CN114531006B - Linear rotating motor and vehicle-mounted anti-shake imaging device - Google Patents
Linear rotating motor and vehicle-mounted anti-shake imaging device Download PDFInfo
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- CN114531006B CN114531006B CN202210348567.2A CN202210348567A CN114531006B CN 114531006 B CN114531006 B CN 114531006B CN 202210348567 A CN202210348567 A CN 202210348567A CN 114531006 B CN114531006 B CN 114531006B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/06—Rolling motors, i.e. motors having the rotor axis parallel to the stator axis and following a circular path as the rotor rolls around the inside or outside of the stator ; Nutating motors, i.e. having the rotor axis parallel to the stator axis inclined with respect to the stator axis and performing a nutational movement as the rotor rolls on the stator
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
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- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The linear rotating motor comprises a stator and a rotor, wherein the stator comprises an electromagnetic driving part and a stator matrix, and the electromagnetic driving part at least comprises a first stator driving group and a second stator driving group which are arranged at intervals along the axial direction of the stator; the rotor includes a rotor base and a permanent magnet drive assembly including at least a first rotor drive set and a second rotor drive set. The driving controller drives at least one stator driving group to generate a rotary driving magnetic field and drive the rotor to rotate, and the driving controller drives at least two stator driving groups to generate a linear driving magnetic field and drive the rotor to move linearly along the axial direction. The linear rotating motor provided by the invention has lower manufacturing cost and can reduce the size in the radial direction. The vehicle-mounted anti-shake shooting device is provided with the linear rotating motor, can offset the axial moving direction of the linear rotating motor and the axial acceleration around the linear rotating motor, and has an anti-shake function.
Description
Technical Field
The invention relates to the technical field of camera anti-shake, in particular to a linear rotating motor for camera anti-shake and a vehicle-mounted anti-shake shooting device.
Background
The camera operates in a jittering environment, and the problem of motion blur of the shot pictures or videos exists, so that the quality of the obtained shot materials is reduced. Therefore, in the shooting process, it is desirable that the shooting environment remains stable and the camera position and posture are free from shake, but the actual shooting environment often cannot satisfy the condition of camera stability. For example, a vehicle-mounted camera mounted on an automobile is in a shaking complex environment due to road bumps and vibration of the automobile itself after the automobile is started or when the automobile is running, so that the quality of a photographed image is difficult to meet the requirement.
In order to solve the problem of blurring caused by shaking when a camera shoots, schemes such as an OIS optical lens anti-shaking technology, an OIS optical chip anti-shaking technology, a triaxial anti-shaking holder and the like have been developed, and the schemes have advantages and disadvantages. The OIS optical anti-shake scheme requires a motor to control the movement of a lens or a sensor plate, and is suitable for a mobile phone type camera module with lighter lens or sensor plate. The lens of the vehicle-mounted module is heavier, and the lens anti-shake technology on the traditional mobile phone is not suitable for being used on the vehicle-mounted camera module. The triaxial anti-shake tripod head scheme is used for fixing the camera on the tripod head, and because the positions of the lens and the sensor are fixed, the internal light path of the camera is not changed in the anti-shake process, so that the focusing definition is not affected, and compared with the optical anti-shake scheme, the optical anti-shake tripod head scheme has advantages in the aspect of anti-shake performance. But the triaxial anti-shake tripod head has larger volume and higher cost, and is difficult to be widely used on the vehicle-mounted anti-shake camera. In order to reduce the influence of vehicle shake on imaging, the influence of shake is mainly reduced by shortening the exposure time, but shortening the exposure time causes degradation of image quality. Particularly at night, a longer exposure time is required to obtain better imaging quality, and there is a contradiction between anti-shake and photosensitive time.
The anti-shake camera device needs to offset acceleration generated by shake in multiple directions, and a driving device needs to be arranged in multiple directions, which contradicts the size of the smaller camera device expected by people, and a mechanical anti-shake camera device with a compact structure needs to be designed so as to meet the installation and use requirements of a vehicle. It is a development direction to provide a motor capable of achieving at least two-direction driving that meets the above-mentioned needs. Patent document 1 discloses a linear rotary electric machine in which a first magnet member is provided on a surface of a mover of the linear rotary electric machine, and a second magnet member is embedded in a wall of the mover; the motor comprises an inner stator arranged in the motor rotor and an outer stator arranged outside the motor rotor, wherein the outer stator coil winding and the first magnet component jointly act to drive the motor rotor to drive the output shaft to do linear motion, and the inner stator coil winding and the second magnet component jointly act to drive the electronic rotor to drive the output shaft to do rotary motion. The linear rotating motor is actually a direct mechanical combination of the linear motor and the rotating motor in structure, not only is cost reduced due to material consumption, but also the motor structure is more complicated, and the radial dimension of the motor cannot be ensured.
Reference to the literature
Patent literature
Patent document 1: CN113556017A
Disclosure of Invention
A first object of the present invention is to provide a linear rotary electric machine, including a stator and a rotor,
the stator comprises an electromagnetic driving component and a stator base body, wherein the electromagnetic driving component is arranged on the stator base body; the electromagnetic driving component at least comprises a first stator driving group and a second stator driving group, the first stator driving group and the second stator driving group are arranged at intervals along the axial direction of the stator, and each of the first stator driving group and the second stator driving group comprises electromagnetic driving units which are annularly distributed around a stator matrix;
the rotor comprises a rotor base body and a permanent magnet driving part, wherein the permanent magnet driving part is arranged on the rotor base body; the permanent magnet driving component comprises rotor driving groups with the same number as the stator driving groups, at least comprises a first rotor driving group and a second rotor driving group, the first rotor driving group and the second rotor driving group are arranged at intervals along the axial direction of the rotor, and each of the first rotor driving group and the second rotor driving group comprises permanent magnets annularly distributed around the rotor body.
In addition, it is preferable that the present invention,
the stator base body is of a cylindrical structure, the electromagnetic driving part is installed on the inner wall of the stator base body, the inner side of the electromagnetic driving part surrounds a first installation space for accommodating the rotation of the rotor, and the rotor is arranged in the first installation space.
In addition, it is preferable that the present invention,
the rotor base body is of a cylindrical structure, the permanent magnet driving part is arranged on the inner wall of the rotor base body, the inner side of the permanent magnet driving part surrounds a second installation space for accommodating a stator, and the stator is arranged in the second installation space.
In addition, it is preferable that the present invention,
the number of the permanent magnets included in the first rotor driving group and the second rotor driving group is even, the arrangement directions of the adjacent permanent magnet poles in the first rotor driving group are opposite, the arrangement directions of the adjacent permanent magnet poles in the second rotor driving group are opposite, and the arrangement directions of the adjacent permanent magnet poles in the same rotor axis direction are opposite.
In addition, it is preferable that the present invention,
the driving controller is electrically connected with the electromagnetic driving component, drives at least one stator driving group to generate a rotary driving magnetic field and drive the rotor to rotate, and drives at least two stator driving groups to generate a linear driving magnetic field and drive the rotor to move linearly along the axial direction.
The linear rotating motor has the beneficial effects that: the linear rotating motor can meet the rotary motion and linear motion driving requirements of the rotor by means of one set of electromagnetic driving component and the corresponding permanent magnet driving component, so that the use of the electromagnetic driving unit and the permanent magnet is reduced in terms of manufacturing cost, and the production cost of the motor is greatly reduced. In addition, the motor is simpler in structure, and the problem of the increase of the radial dimension of the linear rotating motor is avoided.
A second object of the present invention is to provide a vehicle-mounted anti-shake image pickup apparatus, including a vehicle connection frame, a camera mounting frame, a driving motor and a camera, the driving motor being disposed between the vehicle connection frame and the camera mounting frame, the camera being mounted on the camera mounting frame, the driving motor being any of the linear rotation motors as described above.
In addition, it is preferable that the present invention,
the driving motor comprises a first driving motor, a second driving motor and a third driving motor, and the vehicle-mounted anti-shake shooting device further comprises a middle mounting frame; the first driving motor is arranged between the vehicle connecting frame and the middle mounting frame, and drives the middle mounting frame to move or/and rotate along a first linear direction; the second driving motor is arranged between the middle mounting frame and the camera mounting frame, and drives the camera mounting frame to move or/and rotate along a second linear direction, and the second linear direction is perpendicular to the first linear direction; the third driving motor is arranged between the camera mounting frame and the camera, the third driving motor drives the camera to move or/and rotate along a third linear direction, and the third linear direction is perpendicular to the first linear direction and the second linear direction respectively.
In addition, it is preferable that the present invention,
the first straight line direction is a vertical direction, and the second straight line direction is a horizontal direction.
In addition, it is preferable that the present invention,
the second straight line direction is a vertical direction, and the third straight line direction is a horizontal direction.
In addition, it is preferable that the present invention,
the linear rotating motor further comprises an acceleration sensor and a control unit, wherein the acceleration sensor at least collects acceleration information of one of a first linear direction, a second linear direction, a third linear direction, a rotating direction around the first linear direction, a rotating direction around the second linear direction and a rotating direction around the third linear direction, and the control unit receives the acceleration information from the acceleration sensor, generates control information and transmits the control information to the linear rotating motor.
The vehicle-mounted anti-shake shooting device has the beneficial effects that: since the vehicle-mounted anti-shake shooting device is provided with the linear rotating motor, the linear and rotating anti-shake of the direction can be realized by using one motor in a certain direction, and meanwhile, lower production cost and space in the radial direction of the motor can be obtained.
Drawings
In order to more clearly illustrate the present invention, the following description and the accompanying drawings of the present invention will be given. It should be apparent that the figures in the following description merely illustrate certain aspects of some exemplary embodiments of the present invention, and that other figures may be obtained from these figures by one of ordinary skill in the art without undue effort.
Fig. 1 is an axial sectional view schematically showing a linear rotary electric machine according to a first embodiment of the present invention;
fig. 2 is a schematic radial sectional view of a linear rotary electric machine according to a first embodiment of the present invention;
fig. 3 is a schematic radial sectional view of a linear rotary electric machine according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram of an anti-shake camera device for a vehicle according to the present invention;
FIG. 5 is a schematic diagram of an on-vehicle anti-shake camera device according to a first embodiment of the invention;
FIG. 6 is a schematic diagram of an on-vehicle anti-shake camera device according to a second embodiment of the invention;
FIG. 7 is a schematic diagram of an on-vehicle anti-shake camera device according to a third embodiment of the invention;
FIG. 8 is a schematic diagram illustrating the installation of a second driving motor of the vehicle-mounted anti-shake camera device according to the first embodiment of the invention;
FIG. 9 is a schematic diagram of a rotor rotation implementation of a first embodiment of the present invention;
fig. 10 is a schematic diagram of a rotor axial direction linear motion implementation of a first embodiment of the present invention;
fig. 11 is a schematic diagram showing the simultaneous operation of the rotor in the rotation and linear directions according to the first embodiment of the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. a first driving motor is arranged on the first side of the first motor,
11. stator, 111, stator base, 112, first stator driving group, 113, second stator driving group, 114, electromagnetic driving unit,
12. a rotor, 121, a rotor base, 122, a first rotor driving group, 123, a second rotor driving group, 124, permanent magnets, 125, a drive shaft, 13, a drive controller,
2. a second driving motor is arranged on the first driving motor,
3. a third driving motor is arranged on the upper surface of the first driving motor,
4. the vehicle is connected to the frame,
5. the middle part of the frame is provided with a frame,
6. the camera is installed on the frame body,
7. camera, 71, camera shell, 72, imaging lens.
Detailed Description
Various exemplary embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative, and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, numerical expressions and values, etc. set forth in these embodiments are to be construed as illustrative only and not as limiting unless otherwise stated.
The use of the terms "comprising" or "including" and the like in this disclosure means that elements preceding the term encompass the elements recited after the term, and does not exclude the possibility of also encompassing other elements.
All terms (including technical or scientific terms) used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs, unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Parameters of, and interrelationships between, components, and control circuitry for, components, specific models of components, etc., which are not described in detail in this section, can be considered as techniques, methods, and apparatus known to one of ordinary skill in the relevant art, but are considered as part of the specification where appropriate.
A specific embodiment of the linear rotary electric machine is described below with reference to fig. 1 to 3.
Fig. 1 is an axial sectional view of a linear rotary electric machine according to a first embodiment of the present invention, and fig. 2 is a radial sectional view of the linear rotary electric machine; the linear rotary electric machine 1 includes a stator 11 and a rotor 12;
the stator 11 includes an electromagnetic driving member and a stator base 111, the electromagnetic driving member being mounted on the stator base 111; the electromagnetic driving part at least comprises a first stator driving group 112 and a second stator driving group 113, the first stator driving group 112 and the second stator driving group 113 are arranged at intervals along the axial direction of the stator 11, and each of the first stator driving group 112 and the second stator driving group 113 comprises electromagnetic driving units 114 which are annularly arranged around the stator base 111; in the present invention, the term electromagnetic drive unit is an electromagnet comprising a core and windings, preferably with one pole of the electromagnetic drive unit facing in the axial direction of the stator after the electromagnetic drive unit is mounted to the stator base, enabling a larger drive magnetic field to be provided to the rotor.
The rotor 12 includes a rotor base 121 and a permanent magnet driving part mounted on the rotor base 121; the permanent magnet driving part includes rotor driving groups equal in number to the stator driving groups (the first stator driving group 112 and the second stator driving group 113) of the stator 11, including at least a first rotor driving group 122 and a second rotor driving group 123, the first rotor driving group 122 and the second rotor driving group 123 being disposed at intervals in the axial direction of the rotor 12, and the first rotor driving group 122 and the second rotor driving group 123 each include permanent magnets 124 annularly arranged around the rotor base 121. The permanent magnets used in the invention are preferably neodymium-iron-boron permanent magnets, samarium-cobalt permanent magnets and alnico permanent magnets.
In the embodiment of fig. 1, the first stator drive group 112 and the second stator drive group 113 are labeled D1 and D2, respectively, and the nth stator drive group is labeled Dn. For the nth stator driving group, the electromagnetic driving units making up the driving group are denoted respectively as dn_1, dn_2, … … dn_k. In the embodiment shown in fig. 2, the electromagnetic drive units of the nth stator drive group are shown, which includes 6 electromagnetic drive units in the schematic diagram, recorded as dn_1 to dn_6 in sequence. In fact, a person skilled in the art can also select other natural numbers with k being greater than or equal to 3 as the number of electromagnetic driving units of the nth stator driving group, and when k increases, the control accuracy of the rotation angle can be increased, and the rotation action of the linear rotation motor can be smoother. In the embodiment shown in fig. 2, the number n of stator driving sets may be increased according to actual needs. As the number of n increases, the range of horizontal movement that can be controlled increases.
The principle of the motor 1 performing a rotation operation and a linear operation will be specifically described below with reference to fig. 1.
As shown in fig. 1, when the rotor 12 of the linear rotary electric machine 1 needs to perform a rotation operation, the current in the electromagnetic driving unit of at least one stator driving group (for example, the first stator driving group 112 and/or the second stator driving group 113) is controlled to form a driving magnetic field in one rotation direction, and a rotation thrust is generated on the rotor 12. Fig. 9 is a schematic diagram of a rotor rotation implementation of the first embodiment of the present invention, in which each block represents an electromagnetic driving unit; the circles represent permanent magnets, wherein the magnetic poles of the permanent magnets, which are marked by solid circles, facing the electromagnetic driving unit are N poles, and the magnetic poles of the permanent magnets, which are marked by hollow circles, facing the electromagnetic driving unit are S poles. The permanent magnets on the rotor are subjected to magnetic thrust in the direction shown in fig. 9 by the electromagnetic drive unit to realize rotor rotation. When all stator driving groups generate rotary thrust to the rotor, the maximum rotary thrust can be obtained, and at the moment, the larger rotary acceleration of the camera in a certain rotary direction can be balanced better. When the number of the stator driving groups is greater than three, the control of the rotation torque can be realized by controlling the number of the running stator driving groups, that is, the linear rotating motor 1 can perform the rotation action through 1 stator driving group or through a plurality of stator driving groups, so that the electric energy saving target can be better realized. Another way to achieve rotational torque is: the number of the electromagnetic driving units of the stator driving group is larger than that of the permanent magnets of the rotor driving group, and when the rotation torque needs to be controlled, the electric energy saving target can be better realized by controlling the number of the electromagnetic driving units actually used by the stator driving group. The rotational torque may also be controlled by controlling the magnitude of the current in the electromagnetic drive units in one stator drive group.
On the other hand, when the rotor 12 of the linear electric motor 1 needs to perform a linear motion in the axial direction, currents in electromagnetic driving units of at least two stator driving groups (for example, the first stator driving group 112 and the second stator driving group 113) are controlled to form a driving magnetic field in a linear direction, and a linear thrust is generated on the rotor 12. FIG. 10 is a schematic diagram of a first embodiment of the present invention for implementing linear motion in the axial direction of the rotor, each block of the diagram representing an electromagnetic drive unit; the circles represent permanent magnets, wherein the magnetic poles of the permanent magnets, which are marked by solid circles, facing the electromagnetic driving unit are N poles, and the magnetic poles of the permanent magnets, which are marked by hollow circles, facing the electromagnetic driving unit are S poles. The permanent magnets on the rotor are subjected to magnetic thrust in the direction shown in fig. 10 by the electromagnetic drive unit to realize linear movement of the rotor along the axial direction. When the number of the stator driving groups is three or more, two or more adjacent stator driving groups can be controlled to form a driving magnetic field in a straight line direction, and two or more stator driving groups with intervals can be controlled to form a driving magnetic field in a straight line direction. That is, when the number of stator driving groups is greater than three, the number of stator driving groups can be controlled by controlling the number of stator driving groups to be operated, or by controlling the magnitude of the current of the electromagnetic driving unit in the stator driving groups, or by combining two modes, so that the electric energy saving target can be better realized by more combinations.
When the linear motor 1 is operated linearly, the rotor 12 is displaced to some extent in the axial direction by the driving magnetic field in the axial direction generated by at least two stator driving groups. Thus, the stator 11 and the rotor 12 will be displaced to some extent in the axial direction. This displacement (or displacement) is used to compensate for the shake in the axial direction, i.e. the acceleration in the axial direction. When the shake in the axial direction, i.e. the acceleration, disappears, the stator 11 no longer generates a driving magnetic field in the axial direction, the rotor position remains unchanged, and the next time the shake occurs, the stator moves again. Specifically, if the acceleration direction is the same as the acceleration direction at the time of the first shake at the time of the second shake generation, the rotor 12 is displaced to some extent in the axial direction for compensating the shake in the axial direction. If the acceleration direction is opposite to and equal to the acceleration direction in the first shaking process in the second shaking process, the rotor 12 generates displacement to a certain extent in the axial direction so as to compensate the shaking in the axial direction, and the rotor is reset at the moment because the second displacement direction is equal to the opposite distance from the first displacement direction.
On the other hand, the plurality of stator driving groups 112, 113, etc. can simultaneously generate a driving magnetic field in the rotation direction and a driving magnetic field in the linear direction. Specifically, when the rotor 12 of the linear electric rotary machine 1 is displaced, although the stator 11 and the rotor 12 are displaced to some extent, the peak of the driving magnetic field in the linear direction can be located at any position in the axial direction, for example, between several driving groups by the phase control of the driving current, and thus the rotational driving and the linear driving can be simultaneously performed. FIG. 11 is a schematic diagram showing a rotor rotation and linear direction simultaneous operation implementation of a first embodiment of the present invention, each block of which shows an electromagnetic driving unit; the circles represent permanent magnets, wherein the magnetic poles of the permanent magnets, which are marked by solid circles, facing the electromagnetic driving unit are N poles, and the magnetic poles of the permanent magnets, which are marked by hollow circles, facing the electromagnetic driving unit are S poles. When the rotor is displaced above the position, the stator coils produce the desired magnetic field pattern distribution as shown in fig. 11, which can push the rotor to produce both rotational and translational motion. The magnetic field pattern generated by the electromagnetic drive unit is determined according to the position of the rotor permanent magnet and the direction and magnitude of the required pushing force. The magnetic pole direction and the magnetic field intensity generated by the electromagnetic driving unit are controlled by the control unit.
The linear rotating motor is provided with the stator and the rotor, and can meet the driving requirements of the rotation action and the linear action of the rotor only by means of one set of electromagnetic driving component and the corresponding permanent magnet driving component, so that the use of an electromagnetic driving unit and a permanent magnet is reduced in terms of manufacturing cost, and the production cost of the motor is greatly reduced. In addition, the structure of the motor is simpler from the structure, and the problem that the radial dimension of the linear rotating motor is increased due to the direct combination of the linear motor and the rotating motor in the structure in the prior art is avoided. Further, since the linear electric motor 1 of the present invention can perform both rotational driving and linear driving at the same time, in the case where 6-axis anti-shake (3 translational axes and 3 rotational axes) is required at most, it can be realized by 3 linear electric motors 1. Compared with the prior case that 1 motor is arranged for preventing each shaft from shaking, the number of motors is greatly reduced, the cost is reduced, and the device is beneficial to realizing the miniaturization of the whole device. Of course, the number of the linear electric machines 1 may be appropriately adjusted according to the use scene. For example, in the case of anti-shake requiring only rotation and translation in two directions, 2 linear rotary electric machines 1 may be used.
In one embodiment, the linear rotary electric machine does not include a drive controller 13, the drive controller 13 being provided and equipped separately as a separate functional component, in another embodiment the linear rotary electric machine includes the drive controller 13. The driving controller can be fixedly arranged in a proper space in the linear rotary motor shell, so that the linear rotary motor is compact in structural design; or the driving controller is installed and fixed outside the linear rotating motor shell, so that a better heat dissipation effect can be obtained, and overheat of the driving controller is avoided. The driving controller 13 is electrically connected with the electromagnetic driving component, and when the linear rotating motor rotates, the driving controller 13 drives at least one stator 11 driving group to generate a rotation driving magnetic field and drive the rotor 12 to rotate. When the linear rotating motor needs to perform linear motion, the driving controller 13 drives at least two stator 11 driving groups to generate linear driving magnetic fields and drives the rotor 12 to move linearly along the axial direction. It should be appreciated that the drive controller is capable of effecting individual control of each electromagnetic drive unit, and in effecting individual rotation, individual linear translation, and simultaneous rotation and translation of the rotor, the drive controller drives the desired electromagnetic drive units to operate to form the electromagnetic drive array required to drive the rotor motion (as in fig. 9, 10, 11).
As shown in fig. 2, the linear rotary electric machine has a built-in rotor, the stator base 111 has a cylindrical structure, the electromagnetic driving member is mounted on the inner wall of the stator base 111, the inner side of the electromagnetic driving member surrounds a first mounting space configured to accommodate the rotation of the rotor 12, and the rotor 12 is disposed in the first mounting space. The linear rotation motor having the above-described structure can obtain a larger moment of inertia. Also shown in fig. 1 is a drive shaft 125 which is inserted into a cylindrical installation space in the middle of the stator base, or the stator base and the drive shaft are integrally constructed, and by the arrangement of the drive shaft, the rotor and the external device can be more conveniently connected to achieve power output. As shown in fig. 3, the linear rotary electric machine has an external rotor, a rotor base 121 has a cylindrical structure, a permanent magnet driving member is mounted on the inner wall of the rotor base 121, the inside of the permanent magnet driving member surrounds a second mounting space for accommodating the stator 11, and the stator 11 is disposed in the second mounting space. The permanent magnet driving part of the linear rotating motor with the structure rotates outside, so that heat generated by the stator can be rapidly transmitted to the outside for emission, and the permanent magnet is prevented from being attenuated or damaged by magnetic force caused by high temperature.
In connection with the linear rotating motor shown in fig. 1 and 2, the first rotor driving group 122 and the second rotor driving group 123 include an even number of permanent magnets 124 (6 in the present embodiment), the adjacent permanent magnets 124 in the first rotor driving group 122 are arranged in opposite directions, i.e., N-S-N-S, and the adjacent permanent magnets 124 in the second rotor driving group 123 are arranged in opposite directions, i.e., S-N-S-N, and the adjacent permanent magnets 124 in the same rotor 12 axis direction are arranged in opposite directions. As another alternative arrangement of magnetic poles, the first rotor driving group 122 and the second rotor driving group 123 include an even number of permanent magnets 124 (8 in the present embodiment), the arrangement of magnetic poles of adjacent permanent magnets 124 in the first rotor driving group 122 is opposite, i.e., N-S-N-S, the adjacent permanent magnets 124 in the second rotor driving group 123 are arranged in opposite directions, namely, S-S-N-N, the arrangement directions of the magnetic poles of the adjacent permanent magnets 124 positioned in the same axial direction of the rotor 12 are opposite.
Specific embodiments of the vehicle-mounted anti-shake image pickup apparatus are described below with reference to fig. 4 to 7.
The vehicle-mounted anti-shake imaging device according to an embodiment includes a vehicle connection frame 4, a camera mounting frame 6, a driving motor, and a camera 7, where the vehicle connection frame 4 is used for mounting the imaging device to an imaging position of a vehicle, for example, to a head position, a roof position, a tail position, a vehicle recorder mounting position in a vehicle, and the vehicle connection frame may have any shape such as a rectangular shape, a circular shape, a semicircular shape, or a cylindrical shape. The driving motor is arranged between the vehicle connecting frame 4 and the camera mounting frame 6, the camera 7 is mounted on the camera mounting frame 6, and the driving motor is a linear rotating motor with the structure of the embodiment of the invention. The vehicle-mounted anti-shake imaging device is provided with at least an anti-shake function along the axial movement direction of the linear rotating motor and along the axial direction of the linear rotating motor. In a preferred embodiment, the camera comprises a camera mounting frame or a camera housing, and the control unit is used for receiving acceleration information from the acceleration sensor and generating control information to be transmitted to the linear rotating motor.
The vehicle-mounted anti-shake camera device of the invention is described with reference to fig. 4, and comprises a vehicle connecting frame 4, a middle mounting frame 5, a camera mounting frame 6, a driving motor and a camera 7, wherein the driving motor comprises a first driving motor 1, a second driving motor 2 and a third driving motor 3, the first driving motor 1 is mounted between the vehicle connecting frame 4 and the middle mounting frame 5, and the first driving motor 1 drives the middle mounting frame 5 to move or/and rotate along a first straight line direction; the second driving motor 2 is arranged between the middle mounting frame 5 and the camera mounting frame 6, and the second driving motor 2 drives the camera mounting frame to move or/and rotate along a second linear direction which is perpendicular to the first linear direction; the third driving motor 3 is installed between the camera mounting frame and the camera 7, and the third driving motor 3 drives the camera 7 to move or/and rotate along a third linear direction, and the third linear direction is perpendicular to the first linear direction and the second linear direction respectively. The vehicle-mounted anti-shake imaging device has an anti-shake function along the axial movement direction of the linear rotating motor and along the axial direction of the linear rotating motor. In a preferred embodiment, the camera comprises a camera mounting frame or a camera housing, and the control unit is used for receiving acceleration information from the acceleration sensor and generating control information to be transmitted to the linear rotating motor.
FIG. 5 is a schematic diagram of an on-vehicle anti-shake camera device according to a first embodiment of the invention; in this embodiment, the first linear direction is a vertical direction and the second linear direction is a horizontal direction. If the vehicle body width direction is the second straight line direction, the third straight line direction is the vehicle body length direction.
FIG. 6 is a schematic diagram of an on-vehicle anti-shake camera device according to a second embodiment of the invention; in this embodiment, the second straight line direction is a vertical direction, the third straight line direction is a horizontal direction, and the first straight line direction is perpendicular to the second straight line direction and the third straight line direction.
The following describes the implementation process of the anti-shake function of the vehicle-mounted anti-shake image pickup apparatus shown in fig. 4 and 6. The first linear direction is the vehicle longitudinal direction when the vehicle width direction is the third linear direction. When the vehicle starts in a forward accelerating way, the camera is subjected to forward traction to generate forward acceleration, the acceleration sensor acquires linear direction acceleration information in a first linear direction, the control unit receives the acceleration information from the acceleration sensor and generates control information to be transmitted to the third linear rotating motor, namely, the rotor of the linear rotating motor needs to do linear motion in the axial direction, currents in the electromagnetic driving units of at least two stator driving groups are controlled to form a driving magnetic field in the linear direction, a linear thrust is generated for the rotor, the camera moves in the direction opposite to the acceleration to offset shake, imaging quality of the camera is improved, and the offset principles of acceleration (shake) in other linear directions and the rotational direction are the same.
In a specific embodiment, as shown in fig. 6, the vehicle connection frame, the middle mounting frame, the camera mounting frame and the camera after the installation are all in split structures, and adjacent connection parts are kept non-contact in the anti-shake process. As another alternative, of at least two adjacent members among the vehicle connection frame, the center mount frame, the camera mount frame, and the camera, the member located on the outside is in contact with the adjacent inner member and serves as a guide rail for the inner member. For example, the inside of the vehicle connection frame is provided with a columnar hollow structure, the outer contour of the middle installation frame 5 is adapted to the hollow structure, the middle installation frame 5 is installed in the hollow structure of the vehicle connection frame, and the middle installation frame can realize linear movement and rotation while the structure between the vehicle connection frame and the middle installation frame is more compact. In the same manner, the middle mounting frame may be used as a moving rail of the camera mounting frame, and the camera mounting frame may be used as a moving rail of the camera.
FIG. 7 is a schematic view of an on-vehicle anti-shake camera device according to a third embodiment of the present invention, in which a vehicle connection frame, a middle mounting frame, and a camera mounting frame are separated from each other and are not in contact with each other; the vehicle connecting frame is connected with the middle mounting frame through a first driving motor; the middle mounting frame is connected with the camera mounting frame through a second driving motor. The inside of the camera mounting frame is provided with a cylindrical structure; the outer wall of the camera housing 71 is configured as a cylindrical structure, and is adapted in size to the inside of the camera mounting frame, for example, the camera mounting frame is spaced 5-20 microns from the outer wall of the camera housing, and the gap can be filled with lubricating oil or lubricating grease to provide lubrication. The imaging lens 72 is mounted in the camera housing 71. In this embodiment, the camera mounting frame is used as a moving guide rail of the camera, so that the linear motion and the rotary motion of the camera in the camera mounting frame are realized, and the structure between the camera mounting frame and the camera is more compact through the design, so that the miniaturization of the camera is facilitated.
The installation mode of the second driving motor 2 between the middle installation frame 5 and the camera installation frame 6 is described with reference to fig. 8, the stator of the second driving motor is fixed on the inner side wall of the middle installation frame, the rotor of the second driving motor comprises a driving shaft, one end of the driving shaft is fixedly connected with the camera installation frame 6, the other end of the driving shaft is inserted into a shaft hole formed in the middle installation frame, and the axial direction of the rotor is stable through the installation mode of the driving shaft and the shaft hole. In the embodiment shown in fig. 8, the second driving motors 2 are respectively mounted at opposite positions on both sides of the camera mounting frame 6, and those skilled in the art will understand that one of the second driving motors may be omitted, and instead of using a connecting shaft, one end of the connecting shaft is fixedly connected with the camera mounting frame, and the other end of the connecting shaft is inserted into a shaft hole provided in the middle mounting frame.
The vehicle-mounted anti-shake shooting device is provided with the linear rotating motor, so that the linear and rotating anti-shake in a certain direction can be realized by using one motor, and meanwhile, the lower production cost can be obtained and the space in the radial direction of the motor can be saved.
It should be understood that the above embodiments are only for explaining the present invention, the protection scope of the present invention is not limited thereto, and any person skilled in the art should be able to modify, replace and combine the technical solution according to the present invention and the inventive concept within the scope of the present invention.
Claims (4)
1. The vehicle-mounted anti-shake camera device comprises a vehicle connecting frame (4), a camera mounting frame (6), a driving motor and a camera (7), and is characterized in that the driving motor is arranged between the vehicle connecting frame (4) and the camera mounting frame (6), the camera (7) is mounted on the camera mounting frame (6), the driving motor comprises a stator (11) and a rotor (12), the stator (11) comprises an electromagnetic driving component and a stator base body (111), and the electromagnetic driving component is mounted on the stator base body (111); the electromagnetic driving component at least comprises a first stator driving group (112) and a second stator driving group (113), wherein the first stator driving group (112) and the second stator driving group (113) are arranged at intervals along the axial direction of the stator (11), and the first stator driving group (112) and the second stator driving group (113) both comprise electromagnetic driving units (114) which are annularly arranged around a stator base body (111); the rotor (12) comprises a rotor base (121) and a permanent magnet drive component mounted on the rotor base (121); the permanent magnet driving part comprises rotor driving groups, the number of which is equal to that of stator (11) driving groups, at least comprises a first rotor driving group (122) and a second rotor driving group (123), the first rotor driving group (122) and the second rotor driving group (123) are arranged at intervals along the axial direction of a rotor (12), and the first rotor driving group (122) and the second rotor driving group (123) both comprise permanent magnets (124) which are annularly arranged around a rotor base body (121);
the driving motor comprises a first driving motor (1), a second driving motor (2) and a third driving motor (3), and the vehicle-mounted anti-shake shooting device further comprises a middle mounting frame (5); the first driving motor (1) is arranged between the vehicle connecting frame (4) and the middle mounting frame (5), and the first driving motor (1) drives the middle mounting frame (5) to move or/and rotate along a first linear direction; the second driving motor (2) is arranged between the middle mounting frame (5) and the camera mounting frame (6), the second driving motor (2) drives the camera (7) mounting frame to move or/and rotate along a second linear direction, and the second linear direction is perpendicular to the first linear direction; the third driving motor (3) is arranged between the camera (7) mounting frame and the camera (7), the third driving motor (3) drives the camera (7) to move or/and rotate along a third linear direction, and the third linear direction is perpendicular to the first linear direction and the second linear direction respectively.
2. The vehicle-mounted anti-shake image pickup apparatus according to claim 1, wherein,
the first straight line direction is a vertical direction, and the second straight line direction is a horizontal direction.
3. The vehicle-mounted anti-shake image pickup apparatus according to claim 1, wherein,
the second straight line direction is a vertical direction, and the third straight line direction is a horizontal direction.
4. The vehicle-mounted anti-shake image pickup apparatus according to claim 1, wherein,
the linear rotating motor further comprises an acceleration sensor and a control unit, wherein the acceleration sensor at least collects acceleration information of one of a first linear direction, a second linear direction, a third linear direction, a rotating direction around the first linear direction, a rotating direction around the second linear direction and a rotating direction around the third linear direction, and the control unit receives the acceleration information from the acceleration sensor, generates control information and transmits the control information to the linear rotating motor.
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