KR102277815B1 - Multiaxial gimbal - Google Patents

Abstract

The present invention relates to a multi-axis gimbal capable of diversifying the operating range of a precision detection device such as a camera, mitigating an impact generated during movement, and adjusting a buffering rate according to the weight of the detection device, and a first rotating shaft supporting an electronic device. This configured first shaft motor; a first supporter on which the first shaft motor is installed at one end; a second shaft motor having a second rotation shaft installed and supported at the other end of the first supporter; a second supporter on which the second shaft motor is installed at one end; a third shaft motor having a third rotation shaft installed and supported at the other end of the second supporter; One end on which the third shaft motor is installed, a hinge rotatably connected to the one end, the other unit rotatably connected to the hinge to face the one end and interlock with the one end, and the one end and the other It includes; a third supporter configured with a spring installed to cushion the movement between the groups.

Description

Multi-axis gimbal {MULTIAXIAL GIMBAL}

The present invention relates to a multi-axis gimbal that diversifies the operating range of a precision detection device such as a camera, mitigates an impact generated during movement, and can adjust a buffering ratio according to the weight of a detection device.

A search device such as a surveillance camera or radar that detects and tracks a target requires a function that can freely adjust the direction of the target so as to change the surveillance area or detect and track a moving target.

In general, a 2-axis or 3-axis gimbal was mainly used as a driving device to support a device requiring precision, such as a surveillance camera or radar antenna, and to provide a degree of freedom in the orientation direction. In particular, when a camera is mounted on a car or aircraft (including unmanned aerial vehicles) with severe body shake, a gimbal with a cushioning function is more useful than the PanTilt, which has only a simple steering function.

However, since the conventional gimbal of the multi-axis type has a pan-tilt form, the location where it is installed on the body is limited depending on the shooting direction, and in particular, once installed, there is a limit that the shooting posture and position of the camera cannot be changed according to the shooting environment, etc. .

Prior art document 1. Patent Publication No. 10-2012-0057162 (published on June 5, 2012)

Accordingly, the present invention is to solve the above problem, and while diversifying the operating range of a precision detection device such as a camera, it alleviates the shock generated during movement, and provides a multi-axis gimbal that can adjust the buffering ratio according to the weight of the detection device as a problem to be solved.

In order to achieve the above object, the present invention

a first shaft motor having a first rotating shaft supporting the electronic device;

a first supporter on which the first shaft motor is installed at one end;

a second shaft motor having a second rotation shaft installed and supported at the other end of the first supporter;

a second supporter on which the second shaft motor is installed at one end;

a third shaft motor having a third rotation shaft installed and supported at the other end of the second supporter;

One end on which the third shaft motor is installed, a hinge rotatably connected to the one end, the other unit rotatably connected to the hinge to face the one end and interlock with the one end, and the one end and the other a third supporter configured with a spring installed to cushion the movement between groups;

It is a multi-axis gimbal that includes

The present invention has an effect that, while diversifying the operating range of a precision detection device such as a camera, the shock generated during movement can be mitigated, and the buffering rate can be adjusted according to the weight of the detection device.

1 is a view showing an embodiment of a multi-axis gimbal according to the present invention,
Figure 2 is a block diagram showing the coupling structure of the components constituting the multi-axis gimbal according to the present invention,
3 is a view showing an electronic device installed in the first supporter of the multi-axis gimbal according to the present invention;
4 is a view showing a state in which the first axis motor is installed in the first supporter of the multi-axis gimbal according to the present invention;
5 is a view showing a state in which the second axis motor is installed in the second supporter of the multi-axis gimbal according to the present invention;
6 is a view showing a state in which the third axis motor is installed in the third supporter of the multi-axis gimbal according to the present invention;
7 is a view showing a state in which the third supporter and the fourth supporter of the multi-axis gimbal according to the present invention are connected;
8 is a side view showing the operation of the third supporter;
9 is a side view showing the operation of the spring installed on the third supporter;
10 is a side view showing a state of interlocking between one body and another body of the third supporter;
11 is a view showing a state in which a spring and a moving table are installed in the third supporter according to the present invention;
12 is a side view showing the operation of the mobile stand installed on the third supporter;
13 is an exploded perspective view showing the configuration of the moving table;
14 is a side view illustrating a state in which the connection structure of the third supporter is adjusted with a turnbuckle.

The features and effects of the present invention described above will become apparent through the following detailed description in relation to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the present invention pertains can easily implement the technical idea of the present invention. There will be. Since the present invention can have various changes and can have various forms, specific embodiments are illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to a specific disclosed form, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention. The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram illustrating an embodiment of a multi-axis gimbal according to the present invention, FIG. 2 is a block diagram illustrating a coupling structure of components constituting a multi-axis gimbal according to the present invention, and FIG. 3 is a multi-axis gimbal according to the present invention. It is a diagram showing a state in which an electronic device is installed on the first supporter of the gimbal.

1 to 3 , a first shaft motor 20 configured with a first rotation shaft 21 supporting the electronic device 10; a first supporter 30 having a first shaft motor 20 installed at one end thereof; a second shaft motor 40 having a second rotation shaft 41 installed and supported at the other end of the first supporter 30 ; a second supporter 50 having a second shaft motor 40 installed at one end thereof; a third shaft motor 60 having a third rotation shaft 61 installed and supported at the other end of the second supporter 50 ; One end 71 to which the third shaft motor 60 is installed, a hinge 73 rotatably connected to the one end 71, and a hinge 73 to face and interlock with the one end 71 and a third supporter 70 configured with another body 72 rotatably connected to the , and a spring 74 installed to cushion the movement between the one body 71 and the other body 72 .

Therefore, in the gimbal according to the present invention, the electronic device 10 is rotated at one end of the first supporter 30 by the first axis motor 20 , and the first supporter 30 is connected to the second axis motor 40 . is rotated at one end of the second supporter 50 , and the second supporter 50 rotates at one end of the third supporter 70 by the third shaft motor 60 . Here, the first rotation shaft 21 of the first shaft motor 20, the second rotation shaft 41 of the second shaft motor 40, and the third rotation shaft 61 of the third shaft motor 60 are the x-axis and the y It rotates about the axis and the z-axis, and in this embodiment, the first rotational axis 21 is yawing about the z-axis, the second rotational axis 41 is pitching about the y-axis, and the third rotational axis 61 is x It is rolling about an axis. As a result, the first rotational shaft 21, the second rotational shaft 41, and the third rotational shaft 61 form a three-dimensional direction in which the rotation centers are orthogonal to each other.

On the other hand, the electronic device 10 is installed at the end of the gimbal according to the present invention to perform its own unique function. In this embodiment, the electronic device 10 is the cameras 11 and 12 . The cameras 11 and 12 of the present embodiment are composed of a first camera 11 of a monocular type and a second camera 12 of a stereo type. In addition, the electronic device 10 may further include an Inertial Measurement Unit (IMU) for detecting the posture of the cameras 11 and 12 and detecting an external force received by the cameras 11 and 12 .

As described above, the electronic device 10, the first shaft motor 20, the second shaft motor 40, and the third shaft motor 60 are driven by receiving signals and power. Accordingly, wires are wired to supply signals and power to the electronic device 10 , the first shaft motor 20 , the second shaft motor 40 , and the third shaft motor 60 , respectively. In this embodiment, at least one selected from the first rotary shaft 21, the second rotary shaft 41, and the third rotary shaft 61 is the corresponding shaft motors 20, 40 via the slip rings 22, 42, 62 of the energizing function. , 60) is installed. As a result, the lead wire of the electronic device 10 is energized with the first slip ring 22 , and the lead wire of the first slip ring 22 and the lead wire of the first shaft motor 20 are connected to the second slip ring 42 . and the lead wire of the second slip ring 42 and the lead wire of the second shaft motor 40 conduct electricity with the third slip ring 62 . For reference, among the leader lines of the third slip ring 62 , the leader lines conducting electricity with the embedded board 91 are the leader lines of the electronic device 10 passing through the first and second slip rings 22 and 42 .

The lead wires are wired without being exposed on the gimbal by the first to third slip rings 22 , 42 , 62 , and the electronic device 10 , the first axis motor 20 and the second The operations of the shaft motor 40 and the third shaft motor 60 are controlled.

However, the wiring structure between the electronic device 10 and the first to three-axis motors 20, 40, 60, the embedded board 91 and the gimbal controller 92 is limited to the above-described wiring structure, and the scope of the following rights Various modifications may be carried out within the limit not departing from.

The electronic device 10 supported by the gimbal of this embodiment is protected by a dome-shaped cover 14, and each lens of the first camera 11 and the second camera 12 through the air gap formed in the cover 14. is exposed to photograph the front.

On the other hand, the embedded board 91 analyzes the photographed image information of the first camera 11 and the second camera 12 according to a setting algorithm, and the microcontroller 93 according to the data analyzed by the embedded board 91 The motor control signal is generated, and the gimbal controller 92 analyzes the signal of the inertia measuring device 13 to control the operations of the first axis motor 20 , the second axis motor 40 , and the third axis motor 60 . Generates and sends a motor control signal to control. In addition, the gimbal controller 92 receives a signal for controlling the operations of the first axis motor 20 , the second axis motor 40 , and the third axis motor 60 in response to the motor control signal of the microcontroller 93 . create and send

4 is a view showing a state in which the first axis motor is installed in the first supporter of the multi-axis gimbal according to the present invention, and FIG. 5 shows the state in which the second axis motor is installed in the second supporter of the multi-axis gimbal according to the present invention. 6 is a view showing a state in which the third axis motor is installed in the third supporter of the multi-axis gimbal according to the present invention, and FIG. 7 is the third supporter and the fourth supporter of the multi-axis gimbal according to the present invention are connected. 8 is a side view illustrating the operation of the third supporter.

1 to 8 , the first shaft motor 20 is installed at one end of the first supporter 30 to rotatably support the electronic device 10 . Accordingly, the electronic device 10 rotates at one end of the first supporter 30 . In the present embodiment, the first supporter 30 has one end 31 (refer to FIG. 9 ) bent in an 'a' shape to form a structure surrounding the lower side of the electronic device 10 .

A second shaft motor 40 is installed at one end of the second supporter 50 to rotatably support the other end 32 of the first supporter 30 . That is, the first supporter 30 and the second supporter 50 form a joint structure along the rotation direction of the second rotation shaft 41 of the second shaft motor 40 .

A third shaft motor 60 is installed at one end of the third supporter 70 to rotatably support the other end of the second supporter 50 . Here, since the second supporter 50 rolls on one surface of the third supporter 70 as shown, the second rotation shaft 41 of the second shaft motor 40 is the third rotation shaft of the third shaft motor 60 . It rotates around (61).

Meanwhile, the third supporter 70 includes one end 71 on which the third shaft motor 60 is installed, a hinge 73 rotatably connected to the one end 71 , and one end 71 , and The other body 72 is rotatably connected to the hinge 73 so as to face and interlock, and the spring 74 is installed to cushion the movement between the one body 71 and the other body 72 . Therefore, the one body 71 and the other body 72 are connected to each other via the hinge 73 as a medium, and the one body 71 and the other body 72 are connected to each other at both ends of the hinge 73 by the connecting shaft a1 . , rotate based on a2). Here, the hinge 73 may be provided in one pair or two or more pairs, respectively, on both side surfaces of the one body 71 and the other body 72, and preferably, two or more pieces disposed side by side as shown in FIG. 8 . The hinges 731 and 732 form a pair and are respectively configured on both sides of the one body 71 and the other body 72 . As a result, as shown in (b) of FIG. 8 , the other body 72 moves only in the vertical direction in parallel with each other without inclination based on the one body 71 .

As shown in FIG. 7 , the gimbal of this embodiment further includes a fourth supporter 80 that supports the third supporter 70 to rotate around the fourth rotation shaft 81 . The fourth supporter 80 forms a line together with the first to third supporters 30 , 50 , and 70 , and forms a joint structure based on the fourth rotation axis 81 . The third supporter 70 and the fourth supporter 80 of the present embodiment form a structure in which the user directly manipulates each other without rotation by a motor drive to mutually rotate. However, the present invention is not limited thereto, and a structure in which a separate motor provides power for rotation of the fourth rotation shaft 81 may be achieved.

In this embodiment, the fourth rotation shaft 80 is to achieve the same axial direction as the second rotation shaft 41, but is not limited thereto and may also achieve the same axial direction as the first rotation shaft 21 or the third rotation shaft 61.

Reference numerals '711 and 721', which have not been described, denote 'ends' at which the hinges 731 and 732 are rotatably installed, and some of the hinges 731 and 732 do not protrude from the side of the third supporter 70. It is formed concave to a depth corresponding to the thickness of the hinges (731, 732) so as not to be.

9 is a side view illustrating an operation of a spring installed in the third supporter, and FIG. 10 is a side view illustrating an interlocking state between one body of the third supporter and another body.

1 and 9 and 10, the spring 74 is disposed between the one body 71 and the other body 72, so that the proximity or separation between the one body 71 and the other body 72 is buffered. do. For this, one end and the other end of the spring 74 are connected to one body 71 and the other body 72, respectively. The spring 74 may be various as long as it has a structure for buffering between the one body 71 and the other body 72, and for the configuration of the moving table 75 (refer to FIG. 11), the spring 74 is preferably of a coil type. .

As described above, since the electronic device 10 is installed on the first supporter 30 and the gimbal is installed on a body such as a drone or a vehicle, the gimbal continuously vibrates while the body moves, and in particular, the first supporter 30 ) is the largest. Therefore, the vibration of the other body 72 to which the vibration of the body is transmitted minimizes the transmission to the one body 71 while the spring 74 disposed between the one body 71 and the other body 72 is buffered.

On the other hand, as shown in Figure 9 (b), the spring 74 of this embodiment has one end fixed to one body 71 and the other end connected to the other body 72 to be movable up and down. Therefore, through the movement of the other end of the spring 74, it is possible to adjust the length of the spring 74 as shown in (a) and (b) of FIG. 8, and through this, it is possible to adjust the buffering force of the spring 74.

For reference, the length of the spring 74 is minimized by locating both ends of the spring 74 on the same height line as shown in FIG. 9(a), or both ends of the spring 74 as shown in FIG. 9(b). It is possible to increase the length of the spring 74 by positioning them on different height lines. As a result, the buffering force of the spring 74 itself can be changed by minimizing or increasing the length of the spring 74, so that the user has a connection posture between the one body 71 and the other body 72 connected by the hinge 73 or The posture of the spring 74 may be adjusted to have an optimal cushioning force according to the weight of the electronic device 10 .

To this end, the moving table 75 is installed in the other body 72 in this embodiment to adjust the connection position between the spring 74 and the other body 72 . However, the mobile base 75 may be installed on one body 71 in addition to the other body 72 , or may be installed on both the one body 71 and the other body 72 .

11 is a view showing a state in which a spring and a moving table are installed in the third supporter according to the present invention, FIG. 12 is a side view showing an operation of the moving stand installed in the third supporter, and FIG. 13 is the configuration of the moving table is an exploded perspective view showing

1, 10 to 12, the moving table 75 of this embodiment is a rack 751 to which the other end of the spring 74 is connected, and the other one of the one body 71 or the other body 72 It is provided with a screw 752 for moving the rack 751 by being installed on a single body of the. In addition, the moving table 75 includes a handle 753 installed coaxially to the screw 752 so that the user rolls the screw 752 in order to adjust the height of the rack 751 .

The moving table 75 of this embodiment has a known ball screw structure, and for this purpose, the screw 752 has a thread formed around it, and the rack 751 has a nut hole h2 with which the screw 752 is engaged. do. In addition, the rack 751 is formed with a locking hole (h1) so that the spring 74 is hooked and connected. In addition, according to the rotation of the screw 752, a locking protrusion 751a is formed to prevent the rack 751 from rotating. Here, the locking protrusion 751a is movably engaged with a rail (not shown) formed in the vertical direction on the other body 72 to prevent the rack 751 from rotating along the rotation direction of the screw 752, and the rack ( 751) to guide it to move in the longitudinal direction.

14 is a side view illustrating a state in which the connection structure of the third supporter is adjusted with a turnbuckle.

Referring to FIGS. 10 to 14 , one or more pairs of hinges 731 and 732 of this embodiment are installed on both side surfaces of one body 71 and the other body 72, respectively, and the one body 71 and the other body 72 In order to be able to adjust the length of one or more of the hinges 731 and 732 installed on each side of the 72, the hinges 731 and 732 have a threaded first pin (P1, P1') and The second pin (P2, P2'), the first pin (P1) and the second pin (P2) is connected and is composed of a turnbuckle (B, B') engaged with the screw thread.

The turnbuckle (B) is the length of the hinges (731, 732) consisting of the first pins (P1, P1') and the second pins (P2, P2') along the rotational direction, as shown in Figure 14 (b). Adjust. Therefore, when the length of the upper hinge 732 is shorter than the length of the lower hinge 731 by the operation of the turnbuckle (B '), the upper end of the other body 72 is one body 71 around the connecting shaft (a2). ) is tilted towards The one body 71 and the other body 72 having such a posture have a relatively short rise and fall range of each other. That is, the state in which the pair of hinges 731 and 732 are arranged to be inclined rather than the state in which they are parallel to each other reduces the range of rising and falling between the one body 71 and the other body 72 .

As a result, the user can prevent the gimbal from vibrating beyond a certain range by adjusting the length of the hinges 731 and 732 , and can further refine the adjustment of the cushioning force according to the arrangement position of the spring 74 .

In the detailed description of the present invention described above, although it has been described with reference to preferred embodiments of the present invention, those skilled in the art or those having ordinary knowledge in the art will have the spirit of the present invention described in the claims to be described later. And it will be understood that the present invention can be variously modified and changed without departing from the technical scope.

10; electronics 11; first camera 12; second camera
13; inertial measuring device 14; cover 20; 1st axis motor
21; first rotation shaft 30; first supporter 31; one end
32; the other end 40; second axis motor 41; 2nd axis of rotation
50; second supporter 60; 3rd axis motor 61; 3rd axis of rotation
70; third supporter 71; monolith 72; other organizations
73, 731, 732; swivel 74; spring 75; mobile stand
751; rack 752; screw 753; handle
80; fourth supporter 81; 4th rotation axis

Claims (8)

a first shaft motor having a first rotating shaft supporting the electronic device; a first supporter on which the first shaft motor is installed at one end; a second shaft motor having a second rotation shaft installed and supported at the other end of the first supporter; a second supporter on which the second shaft motor is installed at one end; a third shaft motor having a third rotation shaft installed and supported at the other end of the second supporter; One end on which the third shaft motor is installed, a hinge rotatably connected to the one end, the other unit rotatably connected to the hinge to face the one end and interlock with the one end, and the one end and the other Including a third supporter configured with a spring installed to cushion the movement between groups,
A pair of the hinges are installed on both side surfaces of the one body and the other body, respectively, and the pair of hinges have a first pin and a second pin, the first pin having a thread formed on the peripheral surface of the end so that the length can be adjusted, respectively. and a turnbuckle connecting the second pin and engaging the screw thread;
The spring is a coil-type spring installed to buffer between the one body and the other body, and one end is fixed to the one body or the other body;
a rack to which the other end of the spring is connected, and a moving table installed in the remaining one of the one body or the other body and having a screw for moving the rack;
The moving table further includes a handle installed coaxially to the screw to roll the screw;
further comprising a fourth supporter supporting the third supporter to rotate;
A multi-axis gimbal featuring a. The method of claim 1,
The multi-axis gimbal, characterized in that; at least one selected from the first rotation shaft, the second rotation shaft, and the third rotation shaft is configured in a corresponding shaft motor via a slip ring having an energized function. The method of claim 1,
The first axis of rotation, the second axis of rotation and the third axis of rotation are multi-axis gimbal, characterized in that yawing, pitching, rolling. delete delete delete delete delete

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