WO2017088514A1 - Véhicule aérien et sa tête sphérique - Google Patents

Véhicule aérien et sa tête sphérique Download PDF

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Publication number
WO2017088514A1
WO2017088514A1 PCT/CN2016/093109 CN2016093109W WO2017088514A1 WO 2017088514 A1 WO2017088514 A1 WO 2017088514A1 CN 2016093109 W CN2016093109 W CN 2016093109W WO 2017088514 A1 WO2017088514 A1 WO 2017088514A1
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WO
WIPO (PCT)
Prior art keywords
motor
connecting arm
disposed
pan
motor shaft
Prior art date
Application number
PCT/CN2016/093109
Other languages
English (en)
Chinese (zh)
Inventor
余春
吕国刚
吉志鹏
冯锴
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
Publication of WO2017088514A1 publication Critical patent/WO2017088514A1/fr

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Classifications

    • 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
    • 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
    • H02K5/22—Auxiliary parts of casings not covered by groups H02K5/06-H02K5/20, e.g. shaped to form connection boxes or terminal boxes

Definitions

  • the present application relates to the field of photographing equipment, and in particular to a pan/tilt head capable of carrying a photographing device and an aircraft having the same.
  • the PTZ has been gradually applied to mount photographic equipment on the gimbal, and to display various shooting angles such as horizontal or pitch on the gimbal, and to stabilize in a certain posture. Shooting, so you can get an image with a greatly improved shooting effect.
  • a general pan/tilt has three rotatable axes, namely a roll axis, a yaw axis, and a pitch axis.
  • the three axes define a three-dimensional coordinate system for controlling the positional state of the photographic equipment on the gimbal in three dimensions.
  • a drive motor is provided on each of the three shafts for driving each shaft to rotate.
  • the control lines of these motors are summarized into motor control boards on the first axis disposed therein, which are used to control the operation of these motors.
  • control circuit of the drive motor on the third axis must travel across the space outside the pan/tilt over the second axis to reach the first axis provided with the motor control board.
  • These control lines are exposed outside the gimbal and are easily worn and easily scratched with other components.
  • the joints of these exposed control lines are also easily broken during the implementation of these actions. Exposed control lines also affect the appearance of the entire gimbal.
  • a pan/tilt head comprising: a first connecting arm, a second connecting arm rotatably connected to the first connecting arm, an intermediate motor disposed at a rotational connection of the first connecting arm and the second connecting arm, disposed at a first motor at a free end of the first connecting arm, a second motor disposed on the second connecting arm, and a control circuit board disposed in the second connecting arm, and a control circuit of the intermediate motor, the first motor, and the second motor
  • Each is in communication with a control circuit board, the motor shaft of the intermediate motor is hollow, and the side of the motor shaft is provided with a radial slot.
  • a control line of the first motor passes through an interior of a motor shaft of the intermediate motor, and is connected to the second connecting arm through the radial slot of the side of the motor shaft to control a circuit board in the second connecting arm Communication connection.
  • the first connecting arm has a U shape, has a first arm portion and a second arm portion, and the intermediate motor is disposed between the first arm portion and the second arm portion.
  • the first arm portion, the intermediate motor and the second arm portion are sequentially connected to form an integral structure.
  • the first motor is two, and is disposed at a free end of the first arm portion and the second arm portion, respectively.
  • the first connecting arm is empty, and the control line of the first motor first passes through the first connecting arm and enters the motor shaft of the intermediate motor.
  • the intermediate motor includes a front end cover, a rotor, a stator base, a rear cover, and the motor shaft, and the front end cover and the rear cover are fixedly disposed in the first connecting arm or in the second connecting arm.
  • the front end cover and the rear cover are combined to form a motor housing, and the stator base and the rotor are disposed in the motor housing.
  • the motor shaft passes through the motor housing and is fixed to the rotor and rotatable relative to the stator seat.
  • the front end cover and the rear cover have a gap communicating with a radial slot on the motor shaft, the gap being passed by a control line of the first motor.
  • control line of the first motor is wound through the radial slot on the motor shaft of the intermediate motor and then wound on the motor shaft for at least one turn.
  • a limit block is disposed on a motor shaft of the intermediate motor, and a control line of the first motor is wound around the motor shaft by the limit block.
  • control line is a cable or a round wire.
  • the pan/tilt further includes a power source disposed in the second connecting arm, and the power source is electrically connected to the intermediate motor, the first motor, and the second motor, respectively.
  • An aircraft comprising a fuselage, a flight control device disposed on the fuselage, and Any type of pan/tilt, the flight control device is configured to control the rotation of the first connecting arm and the second connecting arm.
  • the utility model has the beneficial effects that: the present invention provides a routing channel on the motor shaft of the intermediate motor by means of internal routing, so that the control circuit of the first motor located at the free end of the first connecting arm can be
  • the second connecting arm is connected from the inside of the intermediate motor to the control circuit board in the second connecting arm, so that the control circuit of the first motor is prevented from being exposed to the external space of the pan/tilt, and the control circuit is prevented from physically scraping with other components.
  • the appearance of the gimbal can be made more simple and beautiful.
  • FIG. 1 is a schematic diagram of an overall structure of a cloud platform provided by an embodiment of the present application.
  • Figure 2 is a cross-sectional view showing a portion of the structure of the head shown in Figure 1.
  • Fig. 3 is a schematic view showing the internal structure of an intermediate motor in the gimbal shown in Fig. 2.
  • FIG. 4 is a schematic view showing the structure of the intermediate motor of the pan/tilt head shown in FIG.
  • Figure 5 is a cross-sectional view taken along line A-A of Figure 4.
  • a pan/tilt head can be used for installing photographic equipment, and provides various shooting angle postures of the photographic equipment, so that the image content is richer and the image quality is higher.
  • the pan/tilt includes a first connecting arm 31 and a second connecting arm 41 rotatably coupled to the first connecting arm 31.
  • the pan/tilt head further includes a first motor 1, an intermediate motor 3 and a second motor (not shown) disposed in combination with the first connecting arm 31 and the second connecting arm 41, and the first motor 1, the intermediate motor 3, and A control circuit board (not shown) of the second motor communication connection, and a power source (not shown) electrically connected to the first motor 1, the intermediate motor 3, and the second motor.
  • the photographic device can be arranged on the first connecting arm 31 in a driving connection with the first motor 1 .
  • the first motor 1 is used to drive the photographic equipment for pitching motion.
  • the intermediate motor 3 is disposed at a rotational connection of the first connecting arm 31 and the second connecting arm 41 for driving the first connecting arm 31 to rotate relative to the second connecting arm 41 about the rotating shaft, thereby completing the turning of the photographic apparatus.
  • the second motor is used to drive the second connecting arm 41 to rotate axially, and the axial direction is the extending direction of the length of the second connecting arm 41.
  • the power source may be a battery, and the power source may be disposed in a setting space provided in the second connecting arm 41.
  • the power source can provide energy for the operation of the first motor 1, the intermediate motor 3, and the second motor.
  • the first connecting arm 31 is empty, for providing the installation space of the intermediate motor 3 and the setting passage of the control line of the first motor 1.
  • the first connecting arm 31 includes a first arm portion and a second arm portion, each of the arm portions being L-shaped, so that the first connecting arm 31 is substantially U-shaped as a whole.
  • the intermediate motor 3 is disposed between the first arm portion and the second arm portion, and the first arm portion, the intermediate motor 3, and the second arm portion are sequentially connected to form an integral structure.
  • the plane in which the first connecting arm 31 is located is defined as a horizontal plane, and the second connecting arm 41 rotatably connected to the first connecting arm 31 is located in a vertical plane.
  • the second connecting arm 41 is rotatably connected to the joint of the first arm portion and the second arm portion by the intermediate motor 3, and the first connecting arm 31 can be rotated relative to the second connecting arm 41 by the driving of the intermediate motor 3.
  • the first motor 1 is disposed at a free end of the arm portion of the first connecting arm 31.
  • the first motor 1 may be two, which are respectively disposed at the free ends of the first arm portion and the second arm portion.
  • the intermediate motor 3 includes a front end cover 7, a rotor 8, a stator base 9, a rear cover 10, and a motor shaft 6.
  • the front end cover 7 and the rear cover 10 are combined to form a motor housing for accommodating the motor shaft 6, the rotor 8 and the stator base 9 and other components in the intermediate motor 3.
  • the rotor 8 and the stator base 9 are disposed in a motor housing, and the motor shaft 6 passes through the motor housing and is fixed to the rotor 8 and rotatable relative to the stator base 9.
  • the front end cover 7 and the rear cover 10 are fixedly disposed in the first connecting arm 31. In some other embodiments, the front end cover 7 and the rear cover 10 may also be fixedly disposed on the second connecting arm. 41 inside.
  • the motor shaft 6 is drivingly connected to the second connecting arm 41; when the front end cover 7 and the rear cover 10 are fixedly disposed at the front end When the second connecting arm 41 is inside, the motor shaft 6 is drivingly connected to the first connecting arm 31.
  • the first connecting arm 31 can be rotated relative to the second connecting arm 41 by the operation of the intermediate motor 3.
  • the control circuit of the intermediate motor 3 can be routed through the second connecting arm 41 and connected to a control circuit board provided in the second connecting arm 41.
  • the motor shaft 6 is provided with an axial bore 62 and a radial slot 61 in communication with the axial bore 62.
  • the axial through hole 62 may extend through the entire axial direction of the motor shaft 6, or may be opened only at one end of the motor shaft 6.
  • the axial bore 62 extends from one end of the motor shaft 6 to the middle of the motor shaft 6, and the radial slot 61 is located in the middle of the motor shaft 6 and is in communication with the axial bore 62.
  • the first motor 1 disposed at the free end of the first connecting arm 31 has its control line 5 sequentially passing through the first connecting arm 31, the axial through hole 62 on the motor shaft 6 of the intermediate motor 3, and the radial slot 61. And reaching the second connecting arm 41 to communicate with the control circuit board in the second connecting arm 41.
  • the present invention provides a routing channel on the motor shaft of the intermediate motor by means of internal routing, so that the control line of the first motor located at the free end of the first connecting arm can reach the second connecting arm from the inside of the intermediate motor, and the second
  • the control circuit board connection in the connecting arm prevents the control circuit of the first motor from being exposed to the external space of the pan/tilt, prevents the physical control of these control lines from being physically scratched, and also makes the appearance of the gimbal look more simple and beautiful.
  • the front end cover 7 is not completely sealed when combined with the rear cover 10, and a gap is formed between the front end cover 7 and the rear cover 10 to communicate with the radial slot 61 on the motor shaft 6, the gap is provided.
  • the control line 5 of the first motor 1 passes.
  • the radial slot 61 on the motor shaft 6 may be located outside of the motor housing formed by the combination of the front end cover 7 and the rear cover 10, thereby eliminating the need to provide the gap.
  • control line 5 of the first motor 1 is a cable. It can be understood that the control line 5 and the control circuit of the intermediate motor 3 and the second motor may also be round wires.
  • connection stability of the control line 5 can be as shown in FIG. 5, in the radial slot 61 on the motor shaft 6 passing through the intermediate motor 3. It is wound around the motor shaft 6 at least one turn. Shown in Figure 5 is a two-turn control loop 5 wound around the motor shaft 6.
  • the control line 5 has a sufficient length to rotate together with the motor shaft 6, so that no tearing accident occurs.
  • a limit block 63 is disposed on the motor shaft 6 of the intermediate motor 3, and the control line 5 of the first motor 1 is wound around the motor shaft 6.
  • the limit block 63 is limited.
  • the limiting block 63 can align the control line 5 wound around the motor shaft 6 to avoid the connection failure of the control line 5 due to winding disorder and scratching with other components.
  • the present application still further provides an aircraft comprising a fuselage, a flight control device disposed on the fuselage, and a pan/tilt, wherein the pan/tilt is a pan/tilt provided by any of the above embodiments, the flight The control device is for controlling the rotation of the first connecting arm and the second connecting arm.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

L'invention concerne une tête sphérique et un véhicule aérien ayant la tête sphérique. La tête sphérique comprend un premier bras de liaison (31), un second bras de liaison (41) relié rotatif au premier bras de liaison (31), et un moteur intermédiaire (3) disposé à l'endroit où le premier bras de liaison (31) et le second bras de liaison (41) sont reliés, et comprend également un premier moteur (1), un second moteur, et une carte de circuit de commande. Des circuits de commande du moteur intermédiaire (3), du premier moteur (1), et du second moteur sont connectés en communication à la carte de circuit de commande. Un arbre de moteur (6) du moteur intermédiaire (3) comprend un trou traversant axial (62) et une rainure radiale (61). Le circuit de commande (5) du premier moteur (1) passe séquentiellement à travers le trou traversant axial (62) et la rainure radiale (61) sur l'arbre de moteur (6) du moteur intermédiaire (3) et le second bras de liaison (41) pour être connecté en communication à la carte de circuit de commande dans le second bras de liaison (41). Un canal est pratiqué sur l'arbre de moteur (6) du moteur intermédiaire (3) pour permettre au circuit de commande (5) du premier moteur (1) d'atteindre l'intérieur du second bras de liaison (41) depuis l'intérieur du moteur intermédiaire (3) à connecter à la carte de circuit de commande, empêchant ainsi le circuit de commande (5) d'être exposé dans l'espace situé à l'extérieur de la tête sphérique, et empêchant des rayures avec d'autres composants.
PCT/CN2016/093109 2015-11-23 2016-08-03 Véhicule aérien et sa tête sphérique WO2017088514A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201520937597.2 2015-11-23
CN201520937597.2U CN205105029U (zh) 2015-11-23 2015-11-23 飞行器及其云台

Publications (1)

Publication Number Publication Date
WO2017088514A1 true WO2017088514A1 (fr) 2017-06-01

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Application Number Title Priority Date Filing Date
PCT/CN2016/093109 WO2017088514A1 (fr) 2015-11-23 2016-08-03 Véhicule aérien et sa tête sphérique

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CN (1) CN205105029U (fr)
WO (1) WO2017088514A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205105029U (zh) * 2015-11-23 2016-03-23 深圳市道通智能航空技术有限公司 飞行器及其云台
TWI600268B (zh) * 2016-07-28 2017-09-21 卓金星 旋轉模擬平台
CN106715269A (zh) * 2016-10-24 2017-05-24 深圳市大疆创新科技有限公司 云台、拍摄系统和飞行器
WO2019205037A1 (fr) * 2018-04-25 2019-10-31 深圳市大疆创新科技有限公司 Tête sphérique, bâti de machine et véhicule aérien sans pilote
WO2020258146A1 (fr) * 2019-06-27 2020-12-30 深圳市大疆创新科技有限公司 Tête de cardan

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006060773A (ja) * 2004-08-18 2006-03-02 Samsung Electronics Co Ltd カメラのパン・チルト装置
CN201681246U (zh) * 2010-05-13 2010-12-22 无锡卡美拉亿倍网络视频监控技术有限公司 一种云台机结构
US20110268433A1 (en) * 2009-01-12 2011-11-03 Robomech Co., Ltd. Pan-tilt apparatus
CN103419942A (zh) * 2013-09-10 2013-12-04 北京臻迪科技有限公司 一种无人飞行器
CN203660714U (zh) * 2013-12-28 2014-06-18 南昌三瑞模型有限公司 一种新型云台增稳电机
CN104908965A (zh) * 2015-06-02 2015-09-16 极翼机器人(上海)有限公司 柔性云台电机连接件及云台
CN204647758U (zh) * 2015-05-15 2015-09-16 深圳市大疆创新科技有限公司 云台
CN205105029U (zh) * 2015-11-23 2016-03-23 深圳市道通智能航空技术有限公司 飞行器及其云台

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006060773A (ja) * 2004-08-18 2006-03-02 Samsung Electronics Co Ltd カメラのパン・チルト装置
US20110268433A1 (en) * 2009-01-12 2011-11-03 Robomech Co., Ltd. Pan-tilt apparatus
CN201681246U (zh) * 2010-05-13 2010-12-22 无锡卡美拉亿倍网络视频监控技术有限公司 一种云台机结构
CN103419942A (zh) * 2013-09-10 2013-12-04 北京臻迪科技有限公司 一种无人飞行器
CN203660714U (zh) * 2013-12-28 2014-06-18 南昌三瑞模型有限公司 一种新型云台增稳电机
CN204647758U (zh) * 2015-05-15 2015-09-16 深圳市大疆创新科技有限公司 云台
CN104908965A (zh) * 2015-06-02 2015-09-16 极翼机器人(上海)有限公司 柔性云台电机连接件及云台
CN205105029U (zh) * 2015-11-23 2016-03-23 深圳市道通智能航空技术有限公司 飞行器及其云台

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