KR101804701B1 - Three axis gimbal - Google Patents

Abstract

The present invention relates to a three-axis gimbal, comprising: a virtual rock shaft, a virtual pitch shaft, and a virtual roll shaft. The present invention relates to a structure of a heavy camera, a housing storing the camera, and a fan enduring load of a structure supporting the camera and the housing. The present invention provides the three-axis gimbal, simultaneously having a thrust bearing and a taper roller bearing provided to a fastening portion of a fan case and a fan shaft.

Description

3-axis gimbal {THREE AXIS GIMBAL}

The present invention relates to a gimbal that permits rotation about the longitudinal, longitudinal, and transverse axes so that the imaging device can maintain the gimbal regardless of the agitation of the structure.

A gimbal is a support device that allows rotation about the vertical axis of the front, rear, left, and right so that the image equipment installed on the structure can be put in the upright state regardless of the fluctuation of the structure floating on water or air or space.

That is, if a gimbal is used when photographing an image using a camera, it is possible to prevent the camera from shaking and to produce a smooth motion image with respect to external vibrations. The gimbal basically controls the rotation structure of two or more axes and three axes by using the power of the motor or the like.

The 3-axis gimbals consist of three rotating shafts to keep the image equipment horizontal from the movement in the front, rear, left, and right directions or the movement of the rotation. Each axis is equipped with a motor and moves in reverse in response to the external motion of PITCHING, ROLLING and YAWING based on the internal gyro sensor (level system) .

Generally, one motor is used for one axis for the rotation of the gimbals. However, as the performance of the camera improves, and as various functions are added, the weight of the camera itself increases greatly. Especially, the surveillance camera installed in the border or coastal area frequently causes the image quality to be distorted and deteriorated due to harsh weather conditions and lighting environment. Therefore, a high-performance, high-weight camera is used to improve a deteriorated image from such a bad surrounding environment and output a clear image.

Accordingly, gimbals for supporting such a high-weight camera are also required to be improved.

The inventor of the present invention has studied for a long time to solve such a problem, has developed through trial and error, and finally completed the present invention.

Related art is disclosed in Korean Patent Laid-Open Publication No. 10-2015-0141352 (Dec. 18, 2015, Camera Gimbal).

The present invention provides a three-axis gimbals having a housing for accommodating a camera and a camera having a high weight, and a special structure of a fan capable of efficiently rotating a support supporting a load of the camera and the housing.

On the other hand, other unspecified purposes of the present invention will be further considered within the scope of the following detailed description and easily deduced from the effects thereof.

In order to achieve the above object, the present invention provides a three-axis gimbal having a virtual yaw,

A fan fixing unit formed on the yaw axis;

A fan rotating part coupled to an upper part of the fan fixing part and rotating about the yaw axis;

A rolling fixing part coupled to an upper portion of the fan rotation part;

A rolling rotating part coupled to the rolling fixing part and formed by extending a pair of arms parallel to the roll axis and rotating about the roll axis;

A housing coupled between the pair of arms to rotate about the pitch axis and to receive the camera;

And a pair of first brushless DC (BLDC) motor units coupled between the pair of arms and the housing to provide rotation power about the pitch axis to the housing,

The fan-

And a fan shaft inserted into the fan rotation part to support rotation of the fan rotation part,

The fan-

And a fan case which rotates about the fan shaft while supporting an upper load,

A tapered roller bearing is provided at the joint portion between the fan case and the fan shaft to withstand the axial load generated in the upper portion of the fan case and the load generated perpendicularly to the axial direction, A bearing is provided to withstand the load generated perpendicularly to the axial load and the axial direction together with the tapered roller bearing to support the rotation of the fan case.

Axis gimbal.

In an embodiment of the present invention, the end portion of the fan case located at the fastening portion may be formed with an 'a' -shaped groove on the lower side.

In addition, the tapered roller bearing may include:

Shaped groove to support both the axial load of the fan case and the load perpendicular to the axis.

By using the fan structure of the three-axis gimbals according to the present invention, it is possible to efficiently rotate a camera having a high weight, a housing for accommodating the camera, and a support for supporting the load of the camera and the housing.

On the other hand, even if the effects are not explicitly mentioned here, the effect described in the following specification, which is expected by the technical features of the present invention, and its potential effects are treated as described in the specification of the present invention.

FIG. 1 is a perspective view of a triaxial gimbals according to an embodiment of the present invention, and FIG. 2 is a side view of a triaxial gimbals according to an embodiment of the present invention.
3 is a view illustrating the inside of the fan rotation unit and the fan fixing unit according to the embodiment of the present invention.
4 is a view illustrating a center of gravity adjusting unit of a housing according to an embodiment of the present invention.
5 is a view showing an encoder coupled to a worm wheel in a fan fixing unit according to an embodiment of the present invention.
6 is a view showing an encoder coupled to a worm gear within a fan fixing unit according to an embodiment of the present invention.
It is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a three-axis gimbals according to the present invention will be described in detail with reference to the accompanying drawings. Referring to the accompanying drawings, the same or corresponding components are denoted by the same reference numerals, A description thereof will be omitted.

1 is a perspective view of a triaxial gimbals according to an embodiment of the present invention. The yaw axis, the roll axis, and the pitch axis shown in Fig. 1 are hypothetical axes, the yaw axis refers to an axis perpendicular to the structure in which the triaxial gimbal according to the present invention is installed, and the roll axis is an axis perpendicular to the yaw axis , And the pitch axis means an axis perpendicular to the yaw axis while being horizontal to the structure.

That is, the three axis gimbals according to the present invention can rotate left and right about the yaw axis, roll right and left about the roll axis, and move up and down about the pitch axis.

The three axis gimbals according to the present invention include a fan fixing part 100, a fan rotation part 110, a rolling fixing part 200, a rolling rotation part 210, a housing 300, and a pair of first BLDC motor parts 320 ).

The fan fixing portion 100 is a portion fixed and fixed to the fixture. The fixtures are various such as ship, aircraft, spacecraft. The virtual axis formed in the up and down direction of the fan fixing unit 100 corresponds to the yaw axis.

The fan rotation unit 110 is coupled to the upper portion of the fan fixing unit 100 and rotates around the virtual yaw axis. The combination of the fan fixing unit 100 and the fan rotation unit 110 is performed by the fan shaft of the fan fixing unit 100 and the fan case of the fan rotation unit 110, While rotating around the shaft.

The rolling fixing part 200 is coupled to the upper part of the fan rotation part 110 and supports the rolling of the rolling rotation part 210.

The rolling rotation part 210 is formed by extending a pair of arms 211 and 212 coupled to the upper part of the rolling fixing part 200 and parallel to the above-mentioned roll axis. The rolling rotation part 210 including the pair of arms 211 and 212 can be supported on the rolling fixing part 200 and rotated about the roll axis.

The housing 300 is a portion that houses the camera. A high-performance, high-weight camera can be installed inside the housing 300. The housing 300 may be coupled between the pair of arms 211 and 212. The housing 300 can be rotated up and down about the virtual pitch axis described above.

In addition, the housing 300 may be provided with a sensor for sensing the movement of the fixture. Such a sensor senses the movement of left, right, front, rear, and rotation of the fixture. In response to the movement detected by the sensor, each part of the three-axis gimbals rotates with respect to the imaginary axis in the opposite direction of the movement, so that the camera installed in the housing 300 can be maintained in a standing state with respect to the horizontal plane .

In the present invention, a pair of first BLDC motor units 320 are provided to rotate the housing 300 about the pitch axis. The shaft of the motor is arranged at the imaginary pitch axis. In order to drive the shaft of the motor, only the BLDC motor is used without the reduction gear.

When a reduction gear is used, a backlash is generated between the reduction gear and the gear of the motor. Such backlash may interfere with the immediate movement of the camera. Therefore, in the present invention, the BLDC motor is used to provide rotation power to the housing 300 without using a reduction gear.

At this time, by providing a pair of BLDC motors, it is possible to withstand a high load. That is, the load of the high-performance high-quality high-weight camera and the housing 300 accommodating the camera is quite high. Therefore, a large amount of power is required to accurately rotate such a heavyweight structure.

Accordingly, a pair of first BLDC motor units 320 are installed to drive the housing 300 accommodating the camera according to the present invention.

FIG. 2 is a side view of a three-axis gimbals according to an embodiment of the present invention, and FIG. 3 is a view illustrating the interior of the fan rotation unit and the fan fixing unit according to an embodiment of the present invention.

2 and 3, the load supporting structure according to the present invention can be grasped through the coupling structure of the fan shaft of the fan fixing part and the fan case of the fan rotation part.

As shown in FIG. 3, the fan fixing portion includes a fan shaft PS inserted into the fan rotating portion to support the rotation of the fan rotating portion.

The fan rotation unit includes a fan case that rotates about the fan shaft while supporting a load on the upper portion of the fan rotation unit. And a thrust bearing (TB) for supporting a load acting perpendicularly to the axial direction and the axial load is coupled to the upper side of the fan case.

At this time, the end portion of the fan case located at the fastening portion is formed with the 'A' -shaped groove on the lower side, and the tapered roller bearing is disposed in the 'A' -shaped groove so that the axial load of the fan case and the load .

Through such a structure, a load with a high weight can be efficiently supported.

Referring again to FIG. 3, a rolling fixing part is coupled to the upper part of the fan case. As a result, the fan case must support all the loads supported by the rolling fixture. Since the rolling fixing part supports the rolling rotation part, the rolling rotation part supports the housing, and the housing accommodates the camera of a high weight, the fan case must support both the rolling fixing part, the rolling rotation part, the housing and the camera.

Accordingly, a very high load acts on the fan case. The fan case must rotate at the same time while supporting such a high load. Accordingly, in the present invention, a thrust bearing is disposed at an upper portion of the fan case bottom (PCB) at a fastening portion with the fan shaft PS in order to disperse the axial load in the vertical and horizontal directions and to efficiently rotate the fan case, And a tapered roller bearing is disposed at the bottom of the PCB.

A tapered roller bearing is inserted into the groove at the lower end of the fan case bottom PCB to support a load in the axial direction and a load perpendicular to the axial direction.

A loosening preventing nut (LM) is coupled to the upper side of the thrust bearing, and the warmth (WW) is coupled to the fan shaft (PS) on the upper side of the loosening preventing nut (LM). The wormhole WW is engaged with the worm gear, and the worm gear is coupled with the motor, which is coupled to the fan case bottom (PCB). The worm gear is powered by the motor and rotates, and the fan case bottom (PCB) coupled with the worm gear eventually rotates. The thrust bearings together with the lower tapered roller bearings support the rotation of the fan case while supporting a load perpendicular to the axial and axial directions.

4 is a view illustrating a center of gravity adjusting unit of the housing 300 according to an embodiment of the present invention. 7, the coupling between the pair of arms 211 and 212 of the rolling rotation part 210 and the housing 300 can be combined by the center-of-gravity adjusting part. At this time, the center of gravity adjusting portion includes a guide groove and a fastening groove formed in the rolling rotation part 210 and the housing 300, respectively, and fastened to each other so that the housing 300 can be moved.

Therefore, the engaging groove of the housing 300 is inserted into the guide groove of the rolling rotation part 210 and moves, so that the position where the housing 300 is engaged with the rolling rotation part 210 can be changed.

This is because the weight of the camera inserted into the housing 300 can be changed. That is, according to the weight of the camera housed in the housing 300, the combined position of the housing 300 and the rolling rotation unit 210 can be changed to actively cope with the weight change of the camera.

And a rolling rotation part including a coupling groove formed in the guide groove and fitted in the coupling groove of the housing 300 including the guide groove formed in the housing 300, And a fastening portion of the rolling rotation portion 210 including the fastening portion.

The center of gravity of the camera and the housing 300 including the camera can be changed according to the weight of the camera accommodated in the housing 300. [ In this case, as the guide groove of the fastening portion of the housing 300 moves along the fastening groove of the rolling rotation portion 210, it is possible to cope with the change of the center of gravity of the housing 300.

FIG. 5 is a view showing that the encoder is coupled to the worm wheel in the fan fixing unit 100 according to the embodiment of the present invention. FIG. 6 is a perspective view of the worm gear 100 in the fan fixing unit 100 according to the embodiment of the present invention. And an encoder are combined with each other.

The encoder of the motor is coupled with the rotation shaft (shaft) of the motor to detect the rotation number of the motor. The controller or driver gives a rotation signal to the motor, measures the RPM (Revolution Per Minutes) of the motor currently operating in the encoder, returns it to the controller or driver, and compares it. When there is a difference in the rotation signal from the motor and the rotation number returned, the rotation number can be precisely controlled by adjusting the rotation number.

As shown in FIG. 5, the magnetic encoder ME is connected to the warmhill WH using the round belt RB. The rotation of the motor is measured by the encoder through the rotation of the worm gear and the rotation of the worm wheel, and the rotation speed measured by the encoder can be returned to the rotation speed controller of the motor again.

6 shows that the encoder is directly coupled to the worm gear. When the controller of the fan rotation unit motor (MO) gives a rotation signal to the fan rotation unit motor, the motor rotates, and the worm gear rotates in accordance with the rotation of the motor. At this time, the magnetic encoder coupled to the worm gear measures the rotational speed of the worm gear and returns the rotational speed measured by the controller. By checking the number of revolutions immediately without going from the worm gear to the wormholes, it is possible to check the number of revolutions more accurately than in the case of Fig.

Further, the three-axis gimbals according to the present invention include a waterproof and dustproof structure. Waterproof and dustproof function of IP66 according to IEC529 regulation of International Electrotechnical Commission is possible. In other words, it completely protects the dust inflow and has such a construction that there is no damage to all water below 12.5 mm which is sprayed with low water pressure.

With such a configuration, it is possible to use the triaxial gimbals according to the present invention on an ocean vessel or in an environment where the triaxial gimbals, such as rain, are exposed to water.

100: Fan fixing unit
110:
200: Rolling fixing portion
210:
220: second BLDC motor section
211, 212: a pair of arms
213, 214: a pair of bridges
300: housing
320: first BLDC motor section
PCB: Fan case bottom
TB: Thrust bearing
TR: Tapered roller bearings
PS: Fan shaft
ME: Magnetic Encoder
RB: Round belt
WW, WH: Wormhole
WG: Worm Gear
MO: Fan rotation motor

Claims (3)

In a three-axis gimbal having a virtual yaw axis, a pitch axis, and a roll axis,
A fan fixing unit formed on the yaw axis;
A fan rotating part coupled to an upper part of the fan fixing part and rotating about the yaw axis;
A rolling fixing part coupled to an upper portion of the fan rotation part;
A rolling rotating part coupled to the rolling fixing part and formed by extending a pair of arms parallel to the roll axis and rotating about the roll axis;
A housing coupled between the pair of arms to rotate about the pitch axis and to receive the camera;
And a pair of first brushless DC (BLDC) motor units coupled between the pair of arms and the housing to provide rotation power about the pitch axis to the housing,
The fan-
And a fan shaft inserted into the fan rotation part to support rotation of the fan rotation part,
The fan-
And a fan case which rotates about the fan shaft while supporting an upper load,
A tapered roller bearing is provided at the joint portion between the fan case and the fan shaft to withstand the axial load generated in the upper portion of the fan case and the load generated perpendicularly to the axial direction, A bearing supporting the tapered roller bearing with a load generated perpendicularly to the axial load and the axial direction, supporting the rotation of the fan case,
The rolling rotation unit and the housing are coupled to each other by a center-of-gravity adjusting unit,
The center-
A guide groove formed in the pair of arms of the rolling rotation part,
And a fastening groove formed in the housing and slidably inserted in the guide groove,
Wherein the engaging groove is fitted in the guide groove and is movable so that a position at which the housing is engaged with the rolling rotating portion can be changed.
Three axis gimbal. The method according to claim 1,
Characterized in that an end portion of the fan case located at the fastening portion is formed with a '
Three axis gimbal. 3. The method of claim 2,
The tapered roller bearing comprises:
Shaped groove, and supports both the axial load of the fan case and the load perpendicular to the axis.
Three axis gimbal.

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