WO2022041576A1

WO2022041576A1 - Gimbal and mobile platform

Info

Publication number: WO2022041576A1
Application number: PCT/CN2020/135453
Authority: WO
Inventors: 张翔; 刘军利; 刘勇
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-08-26
Filing date: 2020-12-10
Publication date: 2022-03-03
Also published as: CN213333196U; CN114729723A

Abstract

A gimbal and a mobile platform. The gimbal comprises a motor, the motor comprises a cover (10) and a shell (20), the cover (10) is provided with a first limiting portion, the first limiting portion is arranged on an outer edge of the cover (10), the shell (20) is rotatable relative to the cover (10) and is provided with an open end and a second limiting portion close to the open end, the second limiting portion corresponds to the first limiting portion in position, and the second limiting portion is rotationally matched with the first limiting portion to limit the rotation angle of the shell (20) relative to the cover (10).

Description

PTZ and Mobile Platform

technical field

The present application relates to the technical field of photographing auxiliary equipment, and in particular, to a PTZ and a mobile platform.

Background technique

Generally, when the gimbal is rotating, since there are cables or flexible cables between the shell and the cover, in order to avoid the cable or flexible cables being twisted due to excessive rotation of the gimbal, the shell should be A limiting structure is arranged between the cover body and the casing to limit the rotation stroke of the casing relative to the cover body.

In order to prevent the limit structure from affecting the appearance of the gimbal, the limit structure is usually arranged inside the rotating shaft, but the internal space of the rotating shaft is limited, so that the thickness and width of the limit structure are limited, and the strength of the limit structure cannot be guaranteed.

SUMMARY OF THE INVENTION

The present application provides a pan-tilt and mobile platform, which are not restricted by the internal space of the motor, and have the advantages of high structural strength and simple structural design.

According to a first aspect of the present application, the present application provides a pan/tilt head for adjusting the posture of a photographing device, the pan/tilt head includes a motor, and the motor includes:

a cover body, which is provided with a first limiting portion; and

The casing is rotatable relative to the cover body, the casing is provided with an open end and a second limiting portion close to the open end, the shape of the cover body matches the shape of the open end, and the A magnet is installed on the inner side of the housing, and the second limiting portion is rotatably matched with the first limiting portion to limit the rotation angle of the housing relative to the cover body;

Wherein, the cover body is the end cover of the rotor of the motor, the housing is the outer shell of the stator of the motor, or the cover body is the base of the stator of the motor, and the housing is the outer shell of the stator of the motor. In the casing of the rotor of the motor, the first limiting portion is provided on the outer edge of the cover body, and the position of the second limiting portion corresponds to the position of the first limiting portion.

According to the second aspect of the present application, the present application also provides a movable platform, comprising:

body;

PTZ, the PTZ is installed on the body;

The pan/tilt includes a motor, and the motor includes:

a cover body, which is provided with a first limiting portion; and

Wherein, the cover body is the end cover of the rotor of the motor, the housing is the outer shell of the stator of the motor, or the cover body is the base of the stator of the motor, and the housing is the outer shell of the stator of the motor. In the casing of the rotor of the motor, the first limiting portion is provided on the outer edge of the cover body, and the position of the second limiting portion corresponds to the position of the first limiting portion. The technical solutions provided by the embodiments of the present application may include the following beneficial effects: the present application designs a pan-tilt head and a mobile platform. Since the first limiting portion is arranged on the outer edge of the cover body, the position of the second limiting portion is the same as that of the first limiting portion. The positions of one limiting portion correspond, so that the sizes of the first limiting portion and the second limiting portion are not restricted by the internal space of the motor, which not only ensures the structural strength of the first limiting portion, but also has a simple structure design.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic structural diagram of a pan/tilt provided by an embodiment of the present application;

Fig. 2 is the partial structure schematic diagram of the PTZ in Fig. 1;

Fig. 3 is the partial structure schematic diagram of the PTZ in Fig. 1;

4 is a schematic structural diagram of a connection between a photographing device and a pan/tilt according to an embodiment of the present application.

Description of reference numbers:

100. Gimbal; 200. Shooting device;

10, cover body; 11, limit groove; 111, contact end; 12, shaft; 13, annular protrusion; 14, annular convex ring; 15, fixed part; 20, shell; 21, limit boss; 22. annular inner wall; 23. accommodating cavity; 231. annular groove.

detailed description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc., or The positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as a limitation on this application. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as "first", "second" may expressly or implicitly include one or more of said features. In the description of the present application, "plurality" means two or more, unless otherwise expressly and specifically defined.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

The gimbal of the present application belongs to the technical field of photographing auxiliary equipment. The gimbal may be an airborne gimbal or a hand-held gimbal. The gimbal 2000 includes a two-axis gimbal or a three-axis gimbal. Taking a three-axis gimbal as an example, The three-axis gimbal generally includes three motors, namely the pitch axis (Pitch axis) motor that controls the pitch motion, the translation axis (YAW axis) motor that controls the translation motion, and the roll axis (Roll axis) motor that controls the roll motion.

Generally, the existing pan/tilt has a specific working angle range on the pitch axis, pan axis and roll axis. The working angle range is -330 degrees to +330 degrees, and the working angle range of the roll axis is -45 degrees to +45 degrees. That is to say, the existing gimbal is set up with a limited position structure to limit the angle in the working state, but the existing limit structure is set inside the gimbal rotating shaft. Due to the limited internal space of the gimbal rotating shaft, the limit is limited. The position structure cannot be made very large and thick, the strength of the limit structure cannot be guaranteed, and the problem of aging failure is prone to occur.

According to a first aspect of the present application, the present application provides a pan/tilt head for adjusting the posture of a photographing device, wherein the pan/tilt head includes a pitch axis mechanism, a roll axis mechanism and a translation axis mechanism, wherein the pitch axis structure can be used with In order to install the shooting equipment, the motor in the pitch axis structure drives the shooting equipment to make the pitching motion around the pitch axis; the pitch axis structure is installed on the roll axis structure, and the motor in the roll axis structure drives the shooting device to do the rolling axis. The roll axis structure is installed on the translation axis structure, and the movement of the shooting device around the translation axis is controlled by the motor in the translation axis structure; the shooting device can be a smartphone, a digital camera (such as a SLR camera, a mirrorless camera, cameras with non-removable lenses), digital video cameras, etc.

Specifically, as shown in FIG. 1 to FIG. 3 , the pan/tilt 100 includes a motor, the motor includes a cover body 10 and a casing 20 , and the casing 20 can rotate relative to the cover body 10 . The cover body 10 is provided with a first limiting portion, the casing 20 is provided with an open end and a second limiting portion close to the opening end, the shape of the cover body 10 is matched with the shape of the opening end, and the second limiting portion is connected with the first limiting portion. A limit portion is rotated and matched to limit the rotation angle of the housing 20 relative to the cover body 10 .

The cover 10 is the end cover of the rotor of the motor, the casing 20 is the outer casing of the stator of the motor, or the cover 10 is the base of the stator of the motor, the casing 20 is the outer casing of the rotor of the motor, and the A magnet is installed inside to generate a magnetic field, so that when the coil of the stator or the rotor is energized, the cover body 10 can be driven to rotate relative to the housing 20 .

Wherein, the first limiting portion is arranged on the outer edge of the cover body 10, the position of the second limiting portion corresponds to the position of the first limiting portion, and there is no need to set the first limiting portion or the second limiting portion on the Therefore, it can be avoided that due to the limited internal space of the motor shaft, the size of the first limit part or the second limit part is slightly designed, so that the strength of the first limit part or the second limit part cannot be guaranteed. The first limiting portion or the second limiting portion is prone to aging and failure, especially in the case of a large load on the gimbal.

After the above technical solution is adopted, since the first limiting portion is provided on the outer edge of the cover body 10, and the position of the second limiting portion corresponds to the position of the first limiting portion, the first limiting portion and/or the first limiting portion can be avoided. Or the second limit part is limited by the inner space of the motor shaft, which can not only ensure the strength of the first limit part and/or the second limit part, but also avoid the first limit part when the load of the head 100 is large. At the same time, the structural design of the first limit part and/or the second limit part used to limit the rotation angle of the gimbal is greatly simplified, and the first limit part is reduced. Defects caused by the assembly of the position part and/or the second limit part.

In an optional embodiment, as shown in FIGS. 1 to 4 , one of the first limiting portion and the second limiting portion is a limiting boss 21 , and the first limiting portion and the second limiting portion The other one is the limit groove 11, the limit boss 21 is slidably connected with the limit groove 11, and the structure is simple, which is not only convenient for manufacture, but also easy to assemble.

Exemplarily, the whole of the motor is a hollow cylindrical structure, including the above-mentioned casing 20 formed by an annular inner wall 22 surrounding the rotating shaft and the above-mentioned cover 10 rotatable relative to the casing 20, wherein the casing 20 is a part of the stator of the motor. , the cover body 10 is a part of the rotor of the motor; or the casing 20 is a part of the rotor of the motor, and the cover body 10 is a part of the stator of the motor, and the stator is fixed relative to the rotating shaft 12 of the motor, and will not generate a movement, and the shaft 12 can move relative to the stator.

It can be understood that the rotor and the stator in the motor move relative to each other, wherein the rotor can be a magnetic element, and the stator is a coil winding that generates an electromagnetic field when energized; or, the rotor is a coil winding that generates an electromagnetic field when energized, and the stator is a magnetic element.

In an optional embodiment, the magnet has a ring structure, and its central axis coincides with the rotating shaft 12 , or the magnet is composed of at least two arc-shaped magnet pieces, and the at least two magnet pieces are located on the same ring and located in the housing 20 . Inside.

It should be noted that the rotating shaft 12 may be a physical component, and the rotating shaft 12 may not be a physical component, but is only a virtual concept of the rotor rotation center.

The limiting boss 21 is arranged on the end of the annular inner wall 22 and extends along the direction of the rotating shaft, and its width extends along the direction perpendicular to the rotating shaft. The limiting groove 11 is opened on the cover body 10, and the limiting groove 11 The position of the limiter boss 21 corresponds to the position of the limiter boss, so that the limiter boss 21 can slide in the limiter groove 11, so that the cover body 10 can be limited by the cooperation between the limiter boss 21 and the limiter groove 11. The rotation angle range of the housing 20 .

Alternatively, the limiting boss 21 is arranged on the side of the cover body 10 facing the annular inner wall 22, the limiting groove 11 is opened on the annular inner wall 22, and the matching of the limiting boss 21 and the limiting groove 11 limits the cover body Rotation angle range of 10 relative to housing 20.

It should be noted that the number of limit bosses 21 may be one, the number of limit bosses 21 may also be multiple, and the number of limit grooves 11 matches the number of limit bosses 21 . Unrestricted.

In an optional embodiment, as shown in FIGS. 1 to 3 , both sides of the limiting groove 11 are provided with abutting ends 111 . After the housing 20 is rotated to the first preset angle, the limiting bosses 21 abuts against one of the two abutting ends 111 to prevent the casing 20 from continuing to rotate.

Exemplarily, the conflicting end 111 includes a first conflicting end 111a and a second conflicting end 111b, wherein the first conflicting end 111a, the second conflicting end 111b and the center of the rotating shaft are collinear, that is, the cover body 10 is opposite to the housing 20 . The rotation angle ranges from -90 degrees to +90 degrees. When the cover body 10 rotates relative to the casing 20 to +90 degrees, the limiting boss 21 abuts against the second abutting end 111b to restrict the casing 20 from continuing to rotate. When the cover body 10 rotates to -90 degrees relative to the casing 20, the limiting boss 21 abuts against the first abutting end 111a to restrict the casing 20 from continuing to rotate. The first preset angle refers to the rotation of the casing 20. Two extreme angles, namely -90 degrees and +90 degrees.

In an optional embodiment, the housing 20 is provided with an accommodating cavity 23 , the open end is one end of the accommodating cavity 23 , and the limiting boss 21 is provided on the side wall of the accommodating cavity 23 . , the limiting groove 11 is arranged on the cover body 10 , the structure is relatively simple, and it is convenient for the integral molding of the housing 20 and/or the cover body 10 .

In an optional embodiment, the limiting boss 21 is coaxially disposed with the casing 20, so that the limiting boss 21 can rotate around the rotating shaft when the casing 20 rotates relative to the cover body 10, so as to prevent the motor from The cooperation of the limiting boss 21 and the limiting groove 11 may cause noise or jamming.

In an optional embodiment, the limiting boss 21 is axially disposed along the side wall of the accommodating cavity 23 and protrudes toward the cover body 10 , which not only facilitates the integral molding of the limiting boss 21 and the housing 20 , but also It is not necessary to set the limit boss 21 on other positions of the housing 20, and at the same time, it is also ensured that the limit boss 21 can rotate around the rotating shaft, so as to avoid the problem that the motor is stuck when the limit boss 21 rotates relative to the limit groove 11. .

In an optional embodiment, the limiting groove 11 is arranged on the outer side of the cover body 10 to facilitate the manufacturing and molding of the cover body 10 and also to ensure the bearing capacity of the cover body 10 near the rotating shaft.

In an optional embodiment, an annular protrusion 13 is provided on the outer side of the limiting groove 11, and the outer diameter of the annular protrusion 13 corresponds to the maximum outer diameter of the cover body 10, so that the cover body 10 is covered in the container. After the open end of the cavity 23 is placed, external dust cannot enter the cavity 23 from the open end, thereby protecting the coil windings or magnets inside the motor, especially when the rotor rotates at a high speed relative to the stator.

In an optional embodiment, the width of the limiting groove 11 matches the thickness of the limiting boss 21, and/or the depth of the limiting groove 11 matches the height of the limiting boss 21, not only can The size of the gap after the cover body 10 is fixed to the housing 20 is reduced, and at the same time, it can also ensure that the limiting boss 21 can smoothly slide in the limiting groove 11 .

It should be noted that, due to manufacturing errors or machining errors, the width of the limiting groove 11 may be equal to or slightly greater than the thickness of the limiting boss 21 , and the depth of the limiting groove 11 may be equal to or slightly greater than the limiting boss 21 In this way, the limiting effect of the matching of the limiting boss 21 and the limiting groove 11 can be ensured, and at the same time, the relative strength of the cover body 10 or the casing 20 can be ensured.

In an optional embodiment, the cover body 10 is provided with an annular convex ring 14 , and the size and shape of the annular convex ring 14 are adapted to the size and shape of the accommodating cavity 23 , so that the cover body 10 can pass through the annular convex ring 14 . The ring 14 is connected to the accommodating cavity 23 to realize the quick positioning and installation of the cover body 10 and the housing 20 .

Exemplarily, the inner wall of the accommodating cavity 23 is provided with an annular groove 231, and the size of the annular convex ring 14 matches the size of the annular groove 231, so that the processing technology of the cover body 10 or the housing 20 can be reduced, because the cover Both the body 10 and the casing 20 are connected in rotation. Therefore, the matching accuracy of the cover body 10 and the casing 20 will affect the rotation state of the cover body 10 relative to the casing 20. In the present application, the inner wall of the accommodating cavity 23 Grind out an annular groove 231 for matching with the annular convex ring 14 of the cover body 10, so that the processing difficulty of the cover body 10 and the casing 20 can be reduced, that is, only the precision of the annular groove 231 and the annular convex ring 14 needs to be controlled That's it.

In an optional embodiment, a notch is recessed in the side wall of the accommodating cavity 23 to form a limiting groove, wherein the limiting boss ring is provided on the outer side of the cover body 10, so that the cover body 10 can pass the limit The range of the relative rotation angle is limited by the cooperation of the boss and the limiting groove, and the structure is simple and easy to assemble and manufacture.

In an optional embodiment, a cover is installed on the outer side of the housing 20, and the cover is installed on the cover to prevent dust from entering the accommodating cavity 23 from the connection between the cover 10 and the housing 20, affecting the to the life of the motor.

In an optional embodiment, as shown in FIGS. 1 to 4 , the cover body 10 is provided with a fixing portion 15 for fixing the photographing device 200 .

Exemplarily, the fixing portion 15 includes a plurality of fixing holes provided on the cover body 10, and the photographing device 200 is provided with screw holes corresponding to the fixing holes, so that the screws can pass through the fixing holes and then be connected to the screw holes, so as to The connection between the photographing device 200 and the cover body 10 is realized.

According to the second aspect of the present application, as shown in FIG. 1 to FIG. 4 , the present application further provides a movable platform, including a body and the above-mentioned pan/tilt 100 , wherein the pan/tilt 100 is installed on the body, and the photographing device 200 is installed on the gimbal 100.

In an optional embodiment, the movable platform is an unmanned aerial vehicle, a handheld gimbal or a ground remote-controlled mobile platform.

In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection connected, or integrally connected. It can be a mechanical connection or an electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

In this application, unless otherwise expressly specified and defined, a first feature "on" or "under" a second feature may include direct contact between the first and second features, or may include the first and second features Not directly but through additional features between them. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is "below", "below" and "below" the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

The above disclosure provides many different implementations or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and arrangements of specific examples are described above. Of course, they are only examples and are not intended to limit the application. Furthermore, this application may repeat reference numerals and/or reference letters in different instances for the purpose of simplicity and clarity, and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, this application provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples", etc., is meant to incorporate the embodiments A particular feature, structure, material, or characteristic described or exemplified is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present application have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, The scope of the application is defined by the claims and their equivalents.

Claims

A pan-tilt head for adjusting the posture of a photographing device, wherein the pan-tilt head comprises a motor, and the motor comprises:

a cover body, which is provided with a first limiting portion; and

The casing is rotatable relative to the cover body, the casing is provided with an open end and a second limiting portion close to the open end, the shape of the cover body matches the shape of the open end, and the A magnet is installed on the inner side of the housing, and the second limiting portion is rotatably matched with the first limiting portion to limit the rotation angle of the housing relative to the cover body;

Wherein, the cover body is the end cover of the rotor of the motor, the housing is the outer shell of the stator of the motor, or the cover body is the base of the stator of the motor, and the housing is the outer shell of the stator of the motor. In the casing of the rotor of the motor, the first limiting portion is provided on the outer edge of the cover body, and the position of the second limiting portion corresponds to the position of the first limiting portion.
The platform according to claim 1, wherein one of the first limiting portion and the second limiting portion is a limiting boss, and the first limiting portion and the second limiting portion are The other is a limit groove, and the limit boss is slidably connected with the limit groove.
The pan/tilt according to claim 1, wherein the motor has a hollow cylindrical structure, the casing is an annular inner wall formed around a rotating shaft, and the cover body is rotatable relative to the annular inner wall.
The pan/tilt head according to claim 3, wherein the limiting boss is arranged on the end of the annular inner wall and extends along the direction of the rotating shaft.
The pan/tilt head according to claim 3, wherein the width of the limiting boss extends along a direction perpendicular to the rotation axis.
The platform according to claim 3, wherein the limiting groove is formed on the cover body, and the position of the limiting groove corresponds to the position of the limiting boss.
The pan/tilt according to claim 2, wherein both sides of the limiting groove are provided with opposing ends, and after the housing is rotated to a first preset angle, the limiting boss and the One of the two abutting ends resists to prevent the casing from continuing to rotate.
The pan/tilt head according to claim 7, wherein the interference end comprises a first interference end and a second interference end, and the first interference end, the second interference end and the center of the rotating shaft are collinear.
The pan/tilt head according to claim 2, characterized in that a accommodating cavity is provided on the housing, the limiting boss is provided on a side wall of the accommodating cavity, and the limiting concave A groove is provided on the cover body.
The pan/tilt head according to claim 9, wherein the limiting boss is coaxially disposed with the housing.
The pan/tilt head according to claim 9, wherein the limiting boss is axially disposed along the side wall of the accommodating cavity and protrudes toward the cover.
The pan/tilt according to claim 9, wherein the limiting groove ring is provided on the outer side of the cover body.
The pan/tilt head according to claim 12, wherein an annular protrusion is provided on the outer side of the limiting groove, and the outer diameter of the annular protrusion corresponds to the maximum outer diameter of the cover body.
The pan/tilt head according to claim 13, wherein the width of the limiting groove matches the thickness of the limiting boss, and/or the depth of the limiting groove is the same as that of the limiting groove The heights of the bosses match.
The pan/tilt head according to claim 13, wherein the width of the limiting groove is greater than or equal to the thickness of the limiting boss; and/or the depth of the limiting groove is greater than or equal to the thickness of the limiting groove the height of the limit boss.
The pan/tilt according to claim 9, wherein an annular convex ring is provided on the cover body, and the cover body is connected to the accommodating cavity through the annular convex ring.
The pan/tilt head according to claim 16, wherein the inner wall of the accommodating cavity is provided with an annular groove, and the size of the annular convex ring matches the size of the annular groove.
The pan/tilt head according to claim 2, wherein an accommodating cavity for accommodating a motor is provided on the casing, and a side wall of the accommodating cavity is recessed with a notch to form the limiting groove , the limiting boss ring is arranged on the outer side of the cover body.
The pan/tilt head according to claim 18, wherein a cover body is installed on the outer side of the casing, and the cover body is covered on the cover body.
The pan/tilt head according to any one of claims 1 to 19, wherein a fixing portion is provided on the cover for fixing the photographing device.
A movable platform, characterized in that, comprising:

body;

PTZ, the PTZ is installed on the body;

The pan/tilt includes a motor, and the motor includes:

a cover body, which is provided with a first limiting portion; and

The casing is rotatable relative to the cover body, the casing is provided with an open end and a second limiting portion close to the open end, the shape of the cover body matches the shape of the open end, and the A magnet is installed on the inner side of the housing, and the second limiting portion is rotatably matched with the first limiting portion to limit the rotation angle of the housing relative to the cover body;

Wherein, the cover body is the end cover of the rotor of the motor, the housing is the outer shell of the stator of the motor, or the cover body is the base of the stator of the motor, and the housing is the outer shell of the stator of the motor. In the casing of the rotor of the motor, the first limiting portion is provided on the outer edge of the cover body, and the position of the second limiting portion corresponds to the position of the first limiting portion.
The movable platform according to claim 21, wherein one of the first limiting portion and the second limiting portion is a limiting boss, and the first limiting portion and the second limiting portion The other one is a limit groove, and the limit boss is slidably connected with the limit groove.
The movable platform according to claim 21, wherein the motor has a hollow cylindrical structure, the casing is an annular inner wall formed around a rotating shaft, and the cover body can rotate relative to the annular inner wall.
The movable platform according to claim 23, wherein the limiting boss is arranged on the end of the annular inner wall and extends along the direction of the rotating shaft.
The movable platform according to claim 23, wherein the width of the limiting boss extends along the direction perpendicular to the rotation axis.
The movable platform according to claim 23, wherein the limiting groove is formed on the cover body, and the position of the limiting groove corresponds to the position of the limiting boss.
The movable platform according to claim 22, wherein both sides of the limiting groove are provided with abutting ends, and after the housing is rotated to a first preset angle, the limiting boss Abutting with one of the two abutting ends prevents the casing from continuing to rotate.
The movable platform according to claim 27, wherein the interference end comprises a first interference end and a second interference end, and the first interference end, the second interference end and the center of the rotating shaft are collinear.
The movable platform according to claim 22, wherein an accommodating cavity is provided on the housing, the limiting boss is provided on a side wall of the accommodating cavity, and the limiting The groove is arranged on the cover body.
The movable platform according to claim 29, wherein the limiting boss is arranged coaxially with the housing.
The movable platform according to claim 29, wherein the limiting boss is axially disposed along the side wall of the accommodating cavity and protrudes toward the cover.
The movable platform according to claim 29, wherein the limiting groove ring is provided on the outer side of the cover body.
The movable platform according to claim 32, wherein an annular protrusion is provided on the outer side of the limiting groove, and the outer diameter of the annular protrusion corresponds to the maximum outer diameter of the cover body.
The movable platform according to claim 33, wherein the width of the limiting groove matches the thickness of the limiting boss, and/or the depth of the limiting groove is the same as that of the limiting groove. Match the height of the bit boss.
The movable platform according to claim 33, wherein the width of the limiting groove is greater than or equal to the thickness of the limiting boss; and/or the depth of the limiting groove is greater than or equal to The height of the limiting boss.
The movable platform according to claim 29, wherein an annular convex ring is provided on the cover body, and the cover body is connected to the accommodating cavity through the annular convex ring.
The movable platform according to claim 36, wherein the inner wall of the accommodating cavity is provided with an annular groove, and the size of the annular convex ring matches the size of the annular groove.
The movable platform according to claim 22, wherein an accommodating cavity for accommodating the motor is provided on the casing, and a side wall of the accommodating cavity is recessed with a notch to form the limiting recess groove, the limiting boss ring is arranged on the outer side of the cover body.
The movable platform according to claim 38, wherein a cover body is installed on the outer side of the casing, and the cover body is covered on the cover body.
The movable platform according to any one of claims 21 to 39, wherein a fixing portion is provided on the cover for fixing the photographing device.
The movable platform according to claim 21, wherein the movable platform is an unmanned aerial vehicle, a hand-held PTZ or a ground remote-controlled mobile platform.