WO2017128688A1 - 一种云台电机机械限位装置及其云台 - Google Patents

一种云台电机机械限位装置及其云台 Download PDF

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Publication number
WO2017128688A1
WO2017128688A1 PCT/CN2016/093604 CN2016093604W WO2017128688A1 WO 2017128688 A1 WO2017128688 A1 WO 2017128688A1 CN 2016093604 W CN2016093604 W CN 2016093604W WO 2017128688 A1 WO2017128688 A1 WO 2017128688A1
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WO
WIPO (PCT)
Prior art keywords
motor
limiting device
limiting
ring
connecting rod
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2016/093604
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English (en)
French (fr)
Inventor
张正力
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Filing date
Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2017128688A1 publication Critical patent/WO2017128688A1/zh
Priority to US16/045,092 priority Critical patent/US11159106B2/en
Anticipated expiration legal-status Critical
Priority to US17/449,513 priority patent/US11742719B2/en
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • 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
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/12—Structural association with clutches, brakes, gears, pulleys or mechanical starters with auxiliary limited movement of stators, rotors or core parts, e.g. rotors axially movable for the purpose of clutching or braking
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/54—Systems consisting of a plurality of bearings with rolling friction
    • F16C19/55—Systems consisting of a plurality of bearings with rolling friction with intermediate floating or independently-driven rings rotating at reduced speed or with other differential ball or roller bearings
    • 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
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2380/00—Electrical apparatus
    • F16C2380/26—Dynamo-electric machines or combinations therewith, e.g. electro-motors and generators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/18—Machines moving with multiple degrees of freedom

Definitions

  • the present application relates to the field of limiting technology, and in particular, to a mechanical limit device for a cloud platform motor and a cloud platform thereof.
  • the three-axis gimbal generally includes three rotating shafts, which are respectively controlling the Yaw axis (yaw axis) of the gimbal rotating along the Z axis, controlling the Roll axis (rolling axis) of the gimbal rotating along the X axis, and controlling the gimbal to rotate along the Y axis.
  • Pitch axis Pitch axis
  • the Yaw axis is directly connected to the pan-tilt bracket, and the pan/tilt head rotates around the Y-axis.
  • a limit device must be used to define the maximum angle at which the Yaw shaft rotor rotates.
  • the two limit methods used are: mechanical limit device and software limit device.
  • the mechanical limit device generally adopts a limit member fixed on the rotor of the motor and a stop fixed on the stator. The limit is set, and the angle of rotation of the rotor by the limiting device is limited to 360°, and a larger angle of rotation cannot be achieved.
  • the software limit is adopted, the maximum rotation angle of the motor rotation is preset, and the motor rotor stops when it rotates to the maximum rotation angle.
  • the technical problem mainly solved by the present application is to provide a mechanical limit device for a motor, the machine
  • the mechanical limit device is connected to the limit ring on the rotor of the motor, and the first limit device is fixed on the rotor of the motor, and the second limit device is fixed on the stator of the motor.
  • the first limit device is driven to rotate.
  • the first limiting device rotates to the limiting ring to drive the limiting ring to rotate together, and rotates to stop at the second limiting device, so that the rotation angle of the rotor exceeds 360°.
  • a technical solution adopted by the present application is to provide a mechanical limit device for a motor, which is used for a motor rotation limit, and includes: a limit ring, a first limit device and a second limit device,
  • the first limiting device is fixedly connected to the rotor of the motor
  • the second limiting device is fixed on the stator of the motor
  • the limiting ring is connected with the rotor bearing of the motor
  • the limiting ring protrusion forms a blocking edge
  • the first A limiting device and a second limiting device are both located in a path that rotates in a circumferential direction
  • the second limiting device is provided with an area through which the first limiting device passes.
  • the first limiting device comprises: a connecting ring and a first connecting rod, the connecting ring set is fixed on the rotor of the motor, the first connecting rod is connected at one end to the connecting ring, and the other end is bent to form a shift head When the gear head rotates, the limit ring is rotated by pushing the block edge.
  • connecting ring is located below the limiting ring
  • gear head is located below the second limiting device.
  • the second limiting device includes: a stopper and a second connecting rod, wherein the second connecting rod is fixed to the stator at one end and the stopper is connected to the other end, and the second connecting rod is stopped A gear passing area is formed between the stoppers.
  • the rotation angle of the motor rotor ranges from greater than 0° and less than 720°.
  • the present application also provides a cloud platform, including driving the cloud platform.
  • a body-rotating Yaw axis structure the pan/tilt is rotated about a Yaw axis structure, and the rotation is preset within a certain range
  • the pan/tilt head further includes a motor mechanical limit device disposed on the Yaw axis structure, The mechanical limit device of the motor defines the maximum angle at which the pan/tilt rotates around the Yaw axis.
  • the motor mechanical limiting device comprises: a limiting ring, a first limiting device and a second limiting device, wherein the first limiting device is fixedly connected to the rotor of the motor, and the second limiting device is fixed In the stator of the motor, the limiting ring is connected to the rotor bearing of the motor, the limiting ring protrusion forms a blocking edge, and the first limiting device and the second limiting device are both located on the path of the circumferential rotation.
  • the second limiting device is provided with an area for the first limiting device to pass through.
  • the first limiting device comprises: a connecting ring and a first connecting rod, the connecting ring set is fixed on the rotor of the motor, the first connecting rod is connected at one end to the connecting ring, and the other end is bent to form a gear The head rotates when the shifting head rotates by driving the retaining ring.
  • the second limiting device includes: a stopper and a second connecting rod, wherein the second connecting rod is fixed to the stator at one end and the stopper is connected to the other end, and the second connecting rod is stopped A gear passing area is formed between the stoppers.
  • the motor of the Yaw axis structure is a servo motor.
  • the utility model has the beneficial effects of providing a mechanical limit device for a motor, wherein the mechanical limit device is connected to the limit ring on the rotor of the motor, and the first limit device is fixed on the rotor of the motor, and is fixed on the stator of the motor.
  • the second limiting device first drives the first limiting device to rotate when the motor rotates, and the first limiting device rotates to the limiting ring to drive the limiting ring to rotate together, and rotates to the second limiting device to stop, due to the rotor of the motor
  • the actual angle of rotation is the angle between the first limiting device and the limiting ring, and the clamping between the upper limit ring and the second limiting device
  • FIG. 1 is a schematic view of a first embodiment of a motor mechanical limit device of the present application
  • FIG. 2 is a schematic view showing a second embodiment of a mechanical limit device for a motor of the present application
  • FIG. 3 is a schematic view showing a third embodiment of a motor mechanical limit device of the present application.
  • FIG. 4 is a schematic diagram of a cloud platform of the present application.
  • a mechanical limit device for a motor is used for motor rotation limitation, including: a limit ring 10 , a first limiting device 12 and a second limiting device 13 .
  • the first limiting device 12 is fixedly connected to the motor.
  • the second limiting device 13 is fixed on the motor stator 21, the limiting ring 10 is connected with the motor rotating 22 sub-bearing, the limiting ring 10 is raised to form the blocking edge 11, the first limiting device 12 and the second limit
  • the positional devices 13 are all located on the path of the rim 11 in the circumferential direction, and the second limiting device 13 is provided with a region (not shown) through which the first limiting device 12 passes.
  • the first limiting device 12 includes: a connecting ring (not shown) and a first connecting rod (not shown), the connecting ring set is fixed on the rotor of the motor, and one end of the first connecting rod is connected with the connecting ring The other end is bent to form a shift head (not shown).
  • the second limiting device comprises: a stopping member (not shown) and a second connecting rod (not shown), the second connecting rod is fixed to the stator at one end, the stopper is connected to the other end, and the second connecting rod is stopped.
  • a gear passing area is formed between the stoppers.
  • the stop member is a block-shaped protrusion connected to the second connecting rod and conforms to the shape of the gear head.
  • the shape of the gear head and the stop member can be (not limited to): cylindrical shape, triangular shape, depending on the specific application scenario. Or spherical.
  • the second connecting rod is connected to the outside of the stopper, so that a gap is formed between the stopper and the stator through which the head passes.
  • a mechanical limit device for a motor is used for motor rotation limitation, including: a limit ring 10 , a first limiting device 12 and a second limiting device 13 , and a first limit
  • the device 12 is fixedly connected to the motor rotor 22, the second limiting device 13 is fixed on the motor stator 21, the limiting ring 10 is coupled to the motor rotor 22, and the limiting ring 10 is convexly formed to form the blocking edge 11, the first limiting device 12 and the second limiting device 13 are both located in the path of the circumferential rotation of the stop, and the second limiting device 13 is provided with an area (not labeled) through which the first limiting device 12 passes.
  • the first limiting device 12 includes: a third connecting rod 14 and a gear end 17 formed by one end of the third connecting rod, and the other end of the third connecting rod 14 is fixed on the motor rotor 22, and the shifting head 17 is rotated.
  • the driving edge 11 drives the limiting ring 10 to rotate, the third connecting rod 14 is located above the limiting ring 10, and the gear head 17 is located above the second limiting device 13.
  • the second limiting device comprises: a stopper (not labeled), the stopper is a stopper (not labeled) fixed on the stator, and the height of the stopper is smaller than the distance between the bottom of the gear 17 and the stator 21, Therefore, the area above the stopper is the area through which the head passes.
  • the shape of the stop member and the gear head are the same, and the head and the stop member are different according to the specific application scenario.
  • the shape can be (not limited to): cylindrical, triangular, square or spherical.
  • a mechanical limit device for a motor is used for motor rotation limitation, including: a limit ring 10 , a first limiting device 12 and a second limiting device 13 , and a first limit
  • the device 12 is fixedly connected to the motor rotor 22, the second limiting device 13 is fixed on the motor stator 21, the limiting ring 10 is coupled to the motor rotor 22, and the limiting ring 10 is convexly formed to form the blocking edge 11, the first limiting device 12 and the second limiting device 13 are both located in the path of the circumferential direction of rotation, and the second limiting device 13 is provided with an area for the first limiting device 12 to pass through.
  • the first limiting device 12 includes: a fourth connecting rod 15 and a gear end 17 formed by one end of the fourth connecting rod.
  • the other end of the fourth connecting rod 15 is fixed on the motor rotor 22, and the shifting head 17 passes through.
  • the driving edge 11 drives the limiting ring 10 to rotate, the fourth connecting rod 15 is located above the limiting ring 10, and the gear head 17 is located above the second limiting device 13.
  • the second limiting device 13 comprises: a stop member (not labeled), the stop member is a stop block (not labeled) having an arc-shaped passage in the middle, and the size of the curved passage is matched with the bottom of the gear head to form a gear The area through which the head passes.
  • the range of the motor rotation angle of the motor mechanical limit device is: greater than 0° and less than 720°, and the factor of limiting the angle is that the gear head, the retaining edge and the limiting member are in contact with each other.
  • the size of the angle, so the actual angle of rotation of the rotor is: 720 ° minus the angle between the gear head, the retaining edge and the limiter.
  • the specific working flow of the application is as follows: the rotor of the motor rotates, and the first limiting device fixedly connected with the rotor is synchronously rotated. After the first limiting device rotates by a certain angle, the gear head contacts the blocking edge on the limiting ring, and the limit is limited.
  • the ring is connected with the rotor bearing, so the limit ring does not rotate when the rotor rotates, and when the gear head contacts the retaining edge, the limit ring is pushed to rotate together, the limit ring and the shift head After rotating a certain angle together, the limit ring contacts the second limit device and stops rotating.
  • the first limiting device may pass the position of the second limiting device before contacting the limiting ring.
  • a pan/tilt head includes a Yaw axis 20 structure that drives the whole rotation of the gimbal.
  • the pan/tilt head rotates around the Yaw axis structure, and the rotation is preset within a certain range, and the pan/tilt also includes
  • the mechanical limit device of the motor is arranged on the Yaw shaft structure, and the mechanical limit device of the motor defines the maximum angle of rotation of the gimbal around the Yaw axis.
  • the mechanical mechanical limit device used in the Yaw shaft structure is the motor mechanical limit device described in Embodiment 1.
  • the pan/tilt uses a double limit device, a mechanical limit device and a software limit device.
  • the motor used in the Yaw axis structure is a servo motor, which can perform precise angle control according to the pulse, and set the maximum rotation angle in the servo motor control program, so that the rotation of the motor is guaranteed within a limited range.
  • the mechanical limit device of the motor is used as the software-controlled insurance limit device to prevent the motor from rotating out of control due to any cause, and the protection head can prevent the internal cable from being lost when the motor is out of control.
  • the beneficial effect of the application is that the double angle limit device is adopted to ensure the reliability of the pan/tilt rotation.
  • the mechanical limit device of the motor can realize the super-306° rotation of the gimbal support and improve the performance of the gimbal.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
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Abstract

一种电机机械限位装置，用于电机转动限制，包括：限位环(10)、第一限位装置(12)与第二限位装置(13)，第一限位装置(12)固定连接在电机转子(22)上，第二限位装置(13)固定在电机定子(21)上，限位环(10)与电机转子轴承连接，限位环(10)凸起形成挡沿(11)，第一限位装置(12)与第二限位装置(13)均位于挡沿(11)周向转动的路径上，电机转动时先带动第一限位装置(12)转动，第一限位装置(12)转动至限位环(10)处带动限位环(10)一起转动，转动至第二限位装置(13)处停止，从而使转子(22)的转动角度超过了360°。

Description

一种云台电机机械限位装置及其云台 【技术领域】
本申请涉及一种限位技术领域，尤其涉及一种云台电机机械限位装置及其云台。
【背景技术】
三轴云台一般包括三个转轴，分别为控制云台沿Z轴转动的Yaw轴(偏航轴)，控制云台沿X轴转动的Roll轴(翻滚轴)，控制云台沿Y轴转动的Pitch轴(俯仰轴)。一般地，现有技术中Yaw轴与云台支架直接相连，带动云台绕Y轴旋转，由于Yaw轴与云台支架之间连接有线缆，所以Yaw轴不能带动云台支架无限制的转动，必须采取限位装置限定Yaw轴转子转动的最大角度。现有技术中，采用的两种限位方法分别为：机械式限位装置与软件限位装置，机械式限位装置一般采用固定在电机转子上的限位件与固定在定子上的止挡件进行限位，采用这种限位装置转子转动的角度被限制在360°以内，无法实现更大角度的转动。采用软件限位时，通过预设电机转动的最大转动角度，电机转子转动到最大转动角度时即停止，采用这种限位方法，对于电机的要求相当高，且要求控制程序稳定性要高达百分之百，如果出现依次控制程序失灵，连接在Yaw轴与云台支架之间的线缆将会被电机转子拉扯断裂。
【发明内容】
本申请主要解决的技术问题是提供一种电机机械限位装置，该机 械限位装置在电机转子上轴承连接限位环，并在电机转子上固定随动第一限位装置，在电机定子上固定第二限位装置，电机转动时先带动第一限位装置转动，第一限位装置转动至限位环处带动限位环一起转动，转动至第二限位装置处停止，从而使转子的转动角度超过了360°。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种电机机械限位装置，用于电机转动限制，包括：限位环、第一限位装置与第二限位装置，所述第一限位装置固定连接在电机转子上，所述第二限位装置固定在电机定子上，所述限位环与电机转子轴承连接，所述限位环凸起形成挡沿，所述第一限位装置与第二限位装置均位于挡沿周向转动的路径上，所述第二限位装置上设有供第一限位装置穿过的区域。
进一步地，所述第一限位装置包括：连接环与第一连接杆，所述连接环套装固定在电机转子上，所述第一连接杆一端与连接环相连，另一端弯折形成档头，所述档头转动时通过推动挡沿带动限位环转动。
更进一步地，所述连接环位于限位环下方，所述档头位于第二限位装置下方。
更进一步地，所述第二限位装置包括：止挡件与第二连接杆，所述第二连接杆一端与固定在定子上，另一端连接止挡件，所述第二连接杆与止挡件之间形成档头穿过区域。
更进一步地，所述电机转子的转动角度范围为大于0°并且小于720°。
为解决上述技术问题，本申请还提供一种云台，包括带动云台整 体转动的Yaw轴结构，所述云台绕Yaw轴结构转动，且所述转动预设定在一定范围内，所述云台还包括设置在Yaw轴结构上的电机机械限位装置，所述电机机械限位装置限定云台绕Yaw轴转动的最大角度。
进一步地，所述电机机械限位装置包括：限位环、第一限位装置与第二限位装置，所述第一限位装置固定连接在电机转子上，所述第二限位装置固定在电机定子上，所述限位环与电机转子轴承连接，所述限位环凸起形成挡沿，所述第一限位装置与第二限位装置均位于挡沿周向转动的路径上，所述第二限位装置上设有供第一限位装置穿过的区域。
更进一步地，所述第一限位装置包括：连接环与第一连接杆，所述连接环套装固定在电机转子上，所述第一连接杆一端与连接环相连，另一端弯折形成档头，所述档头转动时通过推动挡沿带动限位环转动。
更进一步地，所述第二限位装置包括：止挡件与第二连接杆，所述第二连接杆一端与固定在定子上，另一端连接止挡件，所述第二连接杆与止挡件之间形成档头穿过区域。
更进一步地，所述Yaw轴结构的电机为伺服电机。
本申请的有益效果是：提供一种电机机械限位装置，该机械限位装置在电机转子上轴承连接限位环，并在电机转子上固定随动第一限位装置，在电机定子上固定第二限位装置，电机转动时先带动第一限位装置转动，第一限位装置转动至限位环处带动限位环一起转动，转动至第二限位装置处停止，由于电机转子的转动的实际角度为，第一限位装置与限位环之间的夹角，加上限位环与第二限位装置之间的夹 角，又由于第二限位装置上设有供第一限位装置穿过的区域，所以两个角度的和大于360°。
【附图说明】
图1为本申请电机机械限位装置第一种实施方式示意图；
图2为本申请电机机械限位装置第二种实施方式示意图；
图3为本申请电机机械限位装置第三种实施方式示意图；
图4为本申请云台示意图。
附图标记说明：10、限位环；11、挡沿；12、第一限位装置；13、第二限位装置；14、第三连接杆；15、第四连接杆；16、档头穿过的区域；17、档头；20、Yaw轴；21、定子；22、转子。
【具体实施方式】
下面结合附图和实施方式对本申请进行详细说明。
实施例1
请参阅图1，一种电机机械限位装置，用于电机转动限制，包括：限位环10、第一限位装置12与第二限位装置13，第一限位装置12固定连接在电机转子22上，第二限位装置13固定在电机定子21上，限位环10与电机转22子轴承连接，限位环10凸起形成挡沿11，第一限位装置12与第二限位装置13均位于挡沿11周向转动的路径上，第二限位装置13上设有供第一限位装置12穿过的区域(图未示)。具体地，第一限位装置12包括：连接环(图未示)与第一连接杆(图未示)，连接环套装固定在电机转子上，第一连接杆一端与连接环相 连，另一端弯折形成档头(图未示)，档头转动时通过推动挡沿带动限位环转动，连接环位于限位环下方，档头位于第二限位装置13下方。第二限位装置包括：止挡件(图未示)与第二连接杆(图未示)，第二连接杆一端与固定在定子上，另一端连接止挡件，第二连接杆与止挡件之间形成档头穿过区域。其中止挡件为连接在第二连接杆上的与档头形状一致的块状凸起，根据具体应用场景的不同，档头与止挡件的形状能够为(不限于)：柱形、三角形或球形。第二连接杆连接在止挡件的外侧，故止挡件与定子之间形成了一个供档头穿过的缺口。
请参阅图2，在一些实施方式中，一种电机机械限位装置，用于电机转动限制，包括：限位环10、第一限位装置12与第二限位装置13，第一限位装置12固定连接在电机转子22上，第二限位装置13固定在电机定子21上，限位环10与电机转子22轴承连接，限位环10凸起形成挡沿11，第一限位装置12与第二限位装置13均位于挡沿周向转动的路径上，第二限位装置13上设有供第一限位装置12穿过的区域(未标识)。具体地，第一限位装置12包括：第三连接杆14与第三连接杆一端凸起形成的档头17，第三连接杆14另一端固定在电机转子22上，档头17转动时通过推动挡沿11带动限位环10转动，第三连接杆14位于限位环10上方，档头17位于第二限位装置13上方。第二限位装置包括：止挡件(未标识)，止挡件为固定在定子上的止挡块(未标识)，止挡块的高度小于档头17底部与定子21之间的距离，故止挡件上方的区域为供档头通过的区域。其中止挡件与档头的形状一致，根据具体应用场景的不同，档头与止挡件的 形状能够为(不限于)：柱形、三角形、方形或球形。
请参阅图3，在一些实施方式中，一种电机机械限位装置，用于电机转动限制，包括：限位环10、第一限位装置12与第二限位装置13，第一限位装置12固定连接在电机转子22上，第二限位装置13固定在电机定子21上，限位环10与电机转子22轴承连接，限位环10凸起形成挡沿11，第一限位装置12与第二限位装置13均位于挡沿周向转动的路径上，第二限位装置13上设有供第一限位装置12穿过的区域。具体地，第一限位装置12包括：第四连接杆15与第四连接杆一端凸起形成的档头17，第四连接杆15另一端固定在电机转子22上，档头17转动时通过推动挡沿11带动限位环10转动，第四连接杆15位于限位环10上方，档头17位于第二限位装置13上方。第二限位装置13包括：止挡件(未标识)，止挡件为中部开设有弧形通道的止挡块(未标识)，弧形通道的大小与档头底部相配合，形成供档头穿过的区域16。
本申请中，安装电机机械限位装置的电机转动角度的范围为：大于0°并且小于720°，其限制角度大小的因素在于，档头、挡沿与限位件三者接触后所占夹角的大小，故转子转动的实际角度为：720°减去档头、挡沿与限位件三者接触后所占夹角。
本申请的具体工作流程为：电机转子转动，带动与转子固定连接的第一限位装置同步转动，第一限位装置转动一定角度后，档头与限位环上的挡沿接触，限位环与转子轴承连接，所以在转子转动时限位环不转动，当档头与挡沿接触后推动限位环一起转动，限位环与档头 一起转动一定角度后，限位环与第二限位装置相接触，并停止转动。第一限位装置在与限位环接触之前可能经过第二限位装置所在的位置。
实施例2
请参阅图4，一种云台，包括带动云台整体转动的Yaw(偏航)轴20结构，云台绕Yaw轴结构转动，且所述转动预设定在一定范围内，云台还包括设置在Yaw轴结构上的电机机械限位装置，电机机械限位装置限定云台绕Yaw轴转动的最大角度。Yaw轴结构上使用的电机机械限位装置，为实施例1中所说的电机机械限位装置。
本实施方式中，云台采用双重限位装置，机械式限位装置与软件限位装置。其中Yaw轴结构采用的电机为伺服电机，能够根据脉冲进行精确角度控制，在伺服电机控制程序中设定最大转动角度，使电机的转动保证在限定的范围内。采用电机机械限位装置作为软件控制的保险限位装置，防止任何原因导致的电机转动失控故障，保护云台能够在电机失控的情况下，不破坏内部线缆。
本申请的有益效果是：采用双重角度限位装置，保证了云台转动的可靠性。其中采用电机机械限位装置，能够使云台支架实现超306°旋转，提高了云台性能。
需要说明的是，本申请的说明书及其附图中给出了本申请的较佳的实施方式，但是，本申请可以通过许多不同的形式来实现，并不限于本说明书所描述的实施方式，这些实施方式不作为对本申请内容的额外限制，提供这些实施方式的目的是使对本申请的公开内容的理解更加 透彻全面。并且，上述各技术特征继续相互组合，形成未在上面列举的各种实施方式，均视为本申请说明书记载的范围；进一步地，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，而所有这些改进和变换都应属于本申请所附权利要求的保护范围。

Claims (10)

  1. 一种电机机械限位装置，用于电机转动限制，其特征在于，包括：限位环、第一限位装置与第二限位装置，所述第一限位装置固定连接在电机转子上，所述第二限位装置固定在电机定子上，所述限位环与电机转子轴承连接，所述限位环凸起形成挡沿，所述第一限位装置与第二限位装置均位于挡沿周向转动的路径上，所述第二限位装置上设有供第一限位装置穿过的区域。
  2. 根据权利要求1所述电机机械限位装置，其特征在于，所述第一限位装置包括：连接环与第一连接杆，所述连接环套装固定在电机转子上，所述第一连接杆一端与连接环相连，另一端弯折形成档头，所述档头转动时通过推动挡沿带动限位环转动。
  3. 根据权利要求2所述电机机械限位装置，其特征在于，所述连接环位于限位环下方，所述档头位于第二限位装置下方。
  4. 根据权利要求3所述电机机械限位装置，其特征在于，所述第二限位装置包括：止挡件与第二连接杆，所述第二连接杆一端与固定在定子上，另一端连接止挡件，所述第二连接杆与止挡件之间形成档头穿过区域。
  5. 根据权利要求1～4任意一项所述电机机械限位装置，其特征在于，所述电机转子的转动角度范围为大于0°并且小于720°。
  6. 一种云台，包括带动云台整体转动的Yaw轴结构，所述云台绕Yaw轴结构转动，且所述转动预设定在一定范围内，其特征在于，所述云台还包括设置在Yaw轴结构上的电机机械限位装置，所述电机 机械限位装置限定云台绕Yaw轴转动的最大角度。
  7. 根据权利要求6所述云台，其特征在于，所述电机机械限位装置包括：限位环、第一限位装置与第二限位装置，所述第一限位装置固定连接在电机转子上，所述第二限位装置固定在电机定子上，所述限位环与电机转子轴承连接，所述限位环凸起形成挡沿，所述第一限位装置与第二限位装置均位于挡沿周向转动的路径上，所述第二限位装置上设有供第一限位装置穿过的区域。
  8. 根据权利要求7所述云台，其特征在于，所述第一限位装置包括：连接环与第一连接杆，所述连接环套装固定在电机转子上，所述第一连接杆一端与连接环相连，另一端弯折形成档头，所述档头转动时通过推动挡沿带动限位环转动。
  9. 根据权利要求8所述云台，其特征在于，所述第二限位装置包括：止挡件与第二连接杆，所述第二连接杆一端与固定在定子上，另一端连接止挡件，所述第二连接杆与止挡件之间形成档头穿过区域。
  10. 根据权利要求6～9任意一项所述云台，其特征在于，所述Yaw轴结构的电机为伺服电机。
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