WO2015127741A1 - 电机、应用电机的云台和应用云台的拍摄装置 - Google Patents

电机、应用电机的云台和应用云台的拍摄装置 Download PDF

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Publication number
WO2015127741A1
WO2015127741A1 PCT/CN2014/081613 CN2014081613W WO2015127741A1 WO 2015127741 A1 WO2015127741 A1 WO 2015127741A1 CN 2014081613 W CN2014081613 W CN 2014081613W WO 2015127741 A1 WO2015127741 A1 WO 2015127741A1
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WO
WIPO (PCT)
Prior art keywords
motor
rotating member
magnet
fixed
stator
Prior art date
Application number
PCT/CN2014/081613
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English (en)
French (fr)
Inventor
周力
王鹏
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to JP2016526167A priority Critical patent/JP6228669B2/ja
Priority to EP14883771.9A priority patent/EP3086451B1/en
Priority to US15/115,422 priority patent/US10488739B2/en
Publication of WO2015127741A1 publication Critical patent/WO2015127741A1/zh
Priority to US16/692,447 priority patent/US11106118B2/en
Priority to US17/461,375 priority patent/US20210389647A1/en

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Classifications

    • 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
    • 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
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • 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
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H04N23/687—Vibration or motion blur correction performed by mechanical compensation by shifting the lens or sensor position
    • 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
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head

Definitions

  • the invention relates to an electric machine, a pan/tilt to which the motor is applied, and a photographing device to which the pan/tilt head is applied.
  • the photographing device generally includes a pan/tilt and a camera mounted on the pan/tilt.
  • the pan/tilt is used to implement fixation of the camera, arbitrarily adjust the posture of the camera (for example: changing the height and/or direction of the camera), and stably maintain the camera in a determined posture, thereby achieving shooting. Stable, smooth and multi-angle shooting.
  • the camera can select a camera or a camera.
  • the pan/tilt includes a motor.
  • the motor is provided with a stator, a rotor, and a sensor that senses the relative positions of the stator and the rotor of the motor.
  • Current sensors typically include an encoder and a potentiometer.
  • the encoder has high precision, but is bulky, high in cost and has certain frictional resistance; and the potentiometer has low precision and large frictional resistance, which has a great influence on the control of the pan/tilt.
  • Both of the above sensors are contact type, so the frictional resistance is large and the contact is poor.
  • a motor comprising a stator, a mover rotatably coupled to the stator, and an electrical connection means for providing a signal to the motor.
  • the motor further includes a magnet fixed to the mover and a Hall angular displacement sensor fixed to the electrical connection device and disposed opposite the magnet. The magnets and the Hall angular displacement sensor are spaced apart from one another by the electrical connection means.
  • a pan/tilt head comprising a first rotating member, a second rotating member rotatably coupled to the first rotating member, and a second driving member for driving the second rotating member to rotate relative to the first rotating member Motor.
  • the motor includes a stator, a mover rotatably coupled to the stator, and an electrical connection for providing an electrical signal to the motor.
  • the motor further includes a magnet fixed to the mover and a Hall angular displacement sensor fixed to the electrical connection device and disposed opposite the magnet. The magnets and the Hall angular displacement sensor are spaced apart from one another by the electrical connection means.
  • a photographing device includes a cloud platform and a carrier mounted on the pan/tilt.
  • the pan/tilt head includes a first rotating member, a second rotating member rotatably connected to the first rotating member, and a driving unit a motor that rotates the second rotating member relative to the first rotating member.
  • the motor includes a stator, a mover coupled to the stator for rotation, and an electrical connection for providing an electrical signal to the motor.
  • the motor further includes a magnet fixed to the mover and a Hall angular displacement sensor fixed to the electrical connection device and disposed opposite the magnet. The magnet and the Hall angular displacement sensor are spaced apart from each other by the electrical connection device.
  • the present invention provides a non-contact Hall angular displacement sensor for detecting the positional relationship between the stator and the mover, and solves the problem of large frictional resistance in the conventional detection mode.
  • Fig. 1 is a perspective view of an imaging device of the invention.
  • FIG. 2 is a perspective view of the photographing apparatus of the present invention with the carrier removed.
  • Figure 3 is a cross-sectional view taken along line III-III of Figure 2.
  • Figure 4 is a perspective view of another perspective view of Figure 2, partially omitting the first rotating member. ⁇ detailed description ⁇
  • the camera device provided by the embodiment of the invention can be used as an auxiliary device for photography, photography, monitoring and sampling, and can be mounted on a space base (such as a rotorcraft or a fixed-wing aircraft), a water-based (such as a submarine or a ship), a roadbed (such as a motor vehicle). ) or space-based (such as satellites, space stations, or spacecraft).
  • the photographing device includes a cloud platform and a carrier mounted on the pan/tilt.
  • the pan/tilt is used to achieve fixation of the carrier, arbitrarily adjust the posture of the carrier (for example: changing the height, inclination and/or direction of the carrier) and stably maintaining the carrier in a certain state Attitude.
  • the carrier may be an imaging device such as a camera or a video camera, or may be a sensor or the like.
  • the photographing device described in this embodiment is applied to an aircraft.
  • the carrier may be a micro single camera or a surveillance camera or the like.
  • an imaging apparatus 100 includes a cloud platform 10 and a carrier 20 mounted on the cloud platform 10.
  • the platform 10 includes a first rotating member 1, a second rotating member 2 rotatably connected to one end of the first rotating member 1 for mounting the carrier 20, and a connecting first rotating member 1 and the motor 30 of the second rotating member 2.
  • the carrier 20 is a camera.
  • the motor 30 is for driving the second rotating member 2 to rotate relative to the first rotating member 1.
  • the motor 30 includes a stator 31 fixed to the first rotating member 1, and a stator a movable member 32 rotatably coupled to the second rotating member 2, an electrical connecting device 33 fixed to the first rotating member 1 and providing an electrical signal to the stator 31, and a fixed A magnet 34 on the mover 32 and a Hall angular displacement sensor 35 fixed to the electrical connecting means 33 and disposed opposite the magnet 34.
  • the magnet 34 and the Hall angular displacement sensor 35 cooperate to be spaced apart from each other by the electrical connection means 33 between the Hall angle displacement sensors 35.
  • the mover 32 includes a rotating shaft assembly 36 rotatably coupled to the stator 3 1 and a rotor 37 fixed to the rotating shaft assembly 36.
  • the rotor 37 is housed in the second rotating member 2.
  • the stator 31 of the present embodiment is a coil
  • the rotor 37 is a magnet that generates a magnetic force with the stator 31.
  • the stator 31 may be a magnet and the rotor 37 is a coil.
  • One end of the rotating shaft 38 is received in the first rotating member 1, and the other end is received in the second rotating member 2.
  • the upper bearing 381 is received in the first rotating member 1.
  • the T bearing 382 is received in the second rotating member 2.
  • the spindle assembly 36 rotatably connects the first rotating member 1 and the second rotating member 2 via the rotor 37 and the stator 31.
  • the magnet 34 is fixed to the rotating shaft 38 and disposed toward the electrical connecting device 33 housed in the first rotating member 1.
  • the electrical connection device 33 can select a PCB board or a flexible circuit board.
  • the electrical connection device 33 includes a first surface 33 1 and a second surface 332 that faces away from the first surface 331.
  • the Hall angle displacement sensor 35 is fixed to the first surface 33 1, and the magnet 34 is disposed opposite to the second surface 332. Therefore, the magnet 34 is not in contact with the Hall angle displacement sensor 35. .
  • the Hall angle displacement sensor 35 while perceiving the positional relationship between the stator 31 and the mover 32, can solve the problem of large frictional resistance of the conventional detection mode because the Hall angle displacement sensor 35 is small in volume.
  • the photographing apparatus 100 of the present invention fixes the magnet 34 to the mover 42 and fixes the electrical connecting device 33 equipped with the Hall angular displacement sensor 35 to the stator 31.
  • the angle of rotation of the rotor 37 with respect to the stator 3 1 is detected by the Hall angle displacement sensor 35 to form an angular displacement sensing method which is non-contact but equivalent in effect to the absolute position encoder.
  • the working resistance of the pan/tilt head 10 is effectively reduced, and the response of the pan/tilt head 10 is improved.
  • stator 31 is directly fixed on the first rotating member 1, and the mover 32 is directly fixed.
  • the inner space of a rotating member 1 and the second rotating member 2 is combined with the first rotating member 1 and the second rotating member 2, thereby effectively reducing the overall size of the platform 10.

Abstract

一种电机，所述电机包括一定子31、一与定子转动相连的动子32和一为电机提供电信号的电连接装置33，电机还包括一固定在动子上的磁铁34和一固定在电连接装置上并与磁铁相对设置的霍尔角位移传感器35，磁铁与霍尔角位移传感器之间通过电连接装置相互间隔。同时还公开了一种应用电机的云台和一种应用云台的拍摄装置。

Description

电机、 应用电机的云台和应用云台的拍摄装置
【技术领域】
发明涉及一种电机、 应用所述电机的云台和应用所述云台的拍摄装置。 【背景技术】
拍摄装置一般包括一云台和搭载在所述云台上的拍摄器。 所述云台用以 实现所述拍摄器的固定、 随意调节所述拍摄器的姿态（例如： 改变拍摄器的 高度和 /或方向）和使拍摄器稳定保持在确定的姿态上，从而实现拍摄器的稳 定、 流畅且多角度拍摄。 所述拍摄器可以选择摄像机或照相机。
所述云台包括一电机。 所述电机设有定子、 转子和感知所述电机的所述 定子和所述转子的相对位置的传感器。 目前传感器一般包括一编码器和一电 位器。 其中编码器精度高， 但体积大、 成本高且有一定的摩擦阻力； 而电位 器精度较低且存在较大的摩擦阻力， 对所述云台的控制有较大的影响。 以上 两种传感器， 均为接触式的， 故摩擦阻力大且容易接触不良。
【发明内容】
发明的目的在于提供一种摩擦阻力小的电机、 应用所述电机的云台和应 用所述云台的拍摄装置。
发明的目的是这样实现的：
一种电机， 其包括一定子、 一与所述定子转动相连的动子和一为电机提 供电信号的电连接装置。 所述电机还包括一固定在所述动子上的磁铁和一固 定在所述电连接装置上并与所述磁铁相对设置的霍尔角位移传感器。 所述磁 铁与所述霍尔角位移传感器之间通过所述电连接装置相相互间隔。
一种云台， 其包括一第一转动件、 一与所述第一转动件转动相连的第二 转动件、 和一用于驱动所述第二转动件相对于所述第一转动件转动的电机。 所述电机包括一定子、 一与所述定子转动相连的动子和一为电机提供电信号 的电连接装置。 所述电机还包括一固定在所述动子上的磁铁和一固定在所述 电连接装置上并与所述磁铁相对设置的霍尔角位移传感器。 所述磁铁与所述 霍尔角位移传感器之间通过所述电连接装置相互间隔。
一种拍摄装置， 包括一云台和搭载于所述云台上的承载物。 所述云台包 括一第一转动件、 一与所述第一转动件转动相连的第二转动件和一用于驱动 所述第二转动件相对于所述第一转动件转动的电机。 所述电机包括一定子、 一与所述定子转动相连的动子和一为电机提供电信号的电连接装置。 所述电 机还包括一固定在所述动子上的磁铁和一固定在所述电连接装置上并与所 述磁铁相对设置的霍尔角位移传感器。 所述磁铁与所述霍尔角位移传感器之 间通过所述电连接装置相互间隔。
与相关技术相比较， 本发明提供一种非接触式的霍尔角位移传感器检测 所述定子和所述动子的位置关系的方法， 解决了传统的检测方式摩擦阻力大 的问题。
【附图说明】
图 1为发明的拍摄装置的立体图。
图 2为本发明的拍摄装置去掉所述承载物的立体图。
图 3为图 2沿 III- III线的剖示图。
图 4为图 2所述的另一视角的立体图， 其中部分省略了所述第一转动件。 【具体实施方式】
本发明实施例提供的拍摄装置可以作为摄影、 照相、 监测、 采样的辅助 装置， 可搭载于空基（例如旋翼飞行器或固定翼飞机） 、 水基（例如潜艇或 船只） 、 路基（例如机动车辆） 或天基（例如卫星， 空间站， 或飞船） 等领 域。 所述拍摄装置包括云台和搭载在所述云台上的承载物。 所述云台用以实 现所述承载物的固定、 随意调节所述承载物的姿态（例如： 改变所述承载物 的高度、 倾角和 /或方向）和使所述承载物稳定保持在确定的姿态上。 所述承 载物可以为照相机和摄像机等摄像装置， 也可为传感器等。 本实施例中所述 拍摄装置应用于飞行器上。 所述承载物可以为微单相机或监控摄像头等。 下 面结合附图， 对本发明的拍摄装置作详细说明。
如图 1至图 4所示， 本发明实施例提供的一种拍摄装置 100， 其包括一云 台 10和搭载在所述云台 10上的承载物 20。 所述云台 10包括一第一转动件 1、 一与所述第一转动件 1的一端转动相连且用于搭载所述承载物 20的第二转动 件 2、 和连接所述第一转动件 1和所述第二转动件 2的电机 30。 本实施例中， 所述承载物 20为照相机。 所述电机 30用于驱动所述第二转动件 2相对于所述 第一转动件 1转动。
所述电机 30包括一固定在所述第一转动件 1上的定子 31、 一与所述定子 3 1转动相连的并固定在所述第二转动件 2上的动子 32、 一固定在所述第一转 动件 1上并为所述定子 3 1提供电信号的电连接装置 33、 一固定在所述动子 32 上的磁铁 34和一固定在所述电连接装置 33上并与所述磁铁 34相对设置的霍 尔角位移传感器 35。 所述磁铁 34和所述霍尔角位移传感器 35共同作用， 用于 霍尔角位移传感器 35之间通过所述电连接装置 33相互间隔。
所述动子 32包括一与所述定子 3 1转动相连的转轴组件 36和一固定在所 述转轴组件 36上的转子 37。 所述转子 37收容于所述第二转动件 2内。 本实施 例的所述定子 31为线圈， 所述转子 37为与所述定子 3 1产生磁力的磁铁。 在可 选择的实施方式中， 所述定子 3 1可以为磁铁， 而所述转子 37为线圈。 上轴承 381和一下轴承 382。 所述转动轴 38的一端收容于所述第一转动件 1内， 另一端收容于所述第二转动件 2内。 所述上轴承 381收容于所述第一转动件 1 内。 所述 T轴承 382收容于所述第二转动件 2内。 所述转轴组件 36通过所述转 子 37和所述定子 31将所述第一转动件 1和所述第二转动件 2转动相连。 所述磁 铁 34固定于所述转动轴 38上并朝向收容于所述第一转动件 1内的所述电连接 装置 33设置。
所述电连接装置 33可以选择 PCB板或柔性电路板。 所述电连接装置 33包 括一第一表面 33 1和一与所述第一表面 331相背离的第二表面 332。 所述霍尔 角位移传感器 35固设于所述第一表面 33 1， 所述磁铁 34与所述第二表面 332相 对设置， 因此， 所述磁铁 34不与所述霍尔角位移传感器 35接触。 所述霍尔角 位移传感器 35在感知所述定子 3 1和所述动子 32位置关系的同时， 由于霍尔角 位移传感器 35体积小， 可解决了传统的检测方式摩擦阻力大的问题。
本发明的拍摄装置 100将所述磁铁 34与所述动子 42固连， 将装有所述霍 尔角位移传感器 35的所述电连接装置 33与所述定子 3 1固连。 通过所述霍尔角 位移传感器 35检测所述转子 37相对所述定子 3 1转动的角度， 形成一种非接触 式但效果等同于绝对位置编码器的角位移传感方式。 有效减低了所述云台 10 的工作阻力， 提高了所述云台 10的响应。
另外， 所述定子 3 1直接固定在所述第一转动件 1上， 所述动子 32直接固 一转动件 1和所述第二转动件 2的内部空间并与所述第一转动件 1和所述第二 转动件 2组合为一个整体， 有效降低了所述云台 10的整体尺寸。
以上所述仅为发明的较佳实施方式， 发明的保护范围并不以上述实施方 式为限， 但凡本领域普通技术人员根据发明所揭示内容所作的等效修饰或变 化， 皆应纳入权利要求书中记载的保护范围内。

Claims

权 利 要 求 书
1 . 一种电机， 其包括一定子、 一与所述定子转动相连的动子和一为电 机提供电信号的电连接装置， 其特征在于： 所述电机还包括一固定在所述动 子上的磁铁和一固定在所述电连接装置上并与所述磁铁相对设置的霍尔角 位移传感器， 所述磁铁与所述霍尔角位移传感器之间通过所述电连接装置相 互间隔。
2. 如权利要求 1所述的电机， 其特征在于： 所述动子包括一与所述定子 转动相连的转轴组件和一固定在所述转轴组件上的转子， 所述磁铁固定于所 述转轴组件上。
3. 如权利要求 2所述的电机， 其特征在于： 所述转轴组件包括一转动轴 和分别套设在所述转动轴两端的一上轴承和一下轴承， 所述磁铁固定于所述 转动轴上。
4. 如权利要求 1所述的电机， 其特征在于： 所述电连接装置包括一第一 表面和一与所述第一表面相背离的第二表面， 所述霍尔角位移传感器固设于 所述第一表面， 所述磁铁与所述第二表面相对设置， 所述磁铁与所述霍尔角 位移传感器未接触。
5. 如权利要求 1所述的电机， 其特征在于： 所述电连接装置为选择 PCB 板或柔性电路板。
6. 一种云台，其包括一第一转动件和一与所述第一转动件转动相连的第 二转动件， 其特征在于： 所述云台还包括如权利要求 1至 5任意一项所述的电 机， 所述电机用于驱动所述第二转动件相对于所述第一转动件转动。
7. 如权利要求 6所述的云台， 其特征在于： 所述定子固定在所述第一转 动件上， 所述动子固定在所述第二转动件上。
8. 一种拍摄装置， 其特征在于： 所述拍摄装置包括如权利要求 6所述的 云台和搭载于所述云台上的承载物。
9. 如权利要求 8所述的拍摄装置， 其特征在于： 所述承载物与所述第二 转动件相连。
10. 如权利要求 8所述的拍摄装置， 其特征在于： 所述承载物为照相机。
PCT/CN2014/081613 2014-02-28 2014-07-03 电机、应用电机的云台和应用云台的拍摄装置 WO2015127741A1 (zh)

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US15/115,422 US10488739B2 (en) 2014-02-28 2014-07-03 Motor, gimbal having the motor, and image capturing device having the gimbal
US16/692,447 US11106118B2 (en) 2014-02-28 2019-11-22 Motor, gimbal having the motor, and image capturing device having the gimbal
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