CN109445469A - Flexible connecting device, carrier and its control method - Google Patents
Flexible connecting device, carrier and its control method Download PDFInfo
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- CN109445469A CN109445469A CN201811158082.7A CN201811158082A CN109445469A CN 109445469 A CN109445469 A CN 109445469A CN 201811158082 A CN201811158082 A CN 201811158082A CN 109445469 A CN109445469 A CN 109445469A
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Abstract
The invention discloses a kind of flexible connecting device, carrier and its control methods, flexible connecting device is applied in carrier, the carrier includes: the first rotating member, the second rotating member being rotatedly connected with the first rotating member and the load-bearing part being connected with the second rotating member, first driving device for driving the second rotating member to rotate relative to the first rotating member, the second driving device for driving load-bearing part to rotate relative to the second rotating member；For the flexible connecting device for connecting with the first driving device, the second driving device and the carrier, the flexible connecting device is respectively that the first driving device and second driving device provide driving signal and/or energy.Inventive drive means drive precision height and the response time is short.
Description
The present invention be submit on 03 31st, 2013 application No. is 201310109707.1, entitled " driving dress
Set, the carrier of application drive device and its control method " application for a patent for invention divisional application.
Technical field
The present invention relates to a kind of driving device more particularly to a kind of driving devices of driving motor.
Background technique
Carrier can be carried in driving device, to realize the fixation of carrier, the posture (example of random adjusting carrier
Such as: changing height and/or the direction of carrier) and it is stably held in carrier in determining posture.For example, carrier is to shine
When camera or video camera, it is mounted in driving device and its control method and stable, smooth and multi-angled shooting can be achieved；Carrying
When object is microphone, the sound of user can more accurately be obtained by being mounted in driving device and its control method.
The driving device of the relevant technologies includes the drive module of motor and driving motor, and drive module includes driving motor
Driver and the controller that control instruction is sent for driver.When work, driver is issued according to the control instruction of controller and is driven
Dynamic signal drive motor.
But driver generates driving signal driving motor according to the control instruction of controller merely, causes to drive precision
It is low.
Therefore, it is necessary to which providing one kind new driving device and its control method overcomes disadvantages mentioned above.
Summary of the invention
It is an object of the invention to: a kind of driving driving device with high accuracy is provided.
The object of the present invention is achieved like this: a kind of driving device, comprising:
First driving motor comprising the first stator, the first rotor and and the first rotor relative to the first stator rotation
The first connected rotation axis；
The first drive module being electrically connected with the first driving motor comprising the first driving of the first driving motor of driving
Device；
Wherein, the driving device is additionally provided with the first potentiometer for being set in the first rotation axis of the first driving motor, institute
It states the first potentiometer and generates first position signal and by described for measuring the first rotor relative to the first position of stator relationship
One position signal feeds back to the first driver of the first drive module, and first driver is sent out according to the first position signal
First driving signal out, first driving signal is for driving the first driving motor.
Preferably, the driving device further includes the controller that the first control instruction is sent to the first driver, and described the
One driver controls the first driving motor according to first control instruction.
Preferably, the driving device further includes attitude detection module, and the attitude detection module is used to send out to controller
Attitude signal is sent, the controller generates the first control instruction according to the attitude signal.
Preferably, the driving device further includes
Second driving motor comprising the second stator, relative to the second stator rotation the second rotor and with the second rotor
The second connected rotation axis；
The second drive module being electrically connected with the second driving motor comprising the second driving of the second driving motor of driving
Device；
The controller is used to send the second control instruction to the second driving motor；
Wherein, the driving device is additionally provided with the second potentiometer for being set in the second rotation axis of the second driving motor, institute
State the second potentiometer for measure the second rotor relative to the second position of stator relationship generation second position signal and by described the
Two position signals feed back to the second driver of the second drive module, second driver according to second control instruction and
Second position signal issues the second driving signal, and second driving signal is for driving the second driving motor.
Preferably, the controller generates the first control instruction and the second control instruction according to the attitude signal simultaneously.
Preferably, the carrier includes the first rotating member and the second rotating member being rotatedly connected with the first rotating member, described
First driving device is for driving the first rotating member to rotate relative to the second rotating member.
Preferably, the carrier further includes the load-bearing part being connected on the second rotating member.
Preferably, the carrier includes the first rotating member, the second rotating member being rotatedly connected with the first rotating member and with the
The connected load-bearing part of two rotating members, the first driving device are rotated for the first rotating member of driving relative to the second rotating member,
For second driving device for driving load-bearing part to rotate relative to the second rotating member, the attitude detection module is located at described hold
In holder.
Preferably, the control method of the driving device includes the following steps:
First potentiometer generates first position signal；
The first motor driver generates the first driving of driving according to first control instruction and first position signal
First driving signal of motor.
Preferably, the control method further include:
Controller is provided, the controller is for generating the first control instruction；
The first motor driver generates the first driving signal according to first control instruction.
Preferably, the control method includes the following steps:
Attitude detection module is provided, the attitude detection module is for generating attitude signal；
The controller generates the first control instruction according to the attitude signal.
Preferably, the control method includes the following steps:
First potentiometer generates first position signal；
The first motor driver generates the first driving of the first driving motor of driving according to the first position signal
Signal；
First driving motor drives first rotating member to rotate relative to the second rotating member.
Preferably, the control method of the carrier further includes following steps:
Controller is provided, the controller is for generating the first control instruction；
The first motor driver generates the first driving signal according to first control instruction.
Preferably, the control method includes the following steps:
Attitude detection module is provided, the attitude detection module is for generating attitude signal；
The controller generates the first control instruction according to the attitude signal.
Preferably, the control method includes the following steps:
The attitude detection module generates attitude signal；
The controller generates the first control instruction and the second control instruction according to the attitude signal；
First potentiometer generates first position signal；
Second potentiometer generates second position signal；
The first motor driver generates the first driving of driving according to first control instruction and first position signal
First driving signal of motor, first driving signal is for driving the first driving motor；The first driving motor driving
First rotating member is rotated relative to the second rotating member；
Second motor driver generates the second driving of driving according to second control instruction and second position signal
Second driving signal of motor, second driving signal is for driving the second driving motor；Second driving device is used for
Driving load-bearing part is rotated relative to the second rotating member.
Compared with the relevant technologies, inventive drive means drive precision height and the response time is short.
Detailed description of the invention
Fig. 1 is the carrier using inventive drive means and the perspective view for carrying carrier thereon.
Fig. 2 is the perspective view for removing another visual angle of load-bearing part using the carrier of inventive drive means.
Fig. 3 is the stereogram exploded view using the second rotating member of the carrier of inventive drive means.
Fig. 4 is the stereogram exploded view using the first rotating member of the carrier of inventive drive means.
Fig. 5 removes first for the first rotating member when being in the first locked position using the carrier of inventive drive means and consolidates
When determining portion and the schematic diagram of the positional relationship of the second rotating member.
Fig. 6 removes first for the first rotating member when being in the second locked position using the carrier of inventive drive means and consolidates
When determining portion and the schematic diagram of the positional relationship of the second rotating member.
Fig. 7 is the perspective view using the load-bearing part of the carrier of inventive drive means.
Fig. 8 is the schematic diagram using the flexible connecting device of the carrier of inventive drive means.
Fig. 9 is the partial perspective view using the carrier of inventive drive means.
Figure 10 is the signal for being wound on the second rotation axle portion in advance using the first connecting portion of the carrier of inventive drive means
Figure.
Figure 11 is the schematic diagram of the control method of inventive drive means.
Specific embodiment
Using the carrier of inventive drive means, carrier can be carried thereon, to realize carrier fixation, arbitrarily
It adjusts the posture (such as: changing height, inclination angle and/or the direction of carrier) of the carrier and is stably held in carrier
In determining posture.The carrier can be used as the auxiliary device of photography, photograph, monitoring, sampling, can operate with space base (such as
Rotor craft or fixed wing aircraft), water base (such as submarine or ship), roadbed (such as motor vehicles) or space-based (such as defend
Star, space station or airship) etc. fields.The carrier can be the photographic devices such as camera and video camera, can also be sensor
Deng.In the present embodiment, carrier is applied on aircraft by carrier by taking micro- one camera as an example, illustrates beneficial effects of the present invention.
Micro- one camera can be fixed on load-bearing part by locking member.It will of course be understood that ground, carrier may be other types of phase
Machine or monitoring camera head etc..With reference to the accompanying drawing, it elaborates to carrier of the invention.
As shown in figs. 1-11, a kind of carrier 100 provided in an embodiment of the present invention, for carrying carrier 1, and can
It is relatively stable.The carrier 100 includes the second rotating member 6 that the first rotating member 4 and the first rotating member 4 are rotatedly connected and second turn
The driving device (not labeled) of the connected load-bearing part 3 of moving part 6 and driving the second rotating member 4 and load-bearing part 3.The driving device packet
Include that the first driving portion 5 for driving the first rotating member 4 to rotate relative to the second rotating member 6, being connected with the second rotating member 6 is used for
Driving load-bearing part 3 rotated relative to the second rotating member 6 the second driving portion 7, the attitude detection module on load-bearing part 3 (not
Diagram) and control the controller (not shown) of first driving portion 5 and the second driving portion 7.The carrier 1 is mounted in carrying
On part 3.The controller can be set on carrier, can be also detached from the carrier.The controller is used to send the to the first driving portion 5
One control instruction；Also can be used for sending the second control instruction to the second driving portion 7.The carrier further includes the respectively first driving
Portion 5 and the second driving portion 7 provide the flexible connecting device 2 of driving signal and/or energy.The attitude detection module, which is mounted in, holds
In holder 3, controller is sent to for detecting the posture of the carrier 1 on load-bearing part 3 and generating attitude signal.
First driving portion 5 includes the first driving motor 52 for being fixed on the first rotating member 4, is fixed on the first rotating member 4
The first driving motor outer cover 50 and be electrically connected with the first driving motor 52 for driving the first of the first driving motor 52 to drive
Dynamic model block 56.First driving motor 52 is equipped with the first shell 53, the first stator (not shown) being fixed on the first shell 53, phase
It is connected for the first rotor (not shown) of the first stator rotation, with the first rotor and part stretches out in the first of the first shell 53
Rotation axis 54 and it is contained in the first rolling bearing (not shown) in the first shell 53 and being set in the first rotation axis 54.It is described
First driving portion 5 further includes being set in the first spring bearing 55 that first shell 53 is stretched out in the first rotation axis 54.This
In embodiment, the driving force of first rotation axis is from the first driving motor.In fact, the driving force of the first rotation axis
It can be realized by other modes well known to those skilled in the art.In addition, the first spring bearing can also be substituted with axle sleeve.
First drive module 56 includes first motor driver 58 and the first potentiometer 57 on first motor driver 58.
First potentiometer 57 is inserted in the first rotation axis 54 for measuring positional relationship of the first rotor relative to the first stator,
It generates first position signal and the first position signal is fed back into first motor driver 58.Please refer to Figure 11, when work,
Attitude detection module sends the attitude signal of carrier to controller；Controller drives according to above-mentioned attitude signal to first motor
Device issues the first control instruction；First potentiometer generates first position signal and the first position signal is fed back to the first electricity
Described in machine driver, first position signal that first motor driver is fed back according to the first potentiometer and the driving of the first control instruction
First driving motor；The rotation of first driving motor is to change the posture of carrier.In other selectable embodiments, institute
Stating controller and attitude detection module can be omitted, and first motor driver can its other party known to those skilled in the art
Formula starting；Controller is also required to issue the first control instruction according to attitude detection signal.How first motor driver utilizes
One position signal drives the first driving motor for well known technology in the industry, and so it will not be repeated.
First rotating member 4 include first fixing support arm 41, with first hold support arm 41 be connected the first fixed part 43,
Second fixed part 42 separated by a distance with the first fixed part 43 and connected with the first fixing support arm 41 connect the first fixed part
43 and second fixed part 42 connection wall 44 and the receipts that are collectively formed by the first fixed part 43, the second fixed part 42 and connection wall 44
Hold space 45.The first fixing support arm 41 includes horizontal mounting arm 411 and the vertical support arm from the bending extension of horizontal mounting arm 411
412.The horizontal mounting arm 411 and vertical support arm 412 are integrally formed.Certainly, in alternate embodiments, the horizontal branch
Arm 411 and the seperated connection of vertical support arm 412.The vertical support arm 412, which is equipped with, penetrates hole for flexible connecting device passes through first
4121。
First fixed part 43 and the second fixed part 42 are oppositely arranged and prop up respectively on vertical support arm 412 far from horizontal
One end of arm 411 is connected.In present embodiment, the first fixing support arm 41 and the second fixed part 42 are wholely set；First is solid
Determine portion 42 to be fixed on the second fixed part 42 by fastener (not labeled), it may be assumed that first fixed part 43 and the first fixing branch
42 split settings of arm 41 and the second fixed part.In other selectable embodiments, the first fixing support arm, first are fixed
Portion and the second fixed part can be wholely set.
First fixed part 43 is equipped with the first through hole 431 through thereon for fixing the first driving motor 52.
Second fixed part 42 is equipped with bottom plate 421, is used to accommodate the second through hole 422 of the first spring bearing 55 through bottom plate 421
With extends from bottom plate 421 to the direction far from connection wall 44 and surround the setting of the second through hole 422 surrounds portion 423, described the
One spring bearing 55 is contained in described in portion 423.Such first spring bearing 55 is arranged far from the first fixed part 43.This reality
It applies in mode, the second through hole 422 and accommodates first spring bearing 55 jointly around portion 423.In other selectable realities
It applies in mode, the first spring bearing can be accommodated merely with the second through hole, realize the first rotation axis relative to the first rotating member
Fixation.As long as guaranteeing that bottom plate has enough thickness.The geometric center and the first spring bearing of second through hole
Rotation center be located on the axis of the first rotation axis.When assembling, first rotation axis 54 extends through described second
Through hole 422 and the first through hole 431.In addition, the connection wall 44 be equipped with the first stopper section 441 and with the first stopper section 441
It the second opposite stopper section 442 and is communicated by what the first stopper section 441 and the second stopper section 442 were collectively formed with accommodating space 45
Impenetrating mouth 443.
Second rotating member 6 is partially housed in the accommodating space of first rotating member 4 by the impenetrating mouth 443
45.Second rotating member 6 includes that one end of the rotating support arm 61 and autorotation support arm 61 that are set in the first rotation axis 54 is curved
The second fixing support arm 62 that folding extends.The rotating support arm 61 is equipped with rotating bar 611 and the first support arm axis through rotating bar 611
612.The first support arm axis 612 includes being located at the first support arm shaft 6121 of 611 side of rotating bar and being located at rotating bar 612 separately
The second support arm shaft 6122 of side.When assembling, the first support arm shaft 6121 is set in the first driving of the first driving portion 5
In first rotation axis 54 of motor 52 and it is housed in the accommodating space 45 of the first rotating member 4；Second support arm shaft 6122 is inserted into
In in the first spring bearing 55.First spring bearing 55 passes through the second support arm shaft 6122 of first support arm shaft 6121,
Realize the rotation connection of the first spring bearing 55 and the first rotation axis 54.Described in this way under the drive of the first driving motor 52
Two rotating members 6 can be rotated up and down relative to vertical support arm 412；In addition, the first spring bearing and the first rolling bearing collective effect
Can prevent the axial dipole field of the first rotation axis and first support arm axis, thus make the power of the first rotation axis it is more stable pass to
Two rotating members.In other selectable embodiments, the first support arm axis be can be omitted.Directly passed through using the first rotation axis
Rotating bar is worn, realizes the rotation connection of the second rotating member and the first rotation axis, at the same time, first spring bearing directly covers
It is located in the first rotation axis.In addition, the second fixing support arm 62 is equipped with branch arm 622, the insertion hole through branch arm 622
621, the wound portion 623 and winding certainly for extending from branch arm 622 to separate branch arm 622 and being arranged around the second rotation axis 721
The blocking portion 624 that portion 623 extends to separate branch arm 622.
Second driving portion 7 is fixed on the second fixing support arm 62 and partial insertion is in the second fixing support arm 62
It is inserted into hole 621 comprising be fixed on the second driving motor outer cover 73 of 62 side of the second fixing support arm, be fixed on the second driving
The second driving motor 72 on outsides cover of electric machinery 73, the second drive module 77 for driving the second driving motor 72 and to be fixed on second solid
Hold 62 other side of support arm and the supporing shell 74 far from the setting of the second driving motor 72.Second driving motor 72 includes second
Stator (not shown), the second rotor (not shown), the second rotation axis 721 and the second rotation being fixed in the second rotation axis 721
Bearing (not shown).The supporing shell 74 is equipped with accommodating chamber 741.Second driving portion 7, which is additionally provided with, is set in the second rotation
Second support arm axis 75 on axis 721.The second support arm axis 75 includes that the third support arm being rotatedly connected with the second rotation axis 721 turns
Axis 751, the 4th support arm rotating shaft 752 being inserted in accommodating chamber 741 and it is sheathed on the 4th support arm rotating shaft 752 and to be housed in second solid
Hold the second spring bearing 753 in the wound portion 623 of support arm 62.The spring bearing 7 can also be housed in simultaneously insertion hole and
In wound portion, or only it is housed in and inserts in the hole.Similarly, the second support arm axis can also omit, load-bearing part directly with second turn
Moving axis be connected and the second spring bearing to be directly set in the second rotation axis be also feasible.Second rolling bearing can also
It is substituted with axle sleeve.
Second drive module 77 include the second motor driver 76 and on the second motor driver 76 second
Potentiometer 71.Second potentiometer 71 is inserted in the second rotation axis 721 for measuring the second rotor relative to the second stator
Positional relationship, generate second position signal simultaneously the second position signal is fed back into the second motor driver 76.It please refers to
Figure 11, when work: attitude detection module sends the attitude signal of carrier to controller；Controller according to above-mentioned attitude signal to
Second motor driver issues the second control instruction；Second potentiometer generates second position signal and by the second position signal
The second motor driver is fed back to, the second position signal and second that the second motor driver is fed back according to the second potentiometer control
Second driving motor described in order-driven；The rotation of second driving motor is to change the posture of carrier.It is selectable at other
In embodiment, the controller and attitude detection module be can be omitted, and the second motor driver can be by those skilled in the art
The starting of other modes known to member；Controller is also required to issue the second control instruction according to attitude detection signal.In addition, controller
The first control instruction and the second control instruction can be simultaneously emitted by according to attitude signal, the first driving portion described in this way and the second driving
Portion rotates simultaneously, and both the second rotation section and load-bearing part rotated simultaneously, to improve the response speed of carrier.Certainly, controller is also
The first control instruction can be first issued according to attitude signal issue the second control instruction again；Or controller first issues the second control instruction
The first control instruction is issued again；Or only issue the first control instruction；Or only issue the second control instruction.Ibid, the second motor drives
Dynamic device how to utilize second position signal drive the second driving motor be also in the industry known to technology, so it will not be repeated.
If several holding boards 32 relative to each other that the load-bearing part 3 extends including substrate 31, self-reference substrate 31, connection are described
The fixed plate 33 and self-retaining plate between two neighboring holding board 32 that the cover board 35 of dry holding board 32, self-reference substrate 31 extend
33 carrying axles 34 that are extending and being rotatedly connected with the 4th support arm rotating shaft 752.Second rotation axis 721 is turned by second support arm
Axis 75 imparts power to the carrying axle 34 of load-bearing part 3, and such load-bearing part 3 can be opposite under the drive of the second rotation axis 721
In the forward and backward overturning (or bow, look up overturning) of vertical support arm 412.The carrying axle 34 includes being set in second support arm shaft 75
On inner ring 341, the outer ring 342 separated by a distance with inner ring 341, the extension 343 for connecting inner ring 341 and outer ring 342 and
The limiting slot 344 being recessed from outer ring 342 to inner ring 341.
The flexible connecting device 2 include the first end 21 being connected with load-bearing part 3, from first end 21 extend first
Interconnecting piece 22, the third end 24 being connected with the second end 23, divides the second end 23 extended from the end of first connecting portion 22
The second connecting portion 25 not being connected with the second end 23 and third end 24 and the be connected with the end of second connecting portion 25 the 4th
End 26.
When assembling, the 4th end 26 is connected with the first drive module 56；Second connecting portion 25 is along the first rotating member 4
Vertical support arm 412 extend and penetrate first and penetrate and hole 4121 and then be housed in accommodating space 45, the second connection described in this way
Portion 25 is folded between connection wall 44 and the rotating support arm 611 of the second rotating member 6 and is located at the first fixed part 43 and second and fixes
Between portion 42, the first rotating member 4 is then pierced by by the impenetrating mouth 433 and is centered around the rotating support arm 611 of the second rotating member 6
On.The first connecting portion 22 is wound in the wound portion 623 and the carrying axle 34 of load-bearing part 3 in advance simultaneously, the second end
23 are connected with the second drive module 76 of the second fixing support arm 62, and the first end 21 is connected with the substrate 31 of load-bearing part 3.It is logical
The above connection type is crossed, when external electric signal or other signals can be supplied to the first driving portion, second by flexible connecting device
Driving portion and supporting body.In addition, the carrier carried on the carrier can also obtain above-mentioned signal simultaneously.The flexible connection
Device can be flexible circuit board (FPC), electric wire or winding displacement etc. all can wind and can be the first driving portion, the second driving portion and
Supporting body provides the device of above-mentioned signal.In alternate embodiments, wound portion and carrying axle can be omitted, and described first
Interconnecting piece is wound in advance on second support arm axis.As described above, second support arm axis can also omit, then first connecting portion is directly wound in advance
In second rotation axis.Second connecting portion is arranged around the rotating support arm of the second rotating member in present embodiment, therefore second connecting portion
Length to guarantee that the second rotating member can be in the first locked position and the second locked position free switching.
When work, second rotating member 6 is connected to the first stopper section 411 and the second backstop of the first rotating member 4 respectively
It when in portion 412, cannot have rotated, realize the self-locking function of the carrier 100.Second rotating member 6 is connected to first
It is the first locked position of carrier 100 of the invention when on stopper section 441；Second rotating member 6 is connected to the second stopper section
It is the second locked position of carrier 100 of the invention when on 442.Therefore the setting of the impenetrating mouth 433 is related to the second rotation
The maximum rotation angle of part 6.In present embodiment, the carrier 100 is equipped with the horizontal plane of the axis across the first rotation axis 54
51.Second rotating member 6 is equipped with rotation axis 63, i.e. the second rotating member 6 is around the rotation axis 63 relative to described the
The rotation of one rotating member 4.
When carrier 100 is in the first locked position, rotation axis 63 and horizontal plane 51 formation of second rotating member 6
First included angle A；When carrier 100 is in the second locked position, the rotation axis 63 and 51 shape of horizontal plane of second rotating member 6
At the second included angle B.By controlling the size of the first included angle A and the second included angle B, that is, control the first stopper section 441 and the second backstop
The specific location in portion 442, i.e., the first locked position and the second locked position of controllable second rotating member 6.Present embodiment is held
Loading 4 is by taking micro- one camera as an example, if the first included angle A and the second included angle B are 50 degree, carrier of the invention can be with aircraft
It is implemented in combination with the pan-shot taken photo by plane.In addition, particularly, first included angle A is 40 when the first included angle A is less than the second included angle B
Degree, when the second included angle B is 110 degree, carrier of the invention can also be implemented in combination with general demand of taking photo by plane with aircraft.
First potentiometer is inserted directly into the first rotation axis of the first driving motor, can be obtained in advance and accurately
First stator of the first driving motor and the positional relationship of the first rotor, such first driver can it is more acurrate, timely to
One driving motor issues the first driving signal.Inventive drive means, driving precision is high and the response time is short.
The controller generates the first control instruction according to the attitude signal of attitude detection module and/or the second control refers to
It enables, it can the first driving motor of more acurrate driving and the second driving motor.
The foregoing is merely better embodiment of the invention, protection scope of the present invention is not with above embodiment
Limit, as long as those of ordinary skill in the art's equivalent modification or variation made by disclosure according to the present invention, should all be included in power
In the protection scope recorded in sharp claim.
Claims (15)
1. a kind of flexible connecting device, which is characterized in that be applied in carrier, the carrier includes: the first rotating member and first
The second rotating member that rotating member is rotatedly connected and the load-bearing part being connected with the second rotating member, for drive the second rotating member relative to
The first driving device of first rotating member rotation, the second driving dress for driving load-bearing part to rotate relative to the second rotating member
It sets；
The flexible connecting device is described soft for connecting with the first driving device, the second driving device and the carrier
Property attachment device be respectively that the first driving device and second driving device provide driving signal and/or energy.
2. flexible connecting device as described in claim 1, which is characterized in that the flexible connecting device includes:
The first end that is connected with load-bearing part, the first connecting portion extended from first end extend from the end of first connecting portion
The second end, the third end being connected with the second end, the second connecting portion that is connected respectively with the second end and third end
The 4th end being connected with the end with second connecting portion.
3. flexible connecting device as claimed in claim 2, which is characterized in that the 4th end and the first driving device
In the first drive module be connected；First drive module is electrically connected with the first driving motor in the first driving device
It connects.
4. flexible connecting device as claimed in claim 2, which is characterized in that the second end and second driving device
In the connection of the second drive module, second drive module is electrically connected with the second driving motor in second driving device
It connects.
5. flexible connecting device as claimed in claim 2, which is characterized in that
The second connecting portion extends along the vertical support arm of the first rotating member, is folded in the connection wall and second of the first rotating member
Between the rotating support arm of rotating member and it is located between the first fixed part and the second fixed part of first rotating member, and is pierced by the
The impenetrating mouth of one rotating member is simultaneously centered around in the rotating support arm of the second rotating member.
6. flexible connecting device as claimed in claim 2, which is characterized in that the first connecting portion is wound on second turn simultaneously in advance
In the wound portion of the second fixing support arm and the carrying axle of load-bearing part of moving part；Wherein the wound portion of the second fixing support arm is certainly
Branch arm extends to separate branch arm and surrounds what the second rotation axis was arranged.
7. a kind of carrier characterized by comprising the first rotating member, the second rotating member being rotatedly connected with the first rotating member, with
The connected load-bearing part of second rotating member, the first driving device for driving the second rotating member to rotate relative to the first rotating member,
The second driving device for driving load-bearing part to rotate relative to the second rotating member is used for and the first driving device, second
The flexible connecting device that driving device is connected with load-bearing part；
The flexible connecting device be respectively the first driving device and second driving device provide driving signal and/or
Energy.
8. carrier as claimed in claim 7, which is characterized in that the flexible connecting device includes:
The first end that is connected with load-bearing part, the first connecting portion extended from first end extend from the end of first connecting portion
The second end, the third end being connected with the second end, the second connecting portion that is connected respectively with the second end and third end
The 4th end being connected with the end with second connecting portion.
9. carrier as claimed in claim 8, which is characterized in that the first driving device includes:
First driving motor comprising the first stator is connected relative to the first rotor of the first stator rotation and with the first rotor
The first rotation axis；
The first drive module being electrically connected with the first driving motor comprising the first driver of the first driving motor of driving；
The first driving device is additionally provided with the first potentiometer for being set in the first rotation axis of the first driving motor, and described first
Potentiometer generates first position signal and by the first position for measuring the first rotor relative to the first position of stator relationship
Signal feeds back to the first driver of the first drive module, and first driver issues first according to the first position signal
Driving signal, first driving signal is for driving the first driving motor；
4th end is connected with first drive module.
10. carrier as claimed in claim 9, it is characterised in that: the first driving device further includes sending out to the first driver
The controller of the first control instruction is sent, first driver controls the first driving motor according to first control instruction.
11. carrier as claimed in claim 10, it is characterised in that: second driving device includes:
Second driving motor comprising the second stator is connected relative to the second rotor of the second stator rotation and with the second rotor
The second rotation axis；
The second drive module being electrically connected with the second driving motor comprising the second driver of the second driving motor of driving；
The controller is used to send the second control instruction to the second driving motor；
Second driving device is additionally provided with the second potentiometer for being set in the second rotation axis of the second driving motor, and described second
Potentiometer generates second position signal and by the second position for measuring the second rotor relative to the second position of stator relationship
Signal feeds back to the second driver of the second drive module,
Second driver issues the second driving signal according to second control instruction and second position signal,
Second driving signal is for driving the second driving motor；
The second end is connect with second drive module.
12. carrier as claimed in claim 11, it is characterised in that: the first driving device further includes attitude detection module,
The attitude detection module is used to send attitude signal to controller, and the controller generates the according to the attitude signal simultaneously
One control instruction and the second control instruction.
13. carrier as claimed in claim 8, which is characterized in that
The second connecting portion extends along the vertical support arm of the first rotating member, is folded in the connection wall and second of the first rotating member
Between the rotating support arm of rotating member and it is located between the first fixed part and the second fixed part of first rotating member, and is pierced by the
The impenetrating mouth of one rotating member is simultaneously centered around in the rotating support arm of the second rotating member；
The first connecting portion is wound on the wound portion of the second fixing support arm of the second rotating member and the carrying axle of load-bearing part in advance simultaneously
On；Wherein the wound portion of the second fixing support arm is to extend and surround the setting of the second rotation axis from branch arm to separate branch arm
's.
14. the control method of carrier as claimed in claim 9, it is characterised in that: the control method includes the following steps:
First potentiometer generates first position signal；
The first motor driver generates the first driving signal of the first driving motor of driving according to the first position signal；
First driving motor drives second rotating member to rotate relative to the first rotating member.
15. the control method of carrier as claimed in claim 12, it is characterised in that: the control method includes the following steps:
The attitude detection module generates attitude signal；
The controller generates the first control instruction and the second control instruction according to the attitude signal；
First potentiometer generates first position signal；
Second potentiometer generates second position signal；
The first motor driver generates the first driving motor of driving according to first control instruction and first position signal
The first driving signal, first driving signal for drive the first driving motor；
First driving motor drives second rotating member to rotate relative to the first rotating member；
Second motor driver generates the second driving motor of driving according to second control instruction and second position signal
The second driving signal, second driving signal for drive the second driving motor；
Second driving device is for driving load-bearing part to rotate relative to the second rotating member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811158082.7A CN109445469B (en) | 2013-03-31 | 2013-03-31 | Flexible connection device, carrier and control method thereof |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310109707.1A CN104076825B (en) | 2013-03-31 | 2013-03-31 | Driving device, the carrier of application drive device and its control method |
| CN201811158082.7A CN109445469B (en) | 2013-03-31 | 2013-03-31 | Flexible connection device, carrier and control method thereof |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310109707.1A Division CN104076825B (en) | 2013-03-31 | 2013-03-31 | Driving device, the carrier of application drive device and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109445469A true CN109445469A (en) | 2019-03-08 |
| CN109445469B CN109445469B (en) | 2022-07-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811158082.7A Active CN109445469B (en) | 2013-03-31 | 2013-03-31 | Flexible connection device, carrier and control method thereof |
| CN201310109707.1A Expired - Fee Related CN104076825B (en) | 2013-03-31 | 2013-03-31 | Driving device, the carrier of application drive device and its control method |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310109707.1A Expired - Fee Related CN104076825B (en) | 2013-03-31 | 2013-03-31 | Driving device, the carrier of application drive device and its control method |
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| CN (2) | CN109445469B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107438807B (en) | 2016-06-17 | 2021-05-18 | 深圳市大疆灵眸科技有限公司 | Holding device control method, holding device, handheld cloud deck and unmanned aerial vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104076825B (en) | 2018-11-16 |
| CN109445469B (en) | 2022-07-15 |
| CN104076825A (en) | 2014-10-01 |
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