CN111919057B - 具有滑动接头的旋转机构 - Google Patents

具有滑动接头的旋转机构 Download PDF

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CN111919057B
CN111919057B CN201980011954.3A CN201980011954A CN111919057B CN 111919057 B CN111919057 B CN 111919057B CN 201980011954 A CN201980011954 A CN 201980011954A CN 111919057 B CN111919057 B CN 111919057B
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CN111919057A (zh
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吉尔·巴哈
诺伊·科恩
耶夫塔·科瓦尔
以法莲·戈登堡
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Corephotonics Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
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    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
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    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
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    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
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    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
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    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
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    • G12—INSTRUMENT DETAILS
    • G12B—CONSTRUCTIONAL DETAILS OF INSTRUMENTS, OR COMPARABLE DETAILS OF OTHER APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G12B5/00—Adjusting position or attitude, e.g. level, of instruments or other apparatus, or of parts thereof; Compensating for the effects of tilting or acceleration, e.g. for optical apparatus

Abstract

旋转机构，用于使一有效载荷在两个自由度(DOF)，第一自由度及第二自由度，当中旋转，包括：一静态底座；一第一旋转臂，通过一第一旋转接头机械地耦接到所述静态底座，并且所述第一旋转臂用于使所述有效载荷绕穿过所述第一旋转接头的一第一旋转轴线相对于所述静态底座来旋转；一第二旋转臂，通过一第二旋转接头机械地耦接到所述静态底座，并且所述第二旋转臂用于使所述有效载荷绕穿过所述第二旋转接头的一第二旋转轴线相于所述静态底座来旋转；以及一从动构件，刚性地耦接到所述有效载荷，并且所述从动构件布置成与所述第二旋转臂保持一恒定距离；其中所述第一旋转臂的所述旋转使所述有效载荷绕所述第一自由度来旋转，并且所述第二旋转臂的所述旋转使所述有效载荷绕所述第二自由度来旋转。

Description

具有滑动接头的旋转机构
相关申请
本申请要求2019年1月7日提交的美国临时专利申请No.62/789,150及2019年2月25日提交的美国临时专利申请No.62/809,897的优先权，其内容通过引用整体并入本文。
技术领域
本文所公开的实施例基本上涉及旋转机构，尤其涉及用于包含在电子装置中的小型数字摄像机中的各种元件的旋转机构。
背景技术
用于监视、自动车等的摄像机包含实现高级光学功能的机构，例如光学图像稳定(optical image stabilization,OIS)和/或扫描摄像机视场(field of view,FOV)。这样的机构可以致动(移位、偏移或旋转)一光学元件(例如，透镜、图像传感器、棱镜、镜子或甚至整个摄像机)，已创建所需的光学功能。
用于在两个自由度(degrees of freedom,DOF)中旋转一有效载荷(例如，上述的一光学元件)的旋转机构是众所周知。在已知的机构中，一个自由度是一内部旋转自由度并且另一个自由度是一个外部自由度，通常存在一个问题，即所述内部旋转自由度的旋转轴线是通过所述外部自由度来旋转(万向架设计)。解决所述万向架问题的已经旋转机构使用具有3个以上轴承的两个固定(非旋转)电动机或具有两个轴承的两个旋转电动机。
发明内容
本文所公开的实施例的各方面涉及了多种旋转机构，用于使一有效载荷在两个自由度当中旋转。我们提出了一种具有绕两个旋转点的两个旋转轴线的方法。
在各种示例性实施例中，提供了多种旋转机构，用于使一有效载荷在两个自由度(DOF)，第一自由度及第二自由度，当中旋转，包括：一静态底座；一第一旋转臂，通过一第一旋转接头机械地耦接到所述静态底座，并且所述第一旋转臂用于使所述有效载荷绕穿过所述第一旋转接头的一第一旋转轴线相对于所述静态底座来旋转；一第二旋转臂，通过一第二旋转接头机械地耦接到所述静态底座，并且所述第二旋转臂用于使所述有效载荷绕穿过所述第二旋转接头的一第二旋转轴线相于所述静态底座来旋转；以及一从动构件，刚性地耦接到所述有效载荷，并且所述从动构件布置成与所述第二旋转臂保持一恒定距离；其中所述第一旋转臂的所述旋转使所述有效载荷绕所述第一自由度来旋转，并且其中所述第二旋转臂的所述旋转使所述有效载荷绕所述第二自由度来旋转。
在一些实施例中，所述从动构件是与所述第二旋转臂以一恒定气隙分隔开的一磁性构件。
在一些实施例中，所述有效载荷通过一内部旋转接头机械地耦接到所述第一旋转臂。
在一些实施例中，所述旋转机构更包括：一第一电动机及一第二电动机，所述第一电动机用于使所述有效载荷绕所述第一旋转轴线相对于所述静态底座来旋转，所述第二电动机用于使所述有效载荷绕所述第二旋转轴线相于所述静态底座来旋转，其中所述第一电动机及所述第二电动机刚性地耦接到所述静态底座。
在一些实施例中，所述第二旋转臂是以所述第一旋转轴线为中心的一圆形截面。
在一些实施例中，所述旋转机构更包括：至少一个感测机构，用于确定所述有效载荷的一位置。
在一些实施例中，一个感测机构包括至少一对磁体与霍尔传感器。
在一些实施例中，一个感测机构可操作用以确定在所述第一自由度及第二自由度中相对于所述静态底座的所述有效载荷的一位置。
在一些实施例中，一对磁体与霍尔传感器包括一第一对磁体与霍尔传感器及一第二对磁体与霍尔传感器，所述第一对磁体与霍尔传感器允许确定所述有效载荷绕所述第一自由度的一旋转，所述第二对磁体与霍尔传感器允许确定所述有效载荷绕所述第二自由度的一旋转。
在一些实施例中，确定在所述两个自由度中相对于所述静态底座的所述有效载荷的所述位置是彼此解耦的。
附图说明
当结合附图考虑，根据以下详细描述，本文所公开的方面、实施例和特征将变得显而易见，其中：
图1A以一透视图示意性地示出了本文所公开的一种旋转机构的一实施例，所述旋转机构用于在一零位置使一有效载荷在两个自由度当中旋转。
图1B示出了示例性地与第一及第二电动机耦接的图1A的所述机构。
图1C以侧视图示出了处于一零(非旋转)位置的图1A的所述机构。
图1D以侧视图示出了处于绕所述第一旋转轴线的一旋转位置的图1A的所述机构。
图1E示出了图1A的机构中的一第二旋转臂绕一第二旋转轴线的所述旋转。
图2A以一透视图示意性地示出了本文所公开的一种旋转机构的另一实施例，所述旋转机构用于在一零位置使一有效载荷在两个自由度当中旋转。
图2B以侧视图示出了处于绕两个旋转轴线的一旋转位置的图2A的所述机构。
图3A以一透视图示意性地示出了本文所公开的一种旋转机构的再一实施例，所述旋转机构用于在一零位置使一有效载荷在两个自由度当中旋转
图3B以一俯视图示出了图2A的所述机构。
图3C示出了一示例性情况的一透视图，其中所述第一旋转臂绕所述第一自由度旋转。
图3D示出了图3C的所述示例性情况的另一透视图。
具体实施方式
图1A以一透视图示意性地示出了本文所公开并且编号成100的一种旋转机构(或简称为“机构”)的一实施例。本文所公开的机构100用于在一零位置(初始位置，无任何致动，非旋转)使一有效载荷在两个自由度(DOF)当中旋转。所示出的一示例性XYZ坐标系也适用于以下所有的透视图。有效载荷102被示为一棱镜，但是也可以是任何元件，特别是任何光学元件，例如(但不限于)透镜、图像传感器、棱镜、镜子或整个摄像机。机构100包含一静态底座104(即不移动的一固定底座)、一第一旋转臂106、一第二旋转臂108及一磁性从动构件116。第一旋转臂106可以绕一第一旋转轴线109(沿Y方向示例性地示出)相对于所述静态底座104来旋转。第一旋转轴线109穿过一第一旋转接头110，所述第一旋转接头110将所述第一旋转臂106与所述静态底座104机械地连接(例如，使用一滚珠轴承)。第二旋转臂108具有以所述第一旋转轴线109为中心的一圆形截面的一形状。一第二旋转轴线118穿过一第二旋转接头112，所述第二旋转接头112将第二旋转臂108与所述静态底座104机械地连接(例如，使用一环形滚珠轴承)。第二旋转臂108可以绕第二旋转轴线118(沿X方向示例性地示出)相对于静态底座104来旋转。所述第一及第二旋转轴线可以彼此垂直。磁性从动构件116可以由一永(固定)磁体制成(或者至少面向第二旋转臂的尖端由一永磁体制成)。第二旋转臂108可以由一铁磁材料制成。可替换地，所述第二旋转臂可以由一刚性材料制成，例如一塑料材料或在面对一磁性从动构件116的一侧上覆盖有一铁磁材料的一非铁磁金属。磁性从动构件116以一气隙111与所述第二旋转臂108分隔开(图1C)，并且允许有效载荷102跟随第二旋转臂，而无需使磁性从动构件116直接地接触第二旋转臂108。
第一旋转臂106及第二旋转臂108可以分别地相对于旋转接头110及112旋转(每一个臂绕一个旋转接头)。所述旋转可以通过任何电动机(例如，步进电动机、直流(DC)电动机、无刷电动机、音圈电动机(VCM)等)来执行。一内部旋转接头114将有效载荷102连接到第一旋转臂106(例如，使用环形滚珠轴承)，并且允许有效载荷102在一第二自由度中旋转(请参见图1E)。第一旋转臂106、第一旋转接头110及内部旋转接头114类似于一万向架的元件。应当注意的是，内部旋转接头114处于零点是在第二旋转轴线118上(如图1A所示)，但是，当第一旋转臂106旋转时，内部旋转接头114随其旋转，并且自第二旋转轴线118偏移，如图2B所示。
图1B示出了示例性地与第一及第二电动机120及122耦接的机构100，所述第一及第二电动机120及122分别地驱动绕所述第一及第二旋转轴线的一旋转运动。有利的是，电动机120及122相对于静态底座104是静止的。在其它实施例中，电动机120及124可以具有不同的形状和尺寸，可以在尺寸、致动技术等方面彼此相等或不同。
图1C示出了处于一零、非旋转位置(与图1A相同)的机构100，而图1D示出了处于一第二、旋转位置的机构100。在一示例性X-Z平面(从正Y方向到负Y方向看)以侧视图给出了图1C及图1D。在图1D中，第一旋转臂106相对于所述静态底座104绕第一旋转轴线109旋转(例如，使用第一电动机120)，并且有效载荷102随其旋转。磁性从动构件116与第二旋转臂108保持一恒定距离(气隙111)。绕所述第一旋转接头的所述旋转可以是任何角度α。图1A至1E中所示的角度限制仅归因于第二旋转臂108的长度，如图所示，它的长度约为四分之一圆。在其它实施例中，所述第二旋转臂可以是完整的圆，使得所述第一旋转臂绕所述第一旋转轴线的旋转可以高达360度。
图1E示出了第二旋转臂108(例如，使用第二电动机122)绕所述第二旋转轴线的所述旋转。磁性从动构件116在所述磁力的作用下被拉至第二旋转臂108并且随其旋转，从而使有效载荷102在所述第二自由度中绕内部旋转接头相对于所述第一旋转臂106旋转。所述磁性从动构件的所述旋转独立于在所述第一自由度中绕第一旋转轴线109的第一旋转臂106的所述旋转，因为磁性从动构件116沿第一自由度在所有位置上同等地拉至所述第二旋转臂108。第二旋转臂108的磁性从动构件116形成一“滑动接头”，例如一接头，这允许了磁性从动构件116，这允许了磁性从动构件116在一自由度(第一自由度)中跟随第二旋转臂108，同时在没有干扰的情况下在一第二自由度中滑动。
图2A及图2B以透视图示出了本文所公开并且编号成200的一种旋转机构的另一实施例。机构200相似于机构100，在两个机构中相同的部件以相同的数字来编号。在机构200中，所述有效载荷是一示例性摄像机202，并且一第二旋转臂208是整个圆，其能够绕所述第一旋转轴线旋转360度。在图1A中，示出的机构200处于一静止(非旋转)位置，而在图1B中，示出的机构200处于从所述静止位置旋转了30度的位置。
图3A至3D示出了本文所公开并且编号成300的一种旋转机构的再一实施例。旋转机构300相似于机构100，在两个机构中相同的部件以相同的数字来编号。相对于机构100，机构300配备有两个位置感测机构，从而能够确定在两个自由度中相对于所述静态底座104的有效载荷102的一相对位置(方向/角度)。所述位置感测机构包括至少一对磁体与霍尔传感器。在一些实施例中，一位置感测机构可以包括一个以上的磁体和/或多于一个霍尔传感器。图3A示出了机构300的一透视图，而图3B示出机构300的一俯视图。机构300包括刚性地耦接到第一旋转臂106的一第一磁体302及刚性地耦接到所述静态底座104的一第一霍尔传感器304。机构300进一步包括刚性地耦接到有效载荷102的一第二磁体306及刚性地耦接到所述静态底座104的一第二霍尔传感器308。在一示例中，所述第二霍尔传感器308的所述位置在第一旋转轴线109上。在一示例中，霍尔传感器304及308可以测量Y方向上的所述磁场强度。特别地，第一霍尔传感器304靠近第一磁体302放置，并且可以测量第一磁体302的磁场强度，这可以与所述有效载荷绕所述第一自由度的所述旋转相关。第二霍尔传感器308靠近第二磁体306放置，并且可以测量第二磁体306的磁场强度，其可以与所述有效载荷绕所述第二自由度的所述旋转相关。图3C及图3D从两个不同透视图示出了一示例性情况，其中所述第一旋转臂106绕所述第一自由度来旋转(例如，以30度旋转)。第一磁体302与第一霍尔传感器304的所述相对位置改变，而第二磁体306与第二霍尔传感器308的相对位置不变。相似地，当使用第二旋转臂108使有效载荷102绕所述第二自由度旋转时，第一磁体302与第一霍尔传感器304的所述相对位置不变，而第二磁体306与第二霍尔传感器308的所述相对位置改变。因此，两个自由度的所述测量值是彼此解耦的。
综上所述，以上公开的旋转机构的设计至少具有以下优点：
-能够绕两个自由度旋转。
-所述电动机是静止的。
-仅使用三个机械连接头(轴承)来创建旋转，而其他设计中，如果所述电动机是静止的，则至少要使用四个轴承。例如，在“Dynamic modeling and base inertialparameters determination of a 2-DOF spherical parallel mechanism”Danaei,B.etal.,Multibody Syst.Dyn.(2017)41:367,doi:10.1007/s11044-017-9578-3及“OptimalDesign of Spherical 5R Parallel Manipulators Considering the Motion/ForceTransmissibility”,Chao Wu et al.,J.Mech.Des.(2010)132(3),doi:10.1115/1.4001129中。
尽管本公开描述了有限数量的实施例，但是应当理解，可以对这种实施例进行许多变化、修改和其他应用。例如，磁性从动构件可以用机械从动构件代替。
一般而言，应将本公开理解为不限于本文描述的具体实施例，而是仅由所附权利要求书的范围限制。
在本说明书中提及的所有参考文献均通过引用以其整体并入本文，其程度就好像每个单独的参考文献被具体地和单独地指示为通过引用并入本文。此外，在本申请中对任何参考文献的引用或标识均不应解释为承认参考文献可作为本发明的现有技术。

Claims (13)

1.一种旋转机构，用于使一有效载荷在两个自由度(DOF)，第一自由度及第二自由度，当中旋转，包括：
a)一静态底座；
b)一第一旋转臂，通过一第一旋转接头机械地耦接到所述静态底座，并且所述第一旋转臂用于使所述有效载荷绕穿过所述第一旋转接头的一第一旋转轴线相对于所述静态底座来旋转；
c)一第二旋转臂，通过一第二旋转接头机械地耦接到所述静态底座，并且所述第二旋转臂用于使所述有效载荷绕穿过所述第二旋转接头的一第二旋转轴线相于所述静态底座来旋转；以及
d)一从动构件，刚性地耦接到所述有效载荷，并且所述从动构件布置成与所述第二旋转臂保持一恒定距离；
其中所述第一旋转臂的所述旋转使所述有效载荷绕所述第一自由度来旋转，并且其中所述第二旋转臂的所述旋转使所述有效载荷绕所述第二自由度来旋转。
2.如权利要求1所述的旋转机构，其特征在于：所述有效载荷通过一内部旋转接头机械地耦接到所述第一旋转臂。
3.如权利要求1所述的旋转机构，更包括：一第一电动机及一第二电动机，所述第一电动机用于使所述有效载荷绕所述第一旋转轴线相对于所述静态底座来旋转，所述第二电动机用于使所述有效载荷绕所述第二旋转轴线相于所述静态底座来旋转，其中所述第一电动机及所述第二电动机刚性地耦接到所述静态底座。
4.如权利要求1所述的旋转机构，其特征在于：所述从动构件是与所述第二旋转臂以一恒定气隙分隔开的一磁性构件。
5.如权利要求2所述的旋转机构，更包括：一第一电动机及一第二电动机，所述第一电动机用于使所述有效载荷绕所述第一旋转轴线相对于所述静态底座来旋转，所述第二电动机用于使所述有效载荷绕所述第二旋转轴线相于所述静态底座来旋转，其中所述第一电动机及所述第二电动机刚性地耦接到所述静态底座。
6.如权利要求2所述的旋转机构，其特征在于：所述从动构件是与所述第二旋转臂以一恒定气隙分隔开的一磁性构件。
7.如权利要求3所述的旋转机构，其特征在于：所述从动构件是与所述第二旋转臂以一恒定气隙分隔开的一磁性构件。
8.如权利要求1至7任一项所述的旋转机构，其特征在于：所述第二旋转臂包含以所述第一旋转轴线为中心的一圆形截面。
9.如权利要求1至7任一项所述的旋转机构，更包括：至少一个感测机构，用于确定所述有效载荷的一位置。
10.如权利要求9所述的旋转机构，其特征在于：所述至少一个感测机构包括至少一对磁体与霍尔传感器。
11.如权利要求9所述的旋转机构，其特征在于：所述至少一个感测机构可操作用以确定在所述第一自由度及第二自由度中相对于所述静态底座的所述有效载荷的一位置。
12.如权利要求10所述的旋转机构，其特征在于：所述至少一对磁体与霍尔传感器包括一第一对磁体与霍尔传感器及一第二对磁体与霍尔传感器，所述第一对磁体与霍尔传感器允许确定所述有效载荷绕所述第一自由度的一旋转，所述第二对磁体与霍尔传感器允许确定所述有效载荷绕所述第二自由度的一旋转。
13.如权利要求11所述的旋转机构，其特征在于：确定在所述两个自由度中相对于所述静态底座的所述有效载荷的所述位置是彼此解耦的。
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