,并与所述第二电机轴连接。
- 根据权利要求1所述的云台结构,其特征在于,还包括第一连接器,所述第一连接器设置于所述第一定子与所述第二定子之间,所述第二信号控 制线通过所述第一连接器与所述第一信号控制线合并形成所述第一线材结构。
- 根据权利要求6所述的云台结构,其特征在于,所述第一定子包括第一进线端口,所述第二定子包括第一出线端口,所述第一连接器设置于所述第一出线端口与所述第一进线端口之间;所述第二信号控制线自所述第一出线端口穿出所述第二定子,并通过所述第一连接器自所述第一进线端口穿入所述第一定子内与所述第一信号控制线合并形成所述第一线材结构。
- 根据权利要求7所述的云台结构,其特征在于,所述第一连接器包括相互连接的第一连接端口和第二连接端口,所述第一连接端口设置于所述第一定子上并与所述第一进线端口连通,所述第二连接端口设置于所述第二定子上并与所述第一出线端口连通。
- 根据权利要求6所述的云台结构,其特征在于,所述相机组件包括相机信号控制线,所述云台结构还包括设置于所述第一定子上的第二连接器,所述第一线材结构通过所述第二连接器穿出所述第一定子,并与所述相机信号控制线合并形成第二线材结构。
- 根据权利要求9所述的云台结构,其特征在于,所述相机组件包括相机出线端,所述相机信号控制线自所述相机出线端穿出所述相机组件。
- 根据权利要求1所述的云台结构,其特征在于,所述第一转轴方向为所述云台结构的横滚轴方向,所述第二转轴方向为所述云台结构的俯仰轴方向。
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US11428362B2 (en) * | 2017-12-19 | 2022-08-30 | Hangzhou Zero Zero Technology Co., Ltd. | Two-axis gimbal system for supporting a camera |
US10462369B2 (en) * | 2018-01-05 | 2019-10-29 | Gopro, Inc. | Routing of transmission media through rotatable components |
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CN204334757U (zh) * | 2015-01-22 | 2015-05-13 | 广州快飞计算机科技有限公司 | 一种基于航拍设备的布线结构 |
CN107390456B (zh) * | 2016-05-17 | 2020-03-20 | 天津远度科技有限公司 | 云台绕线方法 |
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CN205381413U (zh) * | 2015-12-17 | 2016-07-13 | 小米科技有限责任公司 | 一体式云台相机和无人机 |
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