WO2017070982A1 - 一种电机、云台及飞行器 - Google Patents

一种电机、云台及飞行器 Download PDF

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Publication number
WO2017070982A1
WO2017070982A1 PCT/CN2015/093874 CN2015093874W WO2017070982A1 WO 2017070982 A1 WO2017070982 A1 WO 2017070982A1 CN 2015093874 W CN2015093874 W CN 2015093874W WO 2017070982 A1 WO2017070982 A1 WO 2017070982A1
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WO
WIPO (PCT)
Prior art keywords
arm
motor
assembly
bearing
shaft
Prior art date
Application number
PCT/CN2015/093874
Other languages
English (en)
French (fr)
Inventor
张正力
陈发展
Original Assignee
深圳市道通智能航空技术有限公司
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 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Priority to EP15907043.2A priority Critical patent/EP3355450B1/en
Publication of WO2017070982A1 publication Critical patent/WO2017070982A1/zh
Priority to US15/979,968 priority patent/US10298848B2/en

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H02K21/22—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating around the armatures, e.g. flywheel magnetos
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • 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
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/125—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction for tilting and rolling
    • 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
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • 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
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • 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
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/10—Casings or enclosures characterised by the shape, form or construction thereof with arrangements for protection from ingress, e.g. water or fingers
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/24—Casings; Enclosures; Supports specially adapted for suppression or reduction of noise or vibrations
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/08—Structural association with bearings
    • H02K7/083—Structural association with bearings radially supporting the rotary shaft at both ends of the rotor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
    • 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
    • H04N23/681—Motion detection
    • H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2211/00—Specific aspects not provided for in the other groups of this subclass relating to measuring or protective devices or electric components
    • H02K2211/03—Machines characterised by circuit boards, e.g. pcb

Definitions

  • the invention relates to the technical field of electric motors, and in particular to an electric machine, a pan/tilt head and an aircraft.
  • a motor is a device that converts between electrical energy and mechanical energy, which can be used to power various types of equipment by generating drive torque.
  • a pan/tilt is a gesture that can be used to rotate the motor to complete the fixed, freely adjust the position of the camera (for example, changing the height and/or direction of the camera), and The camera is stably maintained in a certain posture, so that the camera is stable and smooth, and multi-angle shooting is realized.
  • the rotating shaft of the motor is generally connected with the external member to drive the external member to rotate, and the motor transmits the torque generated on the rotating shaft to the external member through the connection of the rotating shaft and the external member, so that the external member Smooth movement is affected.
  • a primary object of a preferred embodiment of the present invention is to provide a motor that is intended to reduce the torque transmitted by the motor to the external components.
  • a preferred embodiment of the present invention discloses a motor including a base, a rotating shaft, a stator assembly, a first bearing, a stator bearing, and a rotor assembly for driving the rotation of the external member, the rotating shaft having a first end, a second end, and Connecting a middle portion of the first end portion and the second end portion, the base is coupled to the first end portion by the first bearing, and the stator bearing and the rotor assembly are disposed at the middle portion
  • the stator bearing, the rotor assembly and the first bearing are sequentially arranged along an axial direction of the rotating shaft, and the stator assembly is coupled to the rotating shaft through the stator bearing.
  • the shaft is enclosed in a cavity formed by the base, the stator assembly and the rotor assembly.
  • the stator assembly includes a stator and an end cap fixed to the stator, the stator bearing includes a second bearing and a third bearing, the stator being located between the second bearing and the third bearing, The second bearing is disposed adjacent to the rotor assembly, the third bearing being disposed adjacent the second end.
  • the motor further comprises a sensor assembly for detecting a rotation angle of the rotating shaft, the sensor assembly comprising a sensing driving PCB board, a sensing magnet and a sensing magnetic seat on which the sensing magnet is mounted, the sensing magnetic seat is fixed At the second end of the rotating shaft, the sensing driving PCB board and the sensing magnet are disposed between the second end portion and the end cover and fixed on the end cover.
  • the motor further includes a flexible circuit board connected to the external control board, the stator has a first face facing the rotor assembly along an axis direction of the rotating shaft, and the flexible circuit board is located at the stator The first side.
  • Another preferred embodiment of the present invention also discloses a pan/tilt head comprising the motor as described above.
  • the rotor assembly includes a rotor and a second shaft arm, the second shaft arm is integral with the rotor, or the second shaft arm is fixed to the rotor, the external member and the The two-axis arm is fixedly connected.
  • the second shaft arm has a connecting arm portion and a first arm portion and a second arm portion disposed at two ends of the connecting arm portion, and the connecting arm portion is provided with a rotating shaft mounting on which the rotating shaft is mounted a hole, the first arm portion and the second arm portion are symmetrically disposed with respect to an axis of the rotating shaft mounting hole;
  • the second shaft arm includes a connecting arm portion and a first arm portion and a second arm portion disposed at two ends of the connecting arm portion, and the connecting arm portion is provided with a rotor mounting hole for mounting the rotor,
  • the first arm portion and the second arm portion are symmetrically disposed with respect to an axis of the rotor mounting hole;
  • the first arm portion, the connecting arm, and the second arm portion form a U-shaped structure.
  • a shock absorbing assembly e.g., a shock absorbing assembly, a quick release assembly, a Z-axis motor, a first axle arm, a P-axis motor, at least one of the first arm portion and the second arm portion of the second shaft arm
  • the P-axis motor is mounted on the free end;
  • a first end of the first shaft arm is fixedly connected to the base, the first shaft arm is perpendicular to the second shaft arm, and the first shaft arm is perpendicular to the rotating shaft;
  • a second end of the first shaft arm is coupled to the z-axis motor, and the z-axis motor is coupled to the shock absorbing assembly through the quick release assembly, the shock absorbing assembly, the quick release assembly, and the Z-axis
  • the motors are sequentially connected in the direction of the first axle arm.
  • a preferred embodiment of the present invention also discloses an aircraft comprising a pan/tilt head as described above, further having a body, the body including a driving device and a photographing device, the photographing device being disposed on the cloud platform, the cloud
  • the stage is disposed at the bottom of the fuselage, and the driving device is configured to drive the motor to rotate to cause the photographing device to perform photographing.
  • the motor disclosed in the preferred embodiment of the present invention drives the outer member to rotate by the rotor assembly, that is, the rotor assembly is coupled with the outer member, and the rotor assembly is coupled to the non-end position of the rotating shaft, and is connected with the external member in the prior art.
  • the present invention can reduce the transmission of the torsion generated by the rotating shaft to the external member, thereby improving the smoothness of the movement of the external member.
  • it can reduce the movement on the shaft Time loss, which in turn speeds up the response of external components to motor motion.
  • FIG. 1 is a schematic structural view of a pan/tilt head in a preferred embodiment of the present invention
  • Figure 2 is a cross-sectional view of the motor in a preferred embodiment of the present invention.
  • the invention discloses a motor, a cloud platform using the same and an aircraft using the same.
  • the motor is now applied to the pan/tilt, and the motor can also be used. In other devices.
  • the pan/tilt head may be a single-axis pan/tilt head, a two-axis pan/tilt head, or a three-axis pan/tilt head.
  • the pan/tilt head is a three-axis pan/tilt head, which comprises a shock absorbing assembly 9, a quick release assembly 2, a Z-axis motor 31, a first shaft arm 4, a motor in another preferred embodiment of the invention,
  • the P-axis motor 32 wherein when the platform is mounted on a carrier such as an aerial vehicle, the shock absorbing assembly 9 is rigidly coupled to the aerial vehicle for reducing vibration transmitted by the aerial vehicle to the platform.
  • the damper assembly 9 and the Z-axis motor 31 are detachably connected by the quick-release assembly 2, and the damper assembly 9, the quick-release assembly 2, and the Z-axis motor 31 are sequentially arranged in the axial direction of the Z-axis motor 31.
  • the shape of the first shaft arm 4 is an "L"-like shape.
  • the P-axis motor 32 is fixed to the rotating assembly of the motor in another preferred embodiment of the present invention and can follow the movement of the motor in another preferred embodiment of the present invention for driving a load such as a camera or a searchlight.
  • the pan/tilt head when it is a single-axis pan/tilt head, it includes a shock absorbing assembly 9, a quick release assembly 2, and a motor in another preferred embodiment of the present invention, wherein the pan/tilt is mounted on the carrier
  • the shock absorbing assembly 9 When on an aerial vehicle, the shock absorbing assembly 9 is rigidly coupled to the aerial vehicle for reducing the vibration transmitted by the aerial vehicle to the platform.
  • the shock absorbing assembly 9 is detachably coupled to the motor in another preferred embodiment of the present invention by a quick release assembly 2, and the shock absorbing assembly 9, the quick release assembly 2, and the motor in another preferred embodiment of the present invention are further preferred in accordance with the present invention.
  • the axial direction of the motor in the embodiment is sequentially arranged, such as a load such as a camera or a searchlight.
  • the rotating assembly of the motor When the pan/tilt head is a two-axis pan/tilt head, it includes a shock absorbing assembly 9, a quick release assembly 2, a Z-axis motor 31, a first shaft arm 4, and a motor in another preferred embodiment of the present invention, wherein when the cloud When the table is mounted on a carrier such as an aerial vehicle, the shock absorbing assembly 9 is rigidly coupled to the aerial vehicle for reducing the vibration transmitted by the aerial vehicle to the platform.
  • the damper assembly 9 and the Z-axis motor 31 are detachably connected by the quick-release assembly 2, and the damper assembly 9, the quick-release assembly 2, and the Z-axis motor 31 are sequentially arranged in the axial direction of the Z-axis motor 31.
  • the shape of the first shaft arm 4 is an "L"-like shape, and one end of the first shaft arm 4 is coupled to the output shaft of the Z-axis motor 31, and the motor of another preferred embodiment of the present invention is fixed to the first shaft branch.
  • the other end of the arm 4 can follow the movement of the first shaft arm 4, such as a camera or a searchlight, mounted on a rotating assembly of the motor in another preferred embodiment of the present invention.
  • a P-axis motor 32 or a load such as a camera or a searchlight
  • a rotating assembly of a motor in another preferred embodiment of the present invention, that is, connecting the rotor assembly to a P-axis motor 32, or a load such as a camera or a searchlight.
  • the load such as a camera or a searchlight is connected to the end position of the rotating shaft, and the torque based on the end of the rotating shaft is larger than the torque of the rotor assembly, so the invention can reduce the torque generated by the rotating shaft of the motor to the load such as the camera.
  • searchlights etc., thereby improving the smoothness of the movement of a load such as a camera or a searchlight, and at the same time, reducing the time loss of motion on the rotating shaft, thereby accelerating the speed of response of the motor such as a camera or a searchlight.
  • the pan/tilt in any of the above embodiments may not be provided with the shock absorbing assembly 9, and the quick release assembly 2 is directly connected to the aerial vehicle.
  • the pan/tilt in any of the above embodiments may not include the quick release assembly 2, in which the three-axis pan/tilt and the two-axis pan/tilt embodiment are
  • the Z-axis motor 31 is directly coupled to the aerial vehicle, and the motor in another preferred embodiment of the present invention in the above-described single-axis pan/tilt embodiment is directly coupled to the aerial vehicle.
  • a motor according to another preferred embodiment of the present invention includes a base 12, a rotating shaft 1, a stator assembly, a first bearing 82, and a stator assembly for driving a rotor assembly for rotating an external member, which is implemented in the above-described three-axis pan/tilt head.
  • the external member refers to a P-axis motor 32, which in the above-described single-axis or two-axis pan/tilt embodiment refers to a load such as a camera or a searchlight.
  • the rotating shaft 1 has a first end portion, a second end portion and a middle portion connecting the first end portion and the second end portion, and the base 12 is connected to the first end portion of the rotating shaft 1 through the first bearing 82; the stator bearing and the rotor The assembly is disposed in the middle of the rotating shaft 1, that is, the stator bearing and the rotor assembly are disposed at the non-end position of the rotating shaft 1; the stator bearing, the rotor assembly and the first bearing 82 are sequentially arranged along the axial direction of the rotating shaft 1, and the stator assembly is connected through the stator bearing On the shaft 1.
  • the end position of the rotating shaft is larger than the torque of the end portion of the rotating shaft with respect to the non-end portion of the rotating shaft, so the present invention can reduce the transmission of the torque generated by the rotating shaft 1 to the external member (the P-axis motor 32 in the three-axis pan/tilt embodiment) Or, in a single-axis or two-axis pan/tilt embodiment, such as a camera or a searchlight, etc., thereby making an external component (P-axis motor 32 in a three-axis pan/tilt embodiment, or a single-axis or two-axis pan/tilt)
  • the movement stability of the load in the embodiment such as a camera or a searchlight is improved, and at the same time, the time loss of the motion on the rotating shaft 1 can be reduced, thereby accelerating the external member (the P-axis motor 32 in the three-axis pan/tilt embodiment, or The load in a single-axis or two-axis pan/tilt embodiment, such as a
  • the base 12 in the above-described motor embodiment is a part of the first axle arm 4, that is, the base 12 is the first axis.
  • One of the free ends of the arm 4, that is, the base 12 and the first shaft arm 4 are integrally formed; or the base 12 is fixedly coupled to the first shaft arm 4.
  • the rotating shaft 1 is closed by the base 12, the stator assembly and the rotor assembly. In the cavity, such a design can prevent micro particles such as dust from entering the motor through the rotating shaft 1, affecting the performance and life of the motor, and also improving the safety performance of the motor of the present invention.
  • the stator assembly in the preferred embodiment of the present invention includes a stator 7 and an end cover 6 fixed to the stator 7, the stator bearing including a second bearing 81 and a third bearing 83.
  • the stator 7 is located between the second bearing 81 and the third bearing 83, that is, the second bearing 81 and the third bearing 83 are respectively disposed at both ends of the stator 7, wherein the second bearing 81 is adjacent to the rotor
  • the assembly is arranged such that the third bearing 83 is disposed adjacent to the second end of the rotating shaft 1.
  • the second bearing 81 and the third bearing 83 serve as supports, and the stator 7 is mounted between the two second bearings 81 and the third bearing 83 as supports, which increases rigidity and stability.
  • the rotor assembly is coupled to the non-end position of the rotating shaft 1, specifically, the rotor assembly is coupled to the position between the first bearing 82 and the second bearing 81 in the rotating shaft 1 to reduce the transmission of the torsion generated on the rotating shaft 1, and accelerate
  • the outer member attached to the rotor assembly responds to the speed of the rotating shaft 1.
  • the motor in the preferred embodiment of the present invention further includes a sensor assembly for detecting the rotation angle of the rotating shaft, the sensor assembly including the sensing driving PCB board 51, Sensing magnet 52 and sensing magnet for mounting sensing magnet 52 a seat 53 in which the sensing magnetic base 53 is fixed to the second end of the rotating shaft 1 (away from the base 12), and the sensing driving PCB board 51 and the sensing magnet 52 are disposed at the second end and the end cover 6 Between and the sensing drive PCB board 51 is fixed to the end cover 6 of the stator assembly.
  • the motor in the embodiment of the present invention further includes a flexible circuit board 54 connected to the external control board.
  • the stator 7 has a first side facing the rotor assembly along the axial direction of the rotating shaft 1, and the flexible circuit board 54 is located on the first side of the stator 7. on.
  • the rotor assembly in the embodiment of the present invention includes a rotor 10 and a second shaft arm 11, the second shaft arm 11 and the rotor 10 are integrated, or the second shaft arm 11 is fixed to the rotor 10, and the outer member and the second The shaft arm 11 is fixedly coupled, and the outer member follows the rotation of the second shaft arm 11.
  • the motor is no longer a separate component with respect to the gimbal, that is, the motor is part of the part constituting the gimbal.
  • the structure of the gimbal is more compact, smaller in size and lighter in weight, which is beneficial to the improvement of the endurance of the aerial vehicle carrying the gimbal.
  • the first end of the first axle arm 4 is fixedly coupled to the base 12, the first axle arm 4 is perpendicular to the second axle arm 11, and the first axle arm 4 is perpendicular to the axle 1.
  • the second end of the first shaft arm 4 is connected to the z-axis motor 31, and the z-axis motor 31 is connected to the shock absorbing assembly 9 through the quick release assembly 2, and the shock absorbing assembly 9, the quick release assembly 2 and the Z-axis motor 31 are first.
  • the shaft arms 4 are sequentially connected in the direction.
  • the second shaft arm 11 and the rotor 10 are integrally formed.
  • the second shaft arm 11 has a connecting arm portion and a first arm portion and a second arm portion disposed at two ends of the connecting arm portion, and the connecting arm portion
  • the shaft mounting hole for mounting the rotating shaft 1 is disposed, and the first arm portion and the second arm portion are symmetrically disposed with respect to the axis of the rotating shaft mounting hole; the first arm portion, the connecting arm and the second arm portion form a U shape structure.
  • a P-axis motor 32 is mounted on the free end of at least one of the first arm portion and the second arm portion of the second shaft arm 11.
  • the second shaft arm 11 is fixed to the rotor 10.
  • the second shaft arm 11 includes a connecting arm portion and a first arm portion and a second arm portion disposed at two ends of the connecting arm portion, and the connecting arm portion is provided.
  • An embodiment of the present invention further provides an aircraft including a pan/tilt head as described above, further having a body, the body including a driving device and a photographing device, the photographing device being disposed on the cloud platform, the cloud
  • the stage is disposed at the bottom of the fuselage, and the driving device is configured to drive the motor to rotate to cause the photographing device to perform photographing.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Accessories Of Cameras (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

一种电机、包含该电机的云台及包含该云台的飞行器，其中，该电机包括底座（12）、转轴（1）、定子组件、第一轴承（82）、定子轴承和用于带动外部构件转动的转子组件，所述转轴（1）具有第一端部、第二端部及连接所述第一端部和第二端部的中部，所述底座（12）通过所述第一轴承（82）连接在所述第一端部上，所述转子组件连接在所述中部，所述定子轴承、所述转子组件及所述第一轴承（82）沿所述转轴（1）的轴线方向依次排列，所述定子组件通过所述定子轴承连接在所述转轴（1）上。该电机可减少转轴所产生的扭力传递到外部构件上，进而使外部构件的运动平稳性得到提高，同时，可以减少运动在转轴上的时间损耗，进而加快外部构件响应电机运动的速度。

Description

一种电机、云台及飞行器 【技术领域】
本发明涉及电机技术领域，尤其涉及一种电机、云台及飞行器。
【背景技术】
电机是一种实现电能和机械能之间转换的装置，其可以通过产生的驱动扭矩来为各类设备提供动力。利用电机的设备中，云台是一种可利用电机的转动以完成对其挂载的拍摄器的固定、随意调节拍摄器的姿态(例如：改变拍摄器的高度和/或方向)、以及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，实现多角度拍摄。
在现有的电机中，一般通过电机的转轴与外部构件连接，以带动外部构件转动，电机通过转轴与外部构件连接的方式，会将在转轴上产生的扭力传输到外部构件上，使外部构件平稳的运动受到影响。
【发明内容】
本发明优选实施例的主要目的是提供一种电机，旨在减少电机传输到外部构件上的扭力。
本发明优选实施例公开了一种电机，包括底座、转轴、定子组件、第一轴承、定子轴承和用于带动外部构件转动的转子组件，所述转轴具有第一端部、第二端部及连接所述第一端部和第二端部的中部，所述底座通过所述第一轴承连接在所述第一端部上，所述定子轴承、所述转子组件设置在所述中部，所述定子轴承、所述转子组件及所述第一轴承沿所述转轴的轴线方向依次排列，所述定子组件通过所述定子轴承连接在所述转轴上。
优选地，所述转轴封闭在所述底座、所述定子组件及所述转子组件形成的腔体中。
优选地，所述定子组件包括定子及与该定子固定的端盖，所述定子轴承包括第二轴承和第三轴承，所述定子位于所述第二轴承和所述第三轴承之间，所述第二轴承邻近所述转子组件设置，所述第三轴承邻近所述第二端部设置。
优选地，所述电机还包括检测转轴旋转角度的传感器组件，所述传感器组件包括传感驱动PCB板、传感磁铁及安装所述传感磁铁的传感磁座，所述传感磁座固定在所述转轴的第二端部，所述传感驱动PCB板与所述传感磁铁设置在所述第二端部与所述端盖之间且固定在所述端盖上。
优选地，所述电机还包括与外部控制板连接的柔性电路板，沿所述转轴的轴线方向，所述定子具有朝向所述转子组件的第一面，所述柔性电路板位于所述定子的该第一面上。
本发明另一优选实施例还公开了一种云台，包括如上所述的电机。
优选地，所述转子组件包括转子及第二轴支臂，第二轴支臂与所述转子为一体结构，或者所述第二轴支臂固定于所述转子上，所述外部构件与第二轴支臂固定连接。
优选地，所述第二轴支臂具有连接臂部及设于该连接臂部两端的第一支臂部和第二支臂部，所述连接臂部上设有安装所述转轴的转轴安装孔，所述第一支臂部和所述第二支臂部相对所述转轴安装孔的轴线呈对称设置；
或者，所述第二轴支臂包括连接臂部及设于该连接臂部两端的第一支臂部和第二支臂部，所述连接臂部设有安装所述转子的转子安装孔，所述第一支臂部和所述第二支臂部相对所述转子安装孔的轴线呈对称设置；
所述第一支臂部、所述连接臂、所述第二支臂部形成一U形结构。
优选地，还包括减震组件、快拆组件、Z轴电机、第一轴支臂、P轴电机，所述第二轴支臂的第一支臂部和第二支臂部中至少有一个的自由端部上安装有所述P轴电机；
所述第一轴支臂的第一端与所述底座固定连接，所述第一轴支臂垂直于所述第二轴支臂，且所述第一轴支臂垂直于所述转轴；
所述第一轴支臂的第二端与所述z轴电机连接，所述z轴电机通过所述快拆组件与所述减震组件连接，所述减震组件、快拆组件及Z轴电机在所述第一轴支臂的方向上依次连接。
本发明优选实施例还公开了一种飞行器，包括如上所述的云台，还具有机身，所述机身包括驱动装置和拍摄装置，所述拍摄装置设置于所述云台，所述云台设置于所述机身底部，所述驱动装置用于驱动所述电机转动使得所述拍摄装置进行拍摄。
本发明优选实施例所公开的电机，通过转子组件带动外部构件转动，即将转子组件与外部构件连接在一起，又将转子组件连接在转轴的非端部位置上，相对现有技术中外部构件连接在转轴的端部位置，基于转轴端部的扭力相对转轴非端部的扭力要大，所以本发明可减少转轴所产生的扭力传递到外部构件上，进而使外部构件的运动平稳性得到提高，同时，可以减少运动在转轴上的 时间损耗，进而加快外部构件响应电机运动的速度。
【附图说明】
图1为本发明优选实施例中的云台的结构示意图；
图2为本发明优选实施例中的电机的剖视图。
附图标记：1-转轴，10-转子，11-第二轴支臂，12-底座，2-快拆组件，31-Z轴电机，32-P轴电机，4-第一轴支臂，51-传感驱动PCB板，52-传感磁铁，53-传感磁座，54-柔性电路板，6-端盖，7-定子，81-第二轴承，82-第一轴承，83-第三轴承，9-减震组件。
【具体实施方式】
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明，且下面所描述的技术特征之间只要不相互矛盾均可相互组合。
本发明公开了一种电机、应用该电机的云台及应用该云台的飞行器，为了更为详细说明该电机的优点，现将该电机应用到云台中进行阐述，当然该电机也可以用于其他设备中。
本发明优选实施例中云台可以为单轴云台、二轴云台或者为三轴云台。如图1所示，该云台为三轴云台，其包括减震组件9、快拆组件2、Z轴电机31、第一轴支臂4、本发明另一优选实施例中的电机、P轴电机32，其中，当该云台挂载在承载件如航拍飞行器上时，减震组件9与航拍飞行器刚性连接，用于减少航拍飞行器传递给该云台的震动。减震组件9与Z轴电机31通过快拆组件2可拆卸连接，减震组件9、快拆组件2及Z轴电机31沿Z轴电机31的轴线方向依次排列。第一轴支臂4的形状为类“L”形。P轴电机32固定于本发明另一优选实施例中的电机的转动组件上，可跟随本发明另一优选实施例中的电机的运动，用于驱动相机或探照灯等负载。
在其他实施例中，当云台为单轴云台时，其包括减震组件9、快拆组件2和本发明另一优选实施例中的电机，其中，当该云台挂载在承载件如航拍飞行器上时，减震组件9与航拍飞行器刚性连接，用于减少航拍飞行器传递给该云台的震动。减震组件9与本发明另一优选实施例中的电机通过快拆组件2可拆卸连接，减震组件9、快拆组件2及本发明另一优选实施例中的电机沿本发明另一优选实施例中的电机的轴线方向依次排列，如相机或探照灯等负载连接在 本发明另一优选实施例中的电机的转动组件上。当云台为二轴云台时，其包括减震组件9、快拆组件2、Z轴电机31、第一轴支臂4和本发明另一优选实施例中的电机，其中，当该云台挂载在承载件如航拍飞行器上时，减震组件9与航拍飞行器刚性连接，用于减少航拍飞行器传递给该云台的震动。减震组件9与Z轴电机31通过快拆组件2可拆卸连接，减震组件9、快拆组件2及Z轴电机31沿Z轴电机31的轴线方向依次排列。第一轴支臂4的形状为类“L”形，第一轴支臂4的一端与Z轴电机31的输出轴连接，本发明另一优选实施例中的电机固定于该第一轴支臂4的另一端上，可跟随第一轴支臂4的运动，如相机或探照灯等负载搭载在本发明另一优选实施例中的电机的转动组件上。
通过将P轴电机32、或者负载如相机或探照灯等搭载在本发明另一优选实施例中的电机的转动组件上，即将转子组件与P轴电机32、或者负载如相机或探照灯等连接在一起，相对现有技术中负载如相机或探照灯等连接在转轴的端部位置，基于转轴端部的扭力相对转子组件的扭力要大，所以本发明可减少电机转轴所产生的扭力传递到负载如相机或探照灯等上，进而使负载如相机或探照灯等的运动平稳性得到提高，同时，可以减少运动在转轴上的时间损耗，进而加快负载如相机或探照灯等响应电机运动的速度。
当不需要减少来自航拍飞行器所产生的震动时，上述任一实施例中的云台可以不设置减震组件9，此时快拆组件2直接与航拍飞行器连接。
当云台不需要与承载件如航拍飞行器进行快拆时，上述任一实施例中的云台也可以不包括快拆组件2，此时上述三轴云台和二轴云台实施例中的Z轴电机31直接与航拍飞行器连接，上述单轴云台实施例中的本发明另一优选实施例中的电机直接与航拍飞行器连接。
结合参照图2，本发明另一优选实施例中的电机包括底座12、转轴1、定子组件、第一轴承82、和定子轴承用于带动外部构件转动的转子组件，在上述三轴云台实施例中该外部构件是指P轴电机32，在上述单轴或者二轴云台实施例中该外部构件是指负载如相机或探照灯等。转轴1具有第一端部、第二端部及连接所述第一端部和第二端部的中部，底座12通过第一轴承82连接在转轴1的第一端部上；定子轴承和转子组件设置在转轴1的中部，即定子轴承和转子组件设置在转轴1的非端部位置；定子轴承、转子组件及第一轴承82沿转轴1的轴线方向依次排列，定子组件通过定子轴承连接在转轴1上。通过转子组件带动外部构件(三轴云台实施例中的P轴电机32，或者，单轴或者二 轴云台实施例中的负载如相机或探照灯等)转动，即将转子组件与外部构件连接在一起，又将转子组件连接在转轴1的非端部位置上，相对现有技术中外部构件连接在转轴的端部位置，基于转轴端部的扭力相对转轴非端部的扭力要大，所以本发明可减少转轴1所产生的扭力传递到外部构件(三轴云台实施例中的P轴电机32，或者，单轴或者二轴云台实施例中的负载如相机或探照灯等)上，进而使外部构件(三轴云台实施例中的P轴电机32，或者，单轴或者二轴云台实施例中的负载如相机或探照灯等)的运动平稳性得到提高，同时，可以减少运动在转轴1上的时间损耗，进而加快外部构件(三轴云台实施例中的P轴电机32，或者，单轴或者二轴云台实施例中的负载如相机或探照灯等)响应电机运动的速度。
为了简化本发明实施例中的云台结构，在上述三轴或二轴云台实施例中，上述电机实施例中的底座12为第一轴支臂4的一部分，即底座12为第一轴支臂4的其中一自由端，也即底座12与第一轴支臂4为一体结构；或者底座12与第一轴支臂4固定连接。
由于外部构件与转子组件直接连接，无需将本发明电机的转轴1伸出该电机以与外部构件连接，所以本发明在优选实施例中，转轴1封闭在底座12、定子组件及转子组件形成的腔体中，这样的设计可避免粉尘等微颗粒经转轴1进入到电机内部，影响电机的性能和寿命，同时也能提高本发明电机的安全性能。
为了增加本发明电机的输出刚性，提高平稳性，本发明优选实施例中的定子组件包括定子7及与该定子7固定的端盖6，定子轴承包括第二轴承81和第三轴承83，所述定子7位于所述第二轴承81和所述第三轴承83之间，也即第二轴承81和第三轴承83分别设置在定子7的两端部，其中所述第二轴承81邻近转子组件设置，第三轴承83邻近转轴1的第二端部设置。通过上述结构，由第二轴承81和第三轴承83作为支撑、定子7装于两个作为支撑的第二轴承81和第三轴承83之间，增加了刚性和稳定性。
转子组件连接在转轴1的非端部位置，具体地，转子组件连接在转轴1中位于第一轴承82和第二轴承81之间的位置，以减少转轴1上所产生的扭力的传递，加快连接在转子组件上的外部构件响应转轴1的速度。
为了能够实时精确的检测到转轴1的旋转角度，以便控制其转动速度及位置，本发明优选实施例中的电机还包括检测转轴旋转角度的传感器组件，该传感器组件包括传感驱动PCB板51、传感磁铁52及安装传感磁铁52的传感磁 座53，其中，传感磁座53固定在转轴1的第二端部(远离底座12)，传感驱动PCB板51与传感磁铁52设置在所述第二端部与所述端盖6之间且传感驱动PCB板51固定在定子组件的端盖6上。
本发明实施例中的电机还包括与外部控制板连接的柔性电路板54，沿转轴1的轴线方向，定子7具有朝向转子组件的第一面，柔性电路板54位于定子7的该第一面上。
本发明实施例中的转子组件包括转子10及第二轴支臂11，第二轴支臂11与转子10为一体结构，或者第二轴支臂11固定于转子10上，外部构件与第二轴支臂11固定连接，外部构件跟随第二轴支臂11转动。通过将本为云台的结构第二轴支臂11设置成与转子10为一体结构或者与转子10固定，使电机相对云台不再为独立的零件，即电机为构成云台的零件的一部分，使得云台的结构更为紧凑，体积更小，重量更轻，有利于承载该云台的航拍飞行器的续航能力的提高。
第一轴支臂4的第一端与底座12固定连接，第一轴支臂4垂直于第二轴支臂11，且第一轴支臂4垂直于转轴1。第一轴支臂4的第二端与z轴电机31连接，z轴电机31通过快拆组件2与减震组件9连接，减震组件9、快拆组件2及Z轴电机31在第一轴支臂4的方向上依次连接。
第二轴支臂11与转子10为一体结构，具体地，第二轴支臂11具有连接臂部及设于该连接臂部两端的第一支臂部和第二支臂部，连接臂部上设有安装转轴1的转轴安装孔，第一支臂部和第二支臂部相对转轴安装孔的轴线呈对称设置；第一支臂部、连接臂、第二支臂部形成一U形结构。进一步地，第二轴支臂11的第一支臂部和第二支臂部中至少有一个的自由端部上安装有P轴电机32。
第二轴支臂11固定于转子10上，具体地，第二轴支臂11包括连接臂部及设于该连接臂部两端的第一支臂部和第二支臂部，连接臂部设有安装转子10的转子安装孔，第一支臂部和第二支臂部相对转子安装孔的轴线呈对称设置。
本发明实施例还提供了一种飞行器，其包括如上所述的云台，还具有机身，所述机身包括驱动装置和拍摄装置，所述拍摄装置设置于所述云台，所述云台设置于所述机身底部，所述驱动装置用于驱动所述电机转动使得所述拍摄装置进行拍摄。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发 明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种电机，其特征在于，包括底座、转轴、定子组件、第一轴承、定子轴承和用于带动外部构件转动的转子组件，所述转轴具有第一端部、第二端部及连接所述第一端部和第二端部的中部，所述底座通过所述第一轴承连接在所述第一端部上，所述定子轴承、所述转子组件设置在所述中部，所述定子轴承、所述转子组件及所述第一轴承沿所述转轴的轴线方向依次排列，所述定子组件通过所述定子轴承连接在所述转轴上。
  2. 如权利要求1所述的电机，其特征在于，所述转轴封闭在所述底座、所述定子组件及所述转子组件形成的腔体中。
  3. 如权利要求1或2所述的电机，其特征在于，所述定子组件包括定子及与该定子固定的端盖，所述定子轴承包括第二轴承和第三轴承，所述定子位于所述第二轴承和所述第三轴承之间，所述第二轴承邻近所述转子组件设置，所述第三轴承邻近所述第二端部第二端部设置。
  4. 如权利要求3所述的电机，其特征在于，所述电机还包括检测转轴旋转角度的传感器组件，所述传感器组件包括传感驱动PCB板、传感磁铁及安装所述传感磁铁的传感磁座，所述传感磁座固定在所述转轴的第二端部，所述传感驱动PCB板与所述传感磁铁设置在所述第二端部与所述端盖之间且固定在所述端盖上。
  5. 如权利要求4所述的电机，其特征在于，所述电机还包括与外部控制板连接的柔性电路板，沿所述转轴的轴线方向，所述定子具有朝向所述转子组件的第一面，所述柔性电路板位于所述定子的该第一面上。
  6. 一种云台，其特征在于，包括权利要求1至5任一项所述的电机。
  7. 如权利要求6所述的云台，其特征在于，所述转子组件包括转子及第二轴支臂，第二轴支臂与所述转子为一体结构，或者所述第二轴支臂固定于所述转子上，所述外部构件与第二轴支臂固定连接。
  8. 如权利要求7所述的云台，其特征在于，所述第二轴支臂具有连接臂部及设于该连接臂部两端的第一支臂部和第二支臂部，所述连接臂部上设有安装所述转轴的转轴安装孔，所述第一支臂部和所述第二支臂部相对所述转轴安装孔的轴线呈对称设置；
    或者，所述第二轴支臂包括连接臂部及设于该连接臂部两端的第一支臂部和第二支臂部，所述连接臂部设有安装所述转子的转子安装孔，所述第一支臂部和所述第二支臂部相对所述转子安装孔的轴线呈对称设置；
    所述第一支臂部、所述连接臂、所述第二支臂部形成一U形结构。
  9. 如权利要求8所述的云台，其特征在于，还包括减震组件、快拆组件、Z轴电机、第一轴支臂、P轴电机，所述第二轴支臂的第一支臂部和第二支臂部中至少有一个的自由端部上安装有所述P轴电机；
    所述第一轴支臂的第一端与所述底座固定连接，所述第一轴支臂垂直于所述第二轴支臂，且所述第一轴支臂垂直于所述转轴；
    所述第一轴支臂的第二端与所述z轴电机连接，所述z轴电机通过所述快拆组件与所述减震组件连接，所述减震组件、快拆组件及Z轴电机在所述第一轴支臂的方向上依次连接。
  10. 一种飞行器，包括如权利要求6至9任一项所述的云台，其特征在于，还具有机身，所述机身包括驱动装置和拍摄装置，所述拍摄装置设置于所述云台，所述云台设置于所述机身底部，所述驱动装置用于驱动所述电机转动使得所述拍摄装置进行拍摄。
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