WO2018133393A1 - 飞行器及其云台限位装置 - Google Patents
飞行器及其云台限位装置 Download PDFInfo
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- WO2018133393A1 WO2018133393A1 PCT/CN2017/096659 CN2017096659W WO2018133393A1 WO 2018133393 A1 WO2018133393 A1 WO 2018133393A1 CN 2017096659 W CN2017096659 W CN 2017096659W WO 2018133393 A1 WO2018133393 A1 WO 2018133393A1
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- WIPO (PCT)
- Prior art keywords
- limiting
- boss
- pan
- rotating shaft
- tilt
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- 230000001154 acute effect Effects 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Definitions
- the present application relates to the field of aircraft, and in particular to a pan/tilt limit device and an aircraft using the same.
- a one-cycle limit rotation structure is usually provided on the rotating pan/tilt of the camera.
- the limit rotation structure is limited to stop the camera from rotating.
- the limit action of the limit rotation structure the camera often cannot be fully rotated by 360 degrees when rotating, and there is a case where the angle of the monitoring range is insufficient.
- the purpose of the present application is to provide a pan/tilt limit device having a simple structure and a small volume and an aircraft using the same.
- a pan/tilt limit device includes:
- a rotating shaft one end of which is connected to the rotor, and the outer side wall of the other end of the rotating shaft is provided with a limiting portion;
- a stator is provided with a receiving cavity, and one end of the rotating shaft away from the rotor is received in the receiving cavity;
- the limiting member is received in the receiving cavity, the limiting member comprises a body, a first boss and a second boss, the first boss is disposed at one end of the body, and the second boss
- the body is rotatably sleeved on the rotating shaft, and the limiting portion and the first portion are rotated relative to the limiting member by a first predetermined angle. a boss is resisted;
- a shaft arm is fixedly connected to the stator, and a side of the shaft arm adjacent to the limiting member is provided with a limiting protrusion, and the limiting protrusion is rotated relative to the limiting member by a second predetermined angle The limiting protrusion abuts against the second boss of the limiting member.
- the first boss is disposed on an end surface of one end of the body, and the second boss is disposed on an outer sidewall of the other end of the body.
- the limiting portion is a limiting screw, and the limiting screw is along the rotating The radial arrangement of the shaft, one end of the limit screw protrudes from the outer side wall of the rotating shaft.
- the body is a hollow cylinder
- the first boss has an arcuate convex arm having a side that is the same as an outer surface of the body.
- the second boss extends radially outwardly of the body.
- the second boss has a fan shape on one side, and the face is coplanar with the bottom surface of the body.
- a plane in which the two opposite sidewalls of the limiting protrusion abutting the second boss pass through the axis of the rotating shaft.
- the central angle corresponding to the limiting protrusion is an acute angle.
- a magnetic base is further included, and the magnetic base is disposed at an end of the rotating shaft away from the rotor.
- An aircraft includes a photographing component, and the pan/tilt limit device, wherein the photographing component is rotatably connected to the pan head limiting device, and the pan head limiting device drives the photographing component to rotate.
- the limiting member is rotatably sleeved on the rotating shaft, and the first boss and the second boss of the limiting member respectively pass through the limiting portion of the rotating shaft and the limit of the axial arm.
- the protrusions are engaged with each other so that the limiting member can control the angle of rotation of the rotating shaft. Since the rotating shaft rotates at a certain angle, the first boss can be abutted against the limiting portion, and the limiting member is driven to rotate. Moreover, when the rotating shaft drives the limiting member to rotate, it is also necessary to rotate a certain angle again to make the second boss abut against the limiting protrusion of the shaft arm, thereby restricting the rotation of the rotating shaft. Therefore, the two-position positioning between the first boss and the second boss can realize the limited rotation of the rotating shaft, so that the rotating angle of the rotating shaft can be greater than 360, and the shooting angle of the camera is greater than 360 degrees.
- the structure of the above-mentioned limiting member is simple, and the effect that the rotation angle is greater than 360 can be realized without using other parts to cooperate with each other, so that the volume of the gimbal limiting device is small, which is beneficial to the gimbal and the aircraft using the same. Miniaturization trends.
- FIG. 1 is a schematic structural diagram of a pan/tilt limiting device according to an embodiment of the present invention
- FIG. 2 is a schematic structural view of a motor according to the pan/tilt limit device shown in FIG. 1;
- Figure 3 is a cross-sectional view of the motor shown in Figure 2;
- Figure 4 is a perspective view of the limiting member according to Figure 2;
- Figure 5 is a schematic view showing the structure of the motor according to Figure 2 with a stator
- Fig. 6 is a structural schematic view showing the cooperation relationship between the shaft arm and the limiting member shown in Fig. 1.
- the reference numerals are as follows: 10, PTZ limit device; 11, motor; 12, shaft arm; 121, limit protrusion; 122, lug; 123, side wall; 13, rotor; 14, shaft; Limiting portion; 15, stator; 151, receiving cavity; 16, limiting member; 161, body; 162, first boss; 163, second boss; 164, two opposite sidewalls of the fan; Seat; 18, screws; 2, shooting components.
- the application provides an aircraft and its pan/tilt limit device. It can be understood that the aircraft can be a drone or an aerial camera.
- the aircraft includes a pan/tilt limiter 10 and a camera assembly 2.
- the pan/tilt limiting device 10 includes a motor 11 and a shaft arm 12 .
- the shaft arm 12 is fixedly coupled to the motor 11 via a stator of the motor 11, and one end of the shaft arm 12 is for connection with the photographing unit 2.
- the motor 11 includes a rotor 13 , a rotating shaft 14 , a stator 15 , and a limiting member 16 .
- the rotor 13 is fixedly disposed on the fuselage of the aircraft.
- the rotor 13 can be rotated or stationary.
- the stator 15 is stationary.
- the rotor 13 is a rotating portion of the motor 11, and the rotor 13 rotates to drive the aircraft to rotate.
- the stator 15 rotates, so that it is only necessary to ensure relative rotation between the rotor 13 and the stator 15.
- One end of the rotating shaft 14 is fixedly coupled to the rotor 13.
- the outer side wall of the other end of the rotating shaft 14 is provided with a limiting portion 141.
- One end of the rotating shaft 14 is fixedly coupled to the rotor 13.
- the rotor 13 and the rotating shaft 14 rotate in synchronization. When the rotor 13 rotates, the rotating shaft 14 rotates, and when the rotating shaft 14 is stationary, the rotor 13 is also stationary.
- the outer side wall of the other end of the rotating shaft 14 is provided with a limiting portion 141. Referring to FIG.
- the limiting portion 141 is a limiting screw, and the limiting screw is disposed along the radial direction of the rotating shaft 14 , and one end of the limiting screw protrudes from the outer sidewall of the rotating shaft 14 .
- the screw end of the limiting screw may protrude from the outer side wall of the rotating shaft 14, or the limiting screw may pass through the rotating shaft 14, and the free end of the limiting screw protrudes from the outer side wall of the rotating shaft 14.
- Shaft The counterbore is correspondingly opened on the 14th, and the screw end of the limiting screw is received in the counterbore, and the end of the limiting screw can also be protruded from the outer side wall of the rotating shaft 14.
- the limiting portion 141 can also be a protrusion provided on the outer sidewall of the rotating shaft 14.
- the stopper portion 141 only needs to be convex with respect to the outer side wall of the rotating shaft 14.
- the stator 15 is provided with a receiving cavity 151.
- One end of the rotating shaft 14 away from the rotor 13 is housed in the receiving cavity 151.
- the stator 15 is sleeved on one end of the rotating shaft 14 away from the rotor 13, and the rotating shaft 14 is rotatably connected with the stator 15.
- the rotating shaft 14 is relatively rotatable relative to the stator 15.
- the aperture of the receiving cavity 151 is larger than the diameter of the rotating shaft 14.
- the stator 15 may be a rotating end of the motor or a fixed end of the motor as long as there is a relative rotation between the rotor 13 and the stator 15.
- the limiting member 16 is received in the receiving cavity 151.
- the limiting member 16 is sleeved on the rotating shaft 14 and located inside the receiving cavity 151.
- the limiting member 16 includes a body 161 , a first boss 162 , and a second boss 163 .
- the body 161 is a ring structure, such as a hollow cylinder.
- the first boss 162 is disposed at one end of the body 161
- the second boss 163 is disposed on the outer sidewall of the body 161 .
- the limiting member 16 is partially received in the receiving cavity 151.
- the first boss 162 is located inside the receiving cavity 151
- the second boss 163 is located outside the receiving cavity. It can be understood that the limiting member 16 can also be completely received in the receiving cavity 151, and the corresponding first boss 162 and the second boss 163 are both located in the receiving cavity 151, and the axial arm that cooperates with the second boss 163 12 is also housed in the receiving cavity 151.
- the first boss 162 is disposed on an end surface of one end of the body 161
- the second boss 163 is disposed on an outer sidewall of the other end of the body 161 .
- the second boss 163 extends outward in the radial direction of the body 161 such that the second boss 163 protrudes relative to the outer side wall of the body 161.
- the body 161 is rotatably sleeved on the rotating shaft 14 , and a gap is formed between the body 161 and the rotating shaft 14 to rotate the limiting member 16 and the rotating shaft 14 relative to each other.
- the protruding height of the limiting portion 141 is greater than the spacing between the body 161 and the rotating shaft 14. After the rotating shaft 14 and the limiting member 16 are relatively rotated, the limiting portion 141 and the first protruding portion 162 can resist each other.
- the first boss 162 is an arcuate convex arm having one side having the same curvature as the outer surface of the body 161. It can be understood that the first boss 162 can also be a square column. As long as the first boss 162 can abut against the limiting portion 141.
- the rotor 13 when the rotor 13 rotates, the rotor 13 drives the rotating shaft 14 to rotate. Then, after the rotating shaft 14 and the limiting member 16 are relatively rotated by a predetermined angle, the limiting portion 141 and the first boss 162 Abutting, thereby driving the limiting member 16 to rotate.
- the predetermined angle at which the rotating shaft 14 and the limiting member 16 rotate relative to each other is a first predetermined angle, and the first predetermined angle is a maximum central angle between the limiting portion of the rotating shaft 14 and the first boss 162 of the limiting member 16. Therefore, the first preset angle is greater than or equal to 180 degrees.
- the shaft arm 12 is rotatably sleeved on the outer side of the limiting member 16 and fixedly connected to the stator 15 .
- the stator 15 is relatively rotated with respect to the rotor 13.
- axle arm 12 and the stator 15 are tightly coupled by screws 18.
- a lug 122 for connecting to the stator 15 is evenly distributed around one end of the shaft arm 12 near the stator 15.
- the lugs 122 are three, and the screws 18 are fixedly coupled to the stator 15 through the lugs 122.
- a limiting protrusion 121 is disposed on a side of the shaft arm 12 adjacent to the limiting member 16 . After the limiting protrusion 121 and the limiting member 16 are rotated relative to each other by a predetermined angle, the limiting protrusion 121 abuts against the second protrusion 163 of the limiting member 16 .
- the preset angle of the relative rotation of the limiting protrusion 121 and the limiting member 16 is a second predetermined angle, and the second predetermined angle is a maximum central angle between the limiting protrusion 121 and the second protrusion 163. Therefore, the second preset angle is greater than or equal to 180 degrees.
- the second boss 163 abuts against the limiting protrusion 121, so that the rotating shaft 14 stops rotating. Since the axle arm 12 is fixedly coupled to the stator 15, the axle arm 12 is fixed. When the second boss 163 is restrained from the limiting protrusion 121, the limiting member 16 stops rotating, so that the rotating shaft 14 also stops rotating. Therefore, the angle of relative rotation of the rotating shaft 14 relative to the axle arm 12 is the sum of the first preset angle and the second preset angle, so that the rotating shaft 14 drives the pivoting arm 12 to rotate at an angle greater than 360 degrees, thereby being photographed on the axle arm 12. The shooting angle of the component 2 is greater than 360 degrees.
- first boss 162 and the second boss 163 are disposed opposite to each other along the axial direction of the body 162.
- the first boss 162 is located on the same line as the central axis of the second boss 163, and the first boss 162 and the second boss 163 are located at the same starting point of rotation, which is convenient for calculating the rotation angle of the rotating shaft 14.
- the second boss 163 has a fan shape on one side, and the face is coplanar with the bottom surface of the body 161.
- the planes of the two opposite side walls 123 where the limiting protrusion 121 abuts the second boss 163 pass through the axis of the rotating shaft 14. Since the movement locus of the second boss 163 is a circular motion, when the second boss 163 abuts against the limiting protrusion 121, the limiting protrusion 121 can be in surface contact with the second boss 163 to ensure mutual mutual The stability of the resistance.
- the distal end surface of the limiting protrusion 121 is a circular arc surface, and the central angle corresponding to the circular arc surface is an acute angle. Since the degree of the central angle of the second boss 163 is small, when the central angle corresponding to the limiting protrusion 121 is an acute angle, the angle of rotation of the limiting member 16 is greater than 270 degrees, that is, the second preset Large angle At 270 degrees.
- the motor 11 further includes a magnetic seat that is disposed at an end of the rotating shaft 14 away from the rotor 13.
- the magnetic base is used to provide a magnetic field to rotate the rotor 13 or the stator 15.
- the pan/tilt limit device of the present embodiment has at least the following advantages over the conventional pan/tilt limit device:
- the limiting member 16 is rotatably sleeved on the rotating shaft 14, and the first boss 162 and the second boss 163 of the limiting member 16 are respectively restricted from the rotating shaft 14.
- the position portion 141 and the limiting protrusions 121 of the shaft arm 12 are engaged with each other to enable the limiting member 16 to control the angle at which the rotating shaft 14 rotates. Since the rotating shaft 14 is rotated by a certain angle, the first boss 162 can be abutted against the limiting portion 141, and the limiting member 16 can be rotated.
- the limited rotation of the rotating shaft 14 is achieved by the two positioning between the first boss 162 and the second boss 163, so that the rotation angle of the rotating shaft 14 can be greater than 360, and the shooting angle of the camera is greater than 360 degrees. Therefore, when the fuselage of the aircraft is rotated, the axle arm 12 can be relatively fixed, and then rotated relative to the fuselage of the aircraft, so that the purpose of adjusting the photographing angle of the photographing assembly 2 of the axle arm 12 can be achieved.
- the above-mentioned pan/tilt limit device realizes that the shooting angle is greater than 360 degrees and can only be realized by the limiting member 16. Since the structure of the limiting member 16 is simple, it is not necessary to use more and more complicated parts to cooperate with each other, so that the volume of the gimbal limiting device is small, which is beneficial to the development trend of the gimbal and the aircraft using the same.
- the limit of the axle arm 12 is achieved by two positioning between the first boss 162 and the second boss 163.
- the rotation is made such that the rotation angle of the axle arm 12 can be greater than 360, so that the shooting angle of the shooting assembly is greater than 360 degrees. Therefore, when the fuselage of the aircraft is fixed, the axle arm 12 can drive the photographing assembly 2 to adjust the photographing angle.
- the manner of use of the aircraft is not limited.
- the pan/tilt limiting device 10 can achieve the purpose that the shooting angle of the imaging unit 2 is greater than 360 by using the above-mentioned limiting member 16 and effectively reducing the volume of the pan/tilt limiting device 10.
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- Microelectronics & Electronic Packaging (AREA)
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Abstract
一种飞行器及其云台限位装置（10），所述云台限位装置（10）包括转子（13）、转轴（14）、定子（15）、限位件（16）；转轴（14）的一端的外侧壁设有限位部（141），定子（15）开设有收容腔（151），转轴（14）远离转子（13）的一端收容于收容腔（151）内；限位件（16）包括本体（161）、第一凸台（162）及第二凸台（163），第一凸台（162）设于本体（161）的一端，第二凸台（163）设于本体（161）的外侧壁上，本体（161）可转动套设于转轴（14）上；转轴（14）与限位件（16）相对转动第一预设角度后，限位部（141）与第一凸台（162）相抵持；轴臂（12）与定子（15）固定连接，轴臂（12）的靠近限位件（16）的一侧设有限位凸起（121）；限位凸起（121）与限位件（16）相对转动第二预设角度后，限位凸起（121）与限位件（16）的第二凸台（163）相抵持。所述云台限位装置（10）结构简单，体积较小，有利于云台及使用其的飞行器向微型化发展趋势。
Description
本申请涉及飞行器领域，特别是一种云台限位装置及使用其的飞行器。
在飞行器的拍摄领域，为了增大摄像机的监视范围，通常在摄像机的转动云台上设置单周限位转动结构。当云台带动摄像机转动一周时候，限位转动结构进行限位，使摄像机停止转动。然而，由于限位转动结构的限位作用，使得摄像机转动时往往不能完全转动360度，存在监视范围角度不足的情况。
为了解决这一问题，目前采用多种限位结构进行限位，以使摄像机的拍摄角度大于360。由于多种限位结构的零件较多，结构较为复杂，使云台的体积较大，不利于云台及使用其的飞行器向微型化发展。
申请内容
本申请的目的在于提供一种结构简单，体积较小的云台限位装置及使用其的飞行器。
一种云台限位装置，包括：
转子；
转轴，其一端与所述转子连接，所述转轴的另一端的外侧壁设有限位部；
定子，开设有收容腔，所述转轴远离所述转子的一端收容于所述收容腔内；
限位件，收容于所述收容腔内，所述限位件包括本体、第一凸台及第二凸台，所述第一凸台设于所述本体的一端，所述第二凸台设于所述本体的外侧壁上，所述本体可转动套设于所述转轴上，所述转轴与所述限位件相对转动第一预设角度后，所述限位部与所述第一凸台相抵持；
轴臂，与所述定子固定连接，所述轴臂的靠近所述限位件的一侧设有限位凸起，所述限位凸起与所述限位件相对转动第二预设角度后，所述限位凸起与所述限位件的第二凸台相抵持。在其中一实施方式中，所述第一凸台设于所述本体一端的端面，所述第二凸台设于所述本体另一端的外侧壁上。
在其中一实施方式中，所述限位部为限位螺丝，所述限位螺丝沿所述转
轴的径向设置，所述限位螺丝的一端凸出于所述转轴的外侧壁。
在其中一实施方式中，所述本体为中空的圆柱体，所述第一凸台为有一面与所述本体的外表面弧度相同的弧形凸臂。
在其中一实施方式中，所述第二凸台沿所述本体的径向向外延伸。
在其中一实施方式中，所述第二凸台有一面为扇形，且该面与所述本体的底面共面。
在其中一实施方式中，所述限位凸起与所述第二凸台相抵接的两个相对侧壁所在的平面均通过所述转轴的轴心。
在其中一实施方式中，所述限位凸起所对应的圆心角为锐角。
在其中一实施方式中，还包括磁座，所述磁座设于所述转轴远离所述转子的一端。
一种飞行器，包括拍摄组件，以及上述云台限位装置，所述拍摄组件与所述云台限位装置转动连接，所述云台限位装置带动所述拍摄组件转动。
在上述云台限位装置中，通过将限位件可转动套设于转轴上，并且通过限位件的第一凸台与第二凸台分别与转轴的限位部及轴臂的限位凸起相互卡持配合，以使限位件能够控制转轴旋转的角度。由于转轴转动一定角度之后才能使第一凸台与限位部相抵持，并带动限位件转动。并且，当转轴带动限位件转动的时候，同样需要再次转动一定的角度才能使第二凸台与轴臂的限位凸起相抵持，从而使转轴限制转动。因此，通过第一凸台与第二凸台之间两次定位才能实现转轴的限制转动，从而可以使转轴的旋转角度能够大于360，使拍摄器的拍摄角度大于360度。
并且，上述限位件的结构简单，无需使用较多其他零件相互配合，即可实现旋转角度大于360的效果，使云台限位装置的体积较小，有利于云台及使用其的飞行器向微型化发展趋势。
图1为本实施方式的云台限位装置的结构示意图；
图2为根据图1所示的云台限位装置的电机的结构示意图；
图3为根据图2所示的电机的剖视图；
图4为根据图2所示的限位件的立体图；
图5为根据图2所示的电机带有定子的结构示意图；
图6为根据图1所示的轴臂与限位件之间的配合关系的结构示意图。
附图标记说明如下：10、云台限位装置；11、电机；12、轴臂；121、限位凸起；122、凸耳；123、侧壁；13、转子；14、转轴；141、限位部；15、定子；151、收容腔；16、限位件；161、本体；162、第一凸台；163、第二凸台；164、扇形的两个相对侧壁；17、磁座；18、螺钉；2、拍摄组件。
体现本申请特征与优点的典型实施方式将在以下的说明中详细叙述。应理解的是本申请能够在不同的实施方式上具有各种的变化，其皆不脱离本申请的范围，且其中的说明及图示在本质上是当作说明之用，而非用以限制本申请。
本申请提供一种飞行器及其云台限位装置。可以理解，飞行器可以为无人机、或航空摄影机。
飞行器包括云台限位装置10及拍摄组件2。
请参阅图1，具体在本实施方式中，云台限位装置10包括电机11及轴臂12。轴臂12通过电机11的定子与电机11固定连接，轴臂12的一端用于与拍摄组件2连接。
请参阅图2及图3，其中，电机11包括转子13、转轴14、定子15、限位件16。
转子13固定设于飞行器的机身上。转子13可以转动，也可以静止。当转子13转动的时候，定子15静止。转子13为电机11的转动部分，转子13转动从而带动飞行器转动。当转子13静止的时候，定子15转动，因此，只要保证转子13和定子15之间存在相对转动即可。
转轴14的一端与转子13固定连接。转轴14的另一端的外侧壁设有限位部141。转轴14的一端与转子13固定连接。转子13与转轴14为同步转动。转子13转动则转轴14转动，转轴14静止则转子13也静止。转轴14的另一端的外侧壁设有限位部141。请参阅图3，具体在本实施方式中，限位部141为限位螺丝，限位螺丝沿转轴14的径向设置，限位螺丝的一端凸出于转轴14的外侧壁。可以是限位螺丝的螺头端凸出于转轴14的外侧壁，也可以是限位螺丝贯穿转轴14，限位螺丝的自由端凸出于转轴14的外侧壁。则转轴
14上相应开设有沉孔，限位螺丝的螺头端收容于沉孔内，同样可以保证限位螺丝的一端凸出于转轴14的外侧壁。
可以理解，限位部141还可以为设于转轴14外侧壁上的凸起。限位部141只要能够相对于转轴14的外侧壁凸出即可。请参阅图3，定子15开设有收容腔151。转轴14远离转子13的一端收容于收容腔151内。定子15套设于转轴14远离转子13的一端上，并且转轴14与定子15可转动连接。转轴14相对于定子15可发生相对转动。并且收容腔151的孔径大于转轴14的直径。定子15可为电机的转动端，也可以为电机的固定端，只要保证转子13与定子15之间存在相对转动即可。
限位件16收容于收容腔151内。限位件16套设于转轴14上，并且位于收容腔151的内侧。请参阅图4，具体地，限位件16包括本体161、第一凸台162及第二凸台163。本体161为一圆环结构，例如为中空的圆柱体。第一凸台162设于本体161的一端，第二凸台163设于本体161的外侧壁上。
请同时参阅图5，限位件16部分收容于收容腔151内，第一凸台162位于收容腔151内部，第二凸台163位于收容腔的外侧。可以理解，限位件16也可以全部收容于收容腔151内，则相应的第一凸台162与第二凸台163均位于收容腔151内，并且与第二凸台163相配合的轴臂12也收容于收容腔151内。
具体在本实施方式中，第一凸台162设于本体161一端的端面，第二凸台163设于本体161另一端的外侧壁上。第二凸台163沿本体161的径向向外延伸，以使第二凸台163相对于本体161的外侧壁凸出。
请同时参阅图6，本体161可转动套设于转轴14上，本体161与转轴14之间存在一定空隙，以使限位件16与转轴14可相对转动。并且，限位部141的凸出高度大于本体161与转轴14之间的间距。转轴14与限位件16相对转动后，限位部141与第一凸台162能够相抵持。
具体在本实施方式中，第一凸台162为有一面与本体161的外表面弧度相同的弧形凸臂。可以理解，第一凸台162还可以为方柱。只要第一凸台162能够与限位部141相抵接即可。
具体在本实施方式中，当转子13转动的时候，转子13带动转轴14转动。则当转轴14与限位件16相对转动一预设角度后，限位部141与第一凸台162
相抵持，从而带动限位件16转动。转轴14与限位件16相对转动的预设角度为第一预设角度，第一预设角度为转轴14的限位部与限位件16的第一凸台162之间的最大圆心角。因此，第一预设角度大于等于180度。
如图5及图6所示，轴臂12可转动套设于限位件16的外侧，且与定子15固定连接。定子15相对于转子13相对转动。
具体地，轴臂12与定子15通过螺钉18紧固连接。轴臂12靠近定子15的一端均匀分布有用于与定子15连接的凸耳122。凸耳122为三个，螺钉18穿过凸耳122与定子15固定连接。
轴臂12的靠近限位件16的一侧设有限位凸起121。限位凸起121与限位件16相对转动另一预设角度后，限位凸起121与限位件16的第二凸台163相抵持。限位凸起121与限位件16相对转动的预设角度为第二预设角度，第二预设角度为限位凸起121与第二凸台163之间的最大圆心角。因此，第二预设角度大于等于180度。
当限位件16转动，第二凸台163与限位凸起121相抵持，使转轴14停止转动。由于轴臂12与定子15固定连接，则轴臂12为固定。当第二凸台163与限位凸起121相限位的时候，则限位件16停止转动，从而使转轴14也停止转动。因此，转轴14相对于轴臂12相对转动的角度为第一预设角度与第二预设角度之和，因此转轴14带动轴臂12转动的角度大于360度，从而是轴臂12上的拍摄组件2的拍摄角度大于360度。具体在本实施方式中，第一凸台162与第二凸台163沿本体162的轴线方向相对设置。第一凸台162与第二凸台163的中轴线位于同一直线上，且第一凸台162与第二凸台163位于同一旋转起点上，方便计算转轴14的旋转角度。
第二凸台163有一面为扇形，且该面与所述本体161的底面共面。限位凸起121与第二凸台163相抵接的两个相对侧壁123所在的平面均通过转轴14的轴心。由于第二凸台163的运动轨迹为圆周运动，当第二凸台163与限位凸起121相抵接的时候，可以使限位凸起121与第二凸台163保持面面接触，保证相互抵持的稳定性。
限位凸起121的顶端端面为圆弧面，圆弧面所对应的圆心角为锐角。由于第二凸台163所对应的圆心角的度数较小，则当限位凸起121所对应的圆心角为锐角的时候，则限位件16转动的角度大于270度，即第二预设角度大
于270度。
电机11还包括磁座，磁座设于转轴14远离转子13的一端。磁座用于提供磁场，使转子13或定子15转动。
本实施方式的云台限位装置相对于传统云台限位装置至少具有以下优点：
首先，在上述云台限位装置中，通过将限位件16可转动套设于转轴14上，并且通过限位件16的第一凸台162与第二凸台163分别与转轴14的限位部141及轴臂12的限位凸起121相互卡持配合，以使限位件16能够控制转轴14旋转的角度。由于转轴14转动一定角度之后才能使第一凸台162与限位部141相抵持，并带动限位件16转动。并且，当转轴14带动限位件16转动的时候，同样需要再次转动一定的角度才能使第二凸台163与轴臂12的限位凸起121相抵持，从而限制转轴14继续转动。
因此，通过第一凸台162与第二凸台163之间两次定位实现转轴14的限制转动，从而可以使转轴14的旋转角度能够大于360，使拍摄器的拍摄角度大于360度。因此，在当飞行器的机身自转的时候，则轴臂12可以相对固定，则相对于飞行器的机身转动，从而可以达到调整轴臂12的拍摄组件2的拍摄角度的目的。
并且，上述云台限位装置实现拍摄角度大于360度仅通过限位件16即可实现。由于限位件16的结构简单，无需使用较多、较复杂的零件相互配合，使云台限位装置的体积较小，有利于云台及使用其的飞行器向微型化发展趋势。
可以理解，在其他实施方式中，当转子13固定，定子15转动的时候。则电机驱动定子15转动。因此，定子15转动带动轴臂12转动。轴臂12相对于限位件16相对转动，当轴臂12相对于限位件16转动一预设角度之后，则轴臂12的限位凸起121与限位件16的第二凸台163相抵接，并带动限位件16一同转动。当限位件16对轴臂12转动另一预设角度之后，则限位件16的第一凸台162与转轴14的限位部141相抵持。由于转子固定，则转轴14为固定设置。当第一凸台162与限位部141相抵持之后，则限制限位件16再继续转动，从而限制轴臂12再继续转动。
同样，通过第一凸台162与第二凸台163之间两次定位实现轴臂12的限
制转动，从而可以使轴臂12的旋转角度能够大于360，使拍摄组件的拍摄角度大于360度。因此，当飞行器的机身固定的时候，则轴臂12可以带动拍摄组件2调整拍摄角度。
具体在本实施中，对飞行器的使用方式，并不做限定。上述云台限位装置10通过使用上述限位件16即可实现拍摄组件2的拍摄角度大于360，并有效减小云台限位装置10的体积的目的。
虽然已参照几个典型实施方式描述了本申请，但应当理解，所用的术语是说明和示例性、而非限制性的术语。由于本申请能够以多种形式具体实施而不脱离申请的精神或实质，所以应当理解，上述实施方式不限于任何前述的细节，而应在随附权利要求所限定的精神和范围内广泛地解释，因此落入权利要求或其等效范围内的全部变化和改型都应为随附权利要求所涵盖。
Claims (10)
- 一种云台限位装置，其特征在于，包括：转子；转轴，其一端与所述转子连接，所述转轴的另一端的外侧壁设有限位部；定子，开设有收容腔，所述转轴远离所述转子的一端收容于所述收容腔内；限位件，收容于所述收容腔内，所述限位件包括本体、第一凸台及第二凸台，所述第一凸台设于所述本体的一端，所述第二凸台设于所述本体的外侧壁上，所述本体可转动套设于所述转轴上，所述转轴与所述限位件相对转动第一预设角度后，所述限位部与所述第一凸台相抵持；轴臂，与所述定子固定连接，所述轴臂的靠近所述限位件的一侧设有限位凸起，所述限位凸起与所述限位件相对转动第二预设角度后，所述限位凸起与所述限位件的第二凸台相抵持。
- 根据权利要求1所述的云台限位装置，其特征在于，所述第一凸台设于所述本体一端的端面，所述第二凸台设于所述本体另一端的外侧壁上。
- 根据权利要求1所述的云台限位装置，其特征在于，所述限位部为限位螺丝，所述限位螺丝沿所述转轴的径向设置，所述限位螺丝的一端凸出于所述转轴的外侧壁。
- 根据权利要求1所述的云台限位装置，其特征在于，所述本体为中空的圆柱体，所述第一凸台为有一面与所述本体的外表面弧度相同的弧形凸臂。
- 根据权利要求1至4任一项所述的云台限位装置，其特征在于，所述第二凸台沿所述本体的径向向外延伸。
- 根据权利要求1至4任一项所述的云台限位装置，其特征在于，所述第二凸台有一面为扇形，且该面与所述本体的底面共面。
- 根据权利要求1所述的云台限位装置，其特征在于，所述限位凸起与所述第二凸台相抵接的两个相对侧壁所在的平面均通过所述转轴的轴心。
- 根据权利要求7所述的云台限位装置，其特征在于，所述限位凸起所对应的圆心角为锐角。
- 根据权利要求1所述的云台限位装置，其特征在于，还包括磁座，所 述磁座设于所述转轴远离所述转子的一端。
- 一种飞行器，其特征在于，包括拍摄组件，以及如权利要求1-9任意一项所述的云台限位装置，所述拍摄组件与所述云台限位装置转动连接，所述云台限位装置带动所述拍摄组件转动。
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