CN108983827A - A kind of Self-stabilization holder - Google Patents
A kind of Self-stabilization holder Download PDFInfo
- Publication number
- CN108983827A CN108983827A CN201811076493.1A CN201811076493A CN108983827A CN 108983827 A CN108983827 A CN 108983827A CN 201811076493 A CN201811076493 A CN 201811076493A CN 108983827 A CN108983827 A CN 108983827A
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- Prior art keywords
- axis
- driving motor
- self
- direct driving
- stabilization
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Accessories Of Cameras (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
Of the invention proposes that a kind of Self-stabilization holder, especially 50KG grade Self-stabilization holder, including Z axis, Y-axis and X-axis, the motor for controlling described X, Y and Z axis are all made of direct driving motor；Z axis, Y-axis and X-direction linkage；The camera of the holder is installed in the load of the X-axis.It can be directly connected to simultaneously load-carrying object since its outputting torsion is big, preferable without connection structures, precision consistency such as retarder, gear-boxes, assembly is fairly simple and volume production product is convenient, easy to maintain.Due to because reducing the position error of mechanical structure generation, further improving control precision without connection structures such as retarder, gear-boxes.
Description
Technical field
The invention belongs to holder stability Design fields, and in particular to a kind of stable holder of heavy-load type.
Background technique
In the fields such as shooting, monitoring, scouting, many equipment need to use stable holder, relatively stable to go to obtain
Environment and the image frame of high quality is provided.It is equipped on the carrier of the shakings such as aircraft, ship, vehicle and stablizes holder.It is existing
Stablizing holder has with the photoelectric nacelle etc. on aircraft and ship.Aircraft, ship photoelectric nacelle, which use, has retarder, worm gear snail
The heavily loaded magnetic-synchro motor of the transmission mechanisms such as bar.Though the photoelectric nacelle load-carrying of aircraft, ship is big, retarder, worm gear snail are had
The transmission mechanisms such as bar assemble many and diverse, maintenance inconvenience.
Summary of the invention
In view of the shortcomings of the prior art, it is an object of the invention to propose a kind of Self-stabilization holder, especially 50KG grades from
Stablize holder, the technical issues of present invention is to be solved is: DD direct driving motor has that load-carrying is big, assembly is simple, control precision is high, precision
Advantages such as consistency is good, therefore the motor that Self-stabilization holder of the present invention uses is DD direct driving motor, since its outputting torsion is big
It can be directly connected to simultaneously load-carrying object, without connection structures such as retarder, gear-boxes, precision consistency is preferable, assembles fairly simple
And volume production product is convenient, it is easy to maintain.To solve above-mentioned technical problem:
The present invention provides a kind of Self-stabilization holders, including Z axis, Y-axis and X-axis, which is characterized in that including controlling the Z
First direct driving motor of axis controls the second direct driving motor of the Y-axis, controls the third direct driving motor of the X-axis；Described
One, second and third direct driving motor include stator and rotor；The stator is fixed, and the rotor band dynamic load rotates；Institute
State Z axis, Y-axis and X-direction linkage；The camera of the holder is installed in the load of the X-axis.
Further, the holder further includes pedestal for fixing, and the stator of first direct driving motor is fixed on institute
It states on pedestal, the rotor of first direct driving motor and upper layer load connect.
Further, the holder further includes bracket.
Further, the stator of second direct driving motor is fixed on the bracket, and second direct driving motor turns
It is sub to be connected with Y-axis load.
Further, the stator of the third direct driving motor is fixed on the bracket, and the third direct driving motor turns
It is sub to be connected with X-axis load.
Further, the fixed form of above-mentioned first, second, and third direct driving motor stator, be by screw indirectly or
Direct mode is fixed；The connection type of first, second, and third direct drive motor rotor and load, is to pass through spiral shell
Directly or indirectly mode is attached silk.
Further, the Z axis is course axis, and the Y-axis is roll axis, and the X-axis is pitch axis.
Further, the holder further includes the attitude transducer for incuding camera posture.
Further, the attitude transducer is six axle sensors or nine axle sensors.
Further, the holder is provided with encoder, using the encoder by algorithm to described first, second
And third direct driving motor carries out closed-loop control.
Compared with prior art, the present invention at least has the following beneficial effects or advantage:
This Self-stabilization holder provided by the invention, the motor which uses is DD direct driving motor, due to it
Outputting torsion is big and can be directly connected to simultaneously load-carrying object, such as 50KG grades of Self-stabilization holder, connects without retarder, gear-box etc.
Structure, precision consistency is preferable, and assembly is fairly simple and volume production product is convenient, easy to maintain.Self-stabilization holder is configured with coding
Device carries out closed-loop control to DD direct driving motor by algorithm, while because reducing without connection structures such as retarder, gear-boxes
The position error that mechanical structure generates, further improves control precision.
Detailed description of the invention
The present invention is described in further details below with reference to attached drawing；
Fig. 1 is Self-stabilization holder system construction drawing of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
To provide the Self-stabilization holder that load-carrying is big, assembly is simple, easy to maintain, the present invention devises a kind of directly to be driven using DD
Cradle head structure of the motor as power output, especially 50KG grades of Self-stabilization holder, instead of conventional motors and complicated drive mechanism
Mode, it is specific as shown in Figure 1.Z axis represents course axis, and Y-axis represents roll axis, and X-axis represents pitch axis.The knot of the technical program
Structure design principle, mainly there is three parts:
First part, the structure design of control Z axis rotation.Direct driving motor is equally divided into rotor and stator, and stator is fixed not
Dynamic, rotor band dynamic load rotates.Pedestal plays fixed function as the bridge that complete machine and external environment are built.Control the straight of Z axis
The stator for driving motor is fixed by screws on pedestal, and rotor is directly loaded with upper layer by screw and connected.
Second part, the structure design of control Y-axis rotation, similarly, the stator for controlling the direct driving motor of Y-axis is solid by screw
It is scheduled on bracket, rotor is directly connected with Y-axis load by screw, and the structure of mode first part is identical.
Part III, the structure design of control X-axis rotation, similarly, the stator for controlling the direct driving motor of X-axis is solid by screw
It is scheduled on bracket, rotor is directly connected with X-axis load by screw, and the structure of mode first part is identical.X, Y, Z axis direction
Linkage, can finally act directly on X-axis load on, so camera be mounted in X-axis load in.This programme is to pass through posture
The posture and camera of sensor sensing camera are rigidly connected, and are directly anchored on camera, keep synchronous with camera.
(3) posture inductive pick-up includes but is not limited to the attitude inductors parts such as six axle sensors, nine axle sensors
The multiaxises such as two axis, three axis, which can be constructed, using above-mentioned cradle head structure stablizes holder, including course axis, pitch axis, cross
Roller bearing.
Compared with prior art, the present invention at least has the following beneficial effects or advantage:
The motor that this Self-stabilization holder provided by the invention uses is DD direct driving motor, since its outputting torsion is big
It can be directly connected to simultaneously load-carrying object, without connection structures such as retarder, gear-boxes, precision consistency is preferable, assembles fairly simple
And volume production product is convenient, it is easy to maintain.Self-stabilization holder is configured with encoder, carries out closed loop control to DD direct driving motor by algorithm
System, while because reducing the position error of mechanical structure generation, further being promoted without connection structures such as retarder, gear-boxes
Control precision.
The foregoing examples are only illustrative of the present invention, does not constitute the limitation to protection scope of the present invention, all
It is within being all belonged to the scope of protection of the present invention with the same or similar design of the present invention.
Claims (10)
1. a kind of Self-stabilization holder, including Z axis, Y-axis and X-axis, which is characterized in that the first straight drive electricity including controlling the Z axis
Machine controls the second direct driving motor of the Y-axis, controls the third direct driving motor of the X-axis；Described first, second, and third is straight
Driving motor includes stator and rotor；The stator is fixed, and the rotor band dynamic load rotates；The Z axis, Y-axis and X-axis side
To linkage；The camera of the holder is installed in the load of the X-axis.
2. Self-stabilization holder according to claim 1, it is characterised in that: the holder further includes bracket.
3. Self-stabilization holder according to claim 1, it is characterised in that: the holder further includes pedestal for fixing,
The stator of first direct driving motor is fixed on the pedestal, and the rotor of first direct driving motor and upper layer load connect.
4. Self-stabilization holder according to claim 2, it is characterised in that: the stator of second direct driving motor is fixed on institute
It states on bracket, the rotor of second direct driving motor is connected with Y-axis load.
5. Self-stabilization holder according to claim 2, it is characterised in that: the stator of the third direct driving motor is fixed on institute
It states on bracket, the rotor of the third direct driving motor is connected with X-axis load.
6. according to the described in any item Self-stabilization holders of claim 3-5, it is characterised in that: above-mentioned first, second, and third is straight
The fixed form for driving motor stator, is that directly or indirectly mode is fixed by screw；Described first, second, and third
The connection type of direct drive motor rotor and load is that directly or indirectly mode is attached by screw.
7. Self-stabilization holder according to claim 1, it is characterised in that: the Z axis is course axis, and the Y-axis is roll
Axis, the X-axis are pitch axis.
8. Self-stabilization holder according to claim 1, it is characterised in that: the holder further includes for incuding camera appearance
The attitude transducer of state.
9. Self-stabilization holder according to claim 8, it is characterised in that: the attitude transducer is six axle sensors or nine
Axle sensor.
10. Self-stabilization holder according to claim 1, it is characterised in that: the holder is provided with encoder, utilizes institute
It states encoder and closed-loop control is carried out to first, second and third direct driving motor by algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811076493.1A CN108983827A (en) | 2018-09-14 | 2018-09-14 | A kind of Self-stabilization holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811076493.1A CN108983827A (en) | 2018-09-14 | 2018-09-14 | A kind of Self-stabilization holder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108983827A true CN108983827A (en) | 2018-12-11 |
Family
ID=64546238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811076493.1A Pending CN108983827A (en) | 2018-09-14 | 2018-09-14 | A kind of Self-stabilization holder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108983827A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102996983A (en) * | 2011-09-09 | 2013-03-27 | 深圳市大疆创新科技有限公司 | Gyro-type dynamic self-balancing pan-tilt |
| CN203686509U (en) * | 2013-10-21 | 2014-07-02 | 南京航空航天大学 | Three-degree-of-freedom self-stabilizing platform |
| CN105681673A (en) * | 2016-03-07 | 2016-06-15 | 洛阳轴研科技股份有限公司 | Smartphone photographing and camera shooting stabilizing device, and working method thereof |
| CN107294280A (en) * | 2017-05-23 | 2017-10-24 | 湖北富升智能装备股份有限公司 | A kind of three axles directly turn platform |
| CN206833250U (en) * | 2017-06-07 | 2018-01-02 | 无锡职业技术学院 | A kind of unmanned investigation dolly based on laser radar |
| CN108488572A (en) * | 2018-05-23 | 2018-09-04 | 高新兴科技集团股份有限公司 | A kind of active stabilization holder and its control method |
| US20180259123A1 (en) * | 2017-03-10 | 2018-09-13 | Samsung Electronics Co., Ltd | Gimbal device |
-
2018
- 2018-09-14 CN CN201811076493.1A patent/CN108983827A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102996983A (en) * | 2011-09-09 | 2013-03-27 | 深圳市大疆创新科技有限公司 | Gyro-type dynamic self-balancing pan-tilt |
| CN203686509U (en) * | 2013-10-21 | 2014-07-02 | 南京航空航天大学 | Three-degree-of-freedom self-stabilizing platform |
| CN105681673A (en) * | 2016-03-07 | 2016-06-15 | 洛阳轴研科技股份有限公司 | Smartphone photographing and camera shooting stabilizing device, and working method thereof |
| US20180259123A1 (en) * | 2017-03-10 | 2018-09-13 | Samsung Electronics Co., Ltd | Gimbal device |
| CN107294280A (en) * | 2017-05-23 | 2017-10-24 | 湖北富升智能装备股份有限公司 | A kind of three axles directly turn platform |
| CN206833250U (en) * | 2017-06-07 | 2018-01-02 | 无锡职业技术学院 | A kind of unmanned investigation dolly based on laser radar |
| CN108488572A (en) * | 2018-05-23 | 2018-09-04 | 高新兴科技集团股份有限公司 | A kind of active stabilization holder and its control method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20181211 |