WO2019184287A1 - 一种摇轮结构及云台的摇轮控制器 - Google Patents

一种摇轮结构及云台的摇轮控制器 Download PDF

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Publication number
WO2019184287A1
WO2019184287A1 PCT/CN2018/108704 CN2018108704W WO2019184287A1 WO 2019184287 A1 WO2019184287 A1 WO 2019184287A1 CN 2018108704 W CN2018108704 W CN 2018108704W WO 2019184287 A1 WO2019184287 A1 WO 2019184287A1
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WIPO (PCT)
Prior art keywords
adjusting
rocker
rotating shaft
shaft
abutting member
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Application number
PCT/CN2018/108704
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English (en)
French (fr)
Inventor
梁贵彬
Original Assignee
深圳市大疆创新科技有限公司
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880014639.1A priority Critical patent/CN110896658B/zh
Publication of WO2019184287A1 publication Critical patent/WO2019184287A1/zh

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05GCONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/08Controlling members for hand actuation by rotary movement, e.g. hand wheels
    • G05G1/082Controlling members for hand actuation by rotary movement, e.g. hand wheels having safety devices, e.g. means for disengaging the control member from the actuated member
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05GCONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/08Controlling members for hand actuation by rotary movement, e.g. hand wheels

Definitions

  • the embodiment of the invention belongs to the technical field of control devices, and in particular relates to a rocker structure and a rocking wheel controller of the pan/tilt adopting the rocker structure.
  • rocker controller In the field of professional photography, such as movies, advertisements, etc., professional photographers often use a rocker controller to control the three-axis pan/tilt (such as DJI RONIN 2) to capture the picture.
  • the photographer operates the remote control on the wheel.
  • the rocker drives the rotating shaft connected with the rocking wheel to rotate, and the sensor component in the rocking wheel controller that cooperates with the rotating shaft acquires the rotation state information of the rotating shaft, thereby generating a control signal for the three-axis pan/tilt to realize the control of the three-axis pan/tilt head.
  • the rocker controller is internally provided with a component for increasing the damping of the rocker.
  • the damping of the rocker rotation of the rocking controller is fixed, but there are different users.
  • the inconsistency in the handling requirements of the operating wheel causes the existing rocker controller's rocker to fail to meet the requirements of most users.
  • an embodiment of the present invention provides a rocker structure.
  • the vibration of the rocker of the existing rocker controller is not adjustable and cannot satisfy the majority of users.
  • the problem of handling the touch requirements is not adjustable.
  • the present invention also provides a rocker controller for controlling the pan/tilt using the rocker structure.
  • a rocker structure provided by an embodiment of the present invention includes a base, a rocker assembly, and a damping adjustment assembly;
  • the base is provided with a receiving cavity, and the rocking wheel assembly and the damping adjustment component are partially located in the receiving cavity;
  • the rocker assembly comprises a rocker and a rotating shaft coaxially coupled with the rocking wheel, the damping adjustment assembly comprising an adjusting member, an elastic member and an abutting member;
  • the adjusting member acts on the abutting member through the elastic member, and the abutting member abuts against the rotating shaft in an axial direction of rotation of the rocking wheel, and the adjusting member adjusts the elasticity by adjusting a member acts on the pressure of the abutting member to adjust the abutting force of the abutting member to the rotating shaft.
  • the adjustment member includes an adjustment shaft and an adjustment knob, the adjustment shaft being coaxial with the rotation shaft, and the adjustment knob adjusts movement of the adjustment shaft on an axis of the rotation shaft.
  • the rotating shaft is a hollow shaft
  • the adjusting shaft is fixedly connected to the adjusting knob after the elastic member, the abutting member, the rotating shaft and the rocking wheel are sequentially connected.
  • the base is provided with a slotted hole
  • the adjusting knob is partially connected to one end of the adjusting shaft through the slotted hole, and the other end of the adjusting shaft The elastic member and the abutting member are sequentially passed through.
  • the adjusting shaft is disposed at a position away from the adjusting knob, and a limiting portion is disposed.
  • the two ends of the elastic member respectively abut against the limiting portion and the abutting member.
  • the limiting portion is provided with an annular guiding groove along an axial direction of the adjusting shaft, and the elastic member is partially located in the annular guiding groove.
  • the end surface of the rotating shaft contacting the abutting member partially extends toward the limiting portion to form a coaxial cylindrical mounting portion, and the adjusting shaft is partially located in the cylindrical mounting. Inside the portion, and the abutting member is entirely or partially sleeved on the cylindrical mounting portion.
  • the cylindrical mounting portion has a square cross section in a radial direction.
  • the adjustment shaft and the adjustment knob are connected by a threaded connection
  • the one end of the adjusting shaft connected to the adjusting knob is provided with an axial counterbore, and the external thread provided on the adjusting knob is engaged with the internal thread provided on the inner wall of the axial counterbore;
  • An axial through hole is disposed on the adjusting knob, and an external thread disposed at one end of the adjusting shaft and the adjusting knob is engaged with an internal thread disposed on an inner wall of the axial through hole.
  • the outer side of the rotating shaft is sleeved with at least one bearing, and the bearing is fixed in the inner cavity of the base.
  • the abutting member includes a support base and a pressure roller, the pressure roller is fixed to the outer side of the support base by an axle, and the pressure roller abuts against an end surface of the rotating shaft;
  • the support base is provided with a through hole, and the support base is sleeved on the rotating shaft or the adjusting member through the through hole.
  • the pressure roller comprises a bearing and a rim from the inside to the outside, the rim comprising a rigid rim of the inner layer and an elastic rim of the outer layer.
  • the abutting member includes at least two pressure rollers, each of which is fixed on the support base by a corresponding axle, and the at least two pressure rollers are at the support seat Evenly distributed upwards.
  • the rocker and the rotating shaft are connected by a key or a flange, or the rocker is integrally formed with the rotating shaft.
  • the damping adjustment structure provided in the rocker structure provided by the embodiment of the invention includes an adjusting member, an elastic member and an abutting member, and the adjusting member acts on one side of the abutting member through the elastic member, and the other side of the abutting member is along the
  • the axial direction of the rotation of the rocker is resisted on the rotating shaft to form a resisting force against the rotating shaft, and the resisting force will generate a dynamic friction force between the rotating shaft and the abutting member, and the dynamic frictional force is determined.
  • the damping feeling when the rocker rotates the compression amount of the elastic member is adjusted by the adjusting member, the pressure of the elastic member against the abutting member is changed, thereby changing the magnitude of the abutting force of the abutting member on the rotating shaft, thereby changing the rotating shaft and
  • the magnitude of the dynamic friction between the abutting members realizes the adjustment of the damping feeling of the user when operating the rocker, and can meet the operational hand feeling requirements of different users and improve the user experience.
  • the pan/tilt controller of the pan/tilt provided by the embodiment of the present invention includes a control body and at least one of the above-described rocker structures connected to the control body.
  • the rocking wheel remote controller of the pan/tilt provided by the embodiment of the invention adopts the above-mentioned rocker structure, and the damping feeling of the rocking wheel of the remote wheel structure is adjustable, which can meet the operation hand feeling requirements of different users, so that the user can better
  • the pan/tilt is controlled by a rocker controller.
  • FIG. 1 is an overall structural diagram of a rocker structure according to an embodiment of the present invention.
  • Figure 2 is a cross-sectional view of the rocker structure provided in Figure 1;
  • Figure 3 is an exploded view of the rocker structure provided in Figure 1;
  • Figure 4 is an enlarged view of A in Figure 2;
  • Figure 5 is an enlarged view of B in Figure 2;
  • FIG. 6 is a schematic overall view of an abutting member according to an embodiment of the present invention.
  • Figure 7 is a cross-sectional view taken along line C-C of Figure 6;
  • FIG. 8 is an overall structural diagram of another rocker structure according to an embodiment of the present invention.
  • Figure 9 is a cross-sectional view of the rocker structure provided in Figure 8.
  • Figure 10 is an enlarged view of D in Figure 9;
  • FIG. 11 is a schematic structural diagram of a rocker controller according to an embodiment of the present invention.
  • FIG. 12 is another schematic structural diagram of a rocker controller according to an embodiment of the present invention.
  • references to "an embodiment” herein mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the invention.
  • the appearances of the phrases in various places in the specification are not necessarily referring to the same embodiments, and are not exclusive or alternative embodiments that are mutually exclusive. Those skilled in the art will understand and implicitly understand that the embodiments described herein can be combined with other embodiments.
  • Embodiments of the present invention provide a rocker structure including a base, a rocker assembly, and a damping adjustment assembly;
  • the base is provided with a receiving cavity, and the rocking wheel assembly and the damping adjustment component are partially located in the receiving cavity;
  • the rocker assembly comprises a rocker and a rotating shaft coaxially coupled with the rocking wheel, the damping adjustment assembly comprising an adjusting member, an elastic member and an abutting member;
  • the adjusting member acts on the abutting member through the elastic member, and the abutting member abuts against the rotating shaft in an axial direction of rotation of the rocking wheel, and the adjusting member adjusts the elasticity by adjusting a member acts on the pressure of the abutting member to adjust the abutting force of the abutting member to the rotating shaft.
  • the damping adjustment structure provided in the rocker structure provided by the embodiment of the invention includes an adjusting member, an elastic member and an abutting member, and the adjusting member acts on one side of the abutting member through the elastic member, and the other side of the abutting member is along the
  • the axial direction of the rotation of the rocker is resisted on the rotating shaft to form a resisting force against the rotating shaft, and the resisting force will generate a dynamic friction force between the rotating shaft and the abutting member, and the dynamic frictional force is determined.
  • the damping feeling when the rocker rotates the compression amount of the elastic member is adjusted by the adjusting member, the pressure of the elastic member against the abutting member is changed, thereby changing the magnitude of the abutting force of the abutting member on the rotating shaft, thereby changing the rotating shaft and
  • the magnitude of the dynamic friction between the abutting members realizes the adjustment of the damping feeling of the user when operating the rocker, and can meet the operational hand feeling requirements of different users and improve the user experience.
  • the pan/tilt controller of the pan/tilt provided by the embodiment of the present invention includes a control body and at least one of the rocker structures connected to the control body.
  • the rocker remote controller provided by the invention adopts the above-mentioned rocker structure, and the damping feeling of the rocking wheel of the remote wheel structure is adjustable, which can meet the operation hand feeling requirements of different users, so that the user can better pass the rocker controller Control the gimbal.
  • FIG. 1 to FIG. 3 an overall structural view, a corresponding cross-sectional view, and an exploded view of an embodiment of a rocker structure provided by the present invention are illustrated.
  • the rocker structure includes a base 10, a rocker assembly 20, and a damping adjustment assembly 30.
  • the base 10 is provided with a receiving cavity 101, and the rocker assembly 20 and the damping adjustment component 30 are partially located in the receiving cavity 101.
  • the rocker assembly 20 includes a rocker 21 and a rotating shaft 22 coaxially coupled with the rocking wheel 21.
  • the damping adjustment assembly 30 includes an adjusting member 31, an elastic member 32 and an abutting member 33;
  • the elastic member 32 acts on the abutting member 33 to abut the abutting member 33 in the axial direction of the rotation of the rocker 21, and the adjusting member 31 adjusts the
  • the elastic member 32 acts on the pressure of the abutting member 33 to adjust the axial abutting force of the abutting member 33 to the rotating shaft 22, thereby forming different damping effects.
  • the rocker 21 and the rotating shaft 22 may be connected by a key or a flange, or the rocker 21 may be integrally formed with the rotating shaft 22; for example, FIG. 4 shows the An example in which the rotating shaft 22 and the rocking wheel 21 are connected by a key.
  • a connecting key 221 is disposed at one end of the rotating shaft 22 and the rocking wheel 21, and the connecting key 221 will be combined with FIG.
  • the keyed first through hole 211 provided on the rocker 21 cooperates to realize the key connection of the rotating shaft 22 with the rocker 21;
  • the connecting key 221 may be from the side of the rotating shaft 22 a radially extending portion, that is, the connecting key 221 is integral with the rotating shaft 22; in other embodiments, the connecting key 221 may also be a separate component from the rotating shaft 22, through a fixed structure or A fixing member such as the first screw 222 shown in FIG. 4 is fixed to the rotating shaft 22.
  • the adjusting member 31 includes an adjusting shaft 311 and an adjusting knob 312, the adjusting shaft 311 is coaxial with the rotating shaft 22, and the adjusting knob 312 adjusts the adjusting shaft 311 in the The axis of the shaft 22 moves.
  • the adjustment shaft 311 and the adjustment knob 312 are connected by a threaded connection.
  • an internal thread may be disposed at one end of the adjustment shaft 311 and the adjustment knob 312, and an external thread is disposed on the adjustment knob 312, and the adjustment shaft 311 is realized by the internal thread and the external thread.
  • an axial counterbore 3113 is disposed at one end of the adjusting shaft 311 and the adjusting knob 312, and an internal thread is disposed on the inner wall of the axial counterbore 3113.
  • an axially-threaded post (not shown) is disposed at an end of the adjusting knob 312 near the adjusting shaft 311, and the threaded post is provided with an external thread through which the threaded post and the axial sink are
  • the engagement of the hole 3113 realizes a threaded coupling of the adjustment shaft 311 with the adjustment knob 312; or an axial through hole 3121 is provided on the adjustment knob 312, and the second screw 313 passes through the axial direction of the adjustment knob 312.
  • the through hole 3121 cooperates with the axial counterbore 3113 to achieve a threaded coupling of the adjustment shaft 311 and the adjustment knob 312.
  • an external thread may be disposed at one end of the adjustment shaft 311 and the adjustment knob 312, and an internal thread is disposed on the adjustment knob 312, and the adjustment shaft 311 is realized by the internal thread and the external thread.
  • An axial through hole 3121 is disposed on the adjusting knob 312, and an end of the adjusting shaft 311 connected to the adjusting knob 312 is provided with an external thread through which the external thread is The engagement of the internal threads provided on the inner wall of the axial through hole 3121 enables the threaded coupling of the adjustment shaft 311 with the adjustment knob 312.
  • the rotating shaft 22 is a hollow shaft, and the adjusting shaft 311 sequentially passes through the elastic member 32, the abutting member 33, the rotating shaft 22 and the rocker 21
  • the adjusting knob 312 is fixedly connected, that is, the rotating shaft 22 is sleeved on the adjusting shaft 311.
  • the rocker 21 and the rotating shaft 22 are kept stationary, and only the elastic member 32 is axially fixed by the adjusting shaft 311.
  • the deformation of the elastic member 32 causes the change in the axial force to be further transmitted to the axial direction of the shaft member 33 with respect to the rotating shaft 22.
  • the change of the abutting force can form a different damping feeling; further, when the adjusting of the adjusting shaft 311 is completed, the adjusting shaft 311, the adjusting knob 312 and the elastic member 32 will remain stationary. , the rotation of the adjusting shaft 311 and the rotation of the rotating shaft 22 by the adjusting wheel 311 are independent of each other in the structure of the rocker 21 In both operating states, the result of the axial movement of the adjustment shaft 311 is such that the rotation of the shaft 22 can have a different sense of damping.
  • a bearing (not labeled) may also be disposed between the shaft 22 and the hollow shaft 22, which may be a ball bearing or an oil-free bearing.
  • a finite portion 3111 is disposed on the adjusting shaft 311, and two ends of the elastic member 32 respectively abut against the limiting portion 3111 and the abutting member 33.
  • the limiting portion 3111 is located at an end of the adjusting shaft 311 away from the adjusting knob 312.
  • the limiting portion 3111 may further be provided with an annular guiding groove 3112 along the axial direction of the adjusting shaft 311, so that the elastic member 32 may be partially located in the annular guiding groove 3112.
  • the elastic member 32 is fixed, and on the other hand, the elastic member 32 is guided.
  • At least one first bearing 24 may be sleeved on the outer side of the rotating shaft 22, and the first bearing 24 is fixed in the inner cavity of the base 10.
  • the first bearing 24 may be a ball bearing or an oilless bearing.
  • an end surface of the rotating shaft 22 contacting the abutting member 33 partially extends toward the limiting portion 3111 to form a coaxial cylindrical mounting portion 223, and the adjusting shaft 311 Partially located in the cylindrical mounting portion 223, that is, the cylindrical mounting portion 223 is sleeved on the adjusting shaft 311.
  • the cylindrical mounting portion 223 is used to mount the abutting member 33.
  • the abutting member 33 may be entirely or partially sleeved on the cylindrical mounting portion 223.
  • the abutting member 33 includes a support base 331 and a pressure roller 332, and the pressure roller 332 is fixed on the wheel shaft (not shown).
  • the outer side of the support base 331 when the abutting member 33 is sleeved on the adjusting shaft 311 or the cylindrical mounting portion 223, the elastic member 32 functions.
  • the pressure roller 332 is abutted against an end surface of the rotating shaft 22;
  • the support base 331 is provided with a second through hole 3311.
  • the support base 331 is sleeved on the rotating shaft 22 through the second through hole 3311 (such as sleeved on the cylindrical mounting portion 223) or the adjusting member 31. (such as sleeved on the adjustment shaft 311).
  • the radial cross section of the cylindrical mounting portion 223 may be a square.
  • the radial cross section of the second through hole 3311 is adapted to the radial cross-sectional shape of the cylindrical mounting portion 223, and the support seat 331 has a certain degree of freedom when sleeved on the cylindrical mounting portion 223. Therefore, when the user drives the rotating shaft 22 to rotate by the rocker 21, a certain damping feeling can be generated.
  • the abutting member 33 can rotate together with the rotating shaft 22.
  • the pressure roller 332 includes a second bearing 3321 and a rim 3322 from the inside to the outside, and the second bearing 3321 may be a roller bearing or an oilless bearing.
  • the rim 3322 can include a rigid rim 3322a of the inner layer and an elastic rim 3322b of the outer layer, the rigid rim 3322a acting as a support, the elastic rim 3322b can increase the The dynamic frictional force of the pressure roller 332 and the rotating shaft 22 contributes to the sense of damping.
  • the abutting member 33 includes at least two pressure rollers 332, each of which is fixed to the support base 331 by a corresponding axle, and the at least two The pressure roller 332 is evenly distributed in the circumferential direction of the support base 331.
  • the abutting member 33 shown in the drawing of the present application includes four pressure rollers 332; of course, the number of the pressure rollers 332 can be set according to actual conditions. There is no limitation here; in fact, there is also a case where only one pressure roller 332 is provided.
  • the pressure roller 332 may be fixed on the support base 331 through the axle, or may be integrally sleeved on the support.
  • the seat 331 is in contact with the rotating shaft 22 and coaxial with the rotating shaft 22.
  • the rocker assembly 20 further includes a handle 23 connected to the rocker 21, and the user rotates the rocker 21 through the handle 23; optionally, the handle 23
  • the rocker 231 and the sleeve 232 and the fixing member 233 may be included, wherein the rocker 231 is embedded in the blind hole 212 provided on the rocker 21, and the sleeve 232 is sleeved on the rocker 231.
  • a fixing member 233 is fixed at an end of the rocker 231 away from the rocker 21 for restricting movement of the sleeve 232 along the axial direction of the rocker 231; further, the rocker 231 and the A third bearing 234 may be disposed between the sleeves 232 to reduce the resistance between the rocker 231 and the sleeve 232 when the user operates the handle.
  • the third bearing 234 may be a ball bearing or an oilless bearing. .
  • the adjustment shaft 311 completely penetrates the rotating shaft 22, and the adjustment shaft 311 in this embodiment is disposed in the same manner.
  • the adjustment shaft 311 may be partially located in the inner cavity of the rotating shaft 22, or may be disposed completely independently of the rotating shaft 22.
  • the base 10 is provided with a slot-shaped hole (not shown), and the adjusting knob 312 partially passes through the slot-shaped hole and one end of the adjusting shaft 311.
  • the other end of the adjusting shaft 311 is disposed coaxially with the rotating shaft 22 through the elastic member 32 and the abutting member 33 in sequence.
  • the groove-shaped hole is disposed in the circumferential direction of the rotating shaft 22.
  • the adjusting shaft 311 can also be generally provided with a limiting portion 3111 as in the above embodiment, while The two ends of the elastic member 32 are respectively abutted against the limiting portion 3111 and the abutting member 33.
  • the position of the limiting portion 3111 and the adjusting knob 312 are different from the above embodiment. It can be seen from FIG. 10 that the limiting portion 3111 can be located at one end of the adjusting shaft 311 near the adjusting knob 312.
  • the difference is due to the difference in the manner in which the rotating shaft 22 and the adjusting shaft 311 are combined.
  • Adaptive tone In essence, it is still essential to the overall inventive concept of the present invention.
  • the structure of the rocker 21 provided by the embodiment of the present invention has at least the following advantages:
  • the elastic member 32 acts on one side of the abutting member 33 by the adjusting member 31 in the damper adjusting structure, and the other side of the abutting member 33 abuts against the rotating shaft 22 in the axial direction in which the rocking wheel 21 rotates. Abutting force is formed on the rotating shaft 22, and the resisting force generates a dynamic frictional force between the rotating shaft 22 and the abutting member 33, and the dynamic frictional force determines the damping feeling when the rocking wheel 21 rotates.
  • the amount of compression of the elastic member 32 is adjusted by the adjusting member 31, and the pressure of the elastic member 32 against the abutting member 33 is changed, thereby changing the magnitude of the abutting force of the abutting member 33 on the rotating shaft 22, thereby changing the rotating shaft 22 and the abutting
  • the magnitude of the dynamic friction between the members 33 realizes the adjustment of the damping feeling when the user operates the rocker 21, and can meet the operational hand feeling requirements of different users, thereby improving the user experience.
  • the embodiment of the present invention further provides a pan/tilt controller of a pan/tilt, which may be a single-axis pan/tilt or a multi-axis pan/tilt.
  • a pan/tilt controller of a pan/tilt which may be a single-axis pan/tilt or a multi-axis pan/tilt.
  • FIGS. 11 and 12 the pan wheel control according to an embodiment of the present invention is illustrated.
  • Two schematic views of the vehicle, the remote wheel controller including a control body 1 and at least one rocker structure 2 coupled to the control body.
  • the structure of the rocker structure 2 shown in FIG. 11 can be specifically referred to the related technical content described in connection with FIG. 1 to FIG. 7 in the above embodiment.
  • the remote wheel structure 2 shown in FIG. 13 can refer to the above embodiment.
  • each of the rocker structures 2 controls one axis of the pan/tilt.
  • the pan remote control of the pan/tilt provided by the present invention adopts the rocker structure in the above embodiment, and has the following advantages:
  • the damping feeling of the rocker 21 of the remote wheel structure 2 is adjustable, the operating hand feeling requirements of different users can be satisfied, so that the user can better control the pan/tilt head through the rocking wheel controller.
  • the embodiment of the present invention further provides a pan/tilt control system, where the pan/tilt control system may include a pan/tilt and a pan/tilt controller of the pan/tilt described in the foregoing embodiment.
  • the pan/tilt may It is a single-axis pan/tilt or a multi-axis pan/tilt.
  • the pan/tilt controller of the pan/tilt head is provided with a single or a plurality of the rocker structures, and each of the rocker structures controls one axis of the pan/tilt.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

一种摇轮结构(2)及采用该摇轮结构(2)的云台的摇轮控制器,摇轮结构(2)包括基座(10)、摇轮组件(20)和阻尼调节组件(30);基座(10)设置有容纳腔(101),摇轮组件(20)和阻尼调节组件(30)部分地位于容纳腔(101)内;摇轮组件(20)包括摇轮(21)及与摇轮(21)同轴联动的转轴(22),阻尼调节组件(30)包括调节件(31)、弹性件(32)和抵顶件(33);调节件(31)通过弹性件(32)作用于抵顶件(33),使抵顶件(33)沿摇轮(21)转动的轴向方向抵持于转轴(22)上,调节件(31)通过调节弹性件(32)作用于抵顶件(33)的压力,以调节抵顶件(33)对转轴(22)的抵持力。该摇轮结构(2)可通过改变抵顶件(33)对转轴(22)的抵持力大小来实现使用者在操作摇轮(21)时的阻尼感调节,以提高操作体验。

Description

一种摇轮结构及云台的摇轮控制器 技术领域
本发明实施例属于控制设备技术领域,尤其涉及一种摇轮结构和采用该摇轮结构的云台的摇轮控制器。
背景技术
在专业摄影领域,如电影、广告等视频拍摄过程中,专业摄影师较常使用摇轮控制器控制三轴云台(如大疆RONIN 2)来捕捉画面,摄影师通过操作摇轮遥控器上的摇轮带动与摇轮连接的转轴转动,摇轮控制器中与转轴配合的传感器件将获取转轴的转动状态信息,进而生成对三轴云台的控制信号,实现对三轴云台的控制。
发明人在实现本发明技术方案的过程中发现,为了增加操作手感,摇轮控制器内部会设置增加摇轮阻尼的部件,通常摇轮控制器的摇轮转动的阻尼固定,然而存在不同使用者对操作摇轮的手感要求不一致的情况,导致现有的摇轮控制器的摇轮无法满足大多数使用者的使用要求的问题。
发明内容
基于上述背景技术,本发明实施例提供一种摇轮结构,通过将摇轮设置成阻尼可调的结构,以解决现有摇轮控制器的摇轮阻尼不可调节而无法满足大多数使用者的操作手感要求的问题。同时本发明还提供了采用该摇轮结构、用于控制云台的摇轮控制器。
本发明实施例采用了如下的技术方案。
一方面,本发明实施例提供的摇轮结构包括基座、摇轮组件和阻尼调节组件;
所述基座设置有容纳腔,所述摇轮组件和所述阻尼调节组件部分地位于所述容纳腔内;
其中,所述摇轮组件包括摇轮及与所述摇轮同轴联动的转轴,所述阻尼调节组件包括调节件、弹性件和抵顶件;
所述调节件通过所述弹性件作用于所述抵顶件,使所述抵顶件沿所述摇轮转动的轴向方向抵持于所述转轴上,所述调节件通过调节所述弹性件作用于所述抵顶件的压力,以调节所述抵顶件对所述转轴的抵持力。
作为可实施的方案,所述调节件包括调节轴和调节旋钮,所述调节轴与所述转轴共轴,所述调节旋钮调节所述调节轴在所述转轴的轴线上运动。
在一种可实施的方案中,所述转轴为空心轴,所述调节轴依次穿过所述弹性件、所述抵顶件、所述转轴和所述摇轮后与所述调节旋钮固定连接。
在另一种可实施的方案中,所述基座上开设有槽形孔,所述调节旋钮部分地穿过所述槽形孔与所述调节轴的一端连接,所述调节轴的另一端依次穿过所述弹性件和所述抵顶件。
作为可实施的方案,所述调节轴远离所述调节旋钮的一端设置有限位部,所述弹性件的两端分别抵持于所述限位部和所述抵顶件。
作为可实施的方案,所述限位部沿所述调节轴的轴向设置有环状导向槽,所述弹性件部分地位于所述环状导向槽内。
作为可实施的方案,所述转轴与所述抵顶件接触的端面朝所述限位部的方向局部延伸形成同轴的筒形安装部,所述调节轴部分地位于所述筒形安装部内,且所述抵顶件全部或部分地套设于所述筒形安装部。
作为可实施的方案,所述筒形安装部的径向截面为方形。
作为可实施的方案,所述调节轴与所述调节旋钮通过螺纹联接的方式连接;
其中,所述调节轴与所述调节旋钮连接的一端设置轴向沉孔,所述调节旋钮上设置的外螺纹与所述轴向沉孔内壁设置的内螺纹啮合;或
所述调节旋钮上设置轴向通孔,所述调节轴与所述调节旋钮连接的一端设置的外螺纹与所述轴向通孔内壁设置的内螺纹啮合。
作为可实施的方案,所述转轴外侧套设有至少一个轴承,所述轴承固定在所述基座的内腔中。
作为可实施的方案,所述抵顶件包括支撑座和压轮,所述压轮通过轮轴固定在所述支撑座外侧,且所述压轮抵持于所述转轴的端面;
所述支撑座设置有通孔,所述支撑座通过所述通孔套设于所述转轴或者所述调节件。
作为可实施的方案,所述压轮由内至外包括轴承和轮圈,所述轮圈包括内层的刚性轮圈和外层的弹性轮圈。
作为可实施的方案,所述抵顶件包括至少两个压轮,每个所述压轮均通过对应的轮轴固定在所述支撑座上,所述至少两个压轮在所述支撑座周向上均匀分布。
作为可实施的方案,所述摇轮与所述转轴之间采用键连接或法兰连接,或者所述摇轮与所述转轴一体成型。
本发明实施例提供的摇轮结构中设置的阻尼调节结构包括调节件、弹性件和抵顶件,调节件通过弹性件作用于抵顶件的一侧,抵顶件的另一侧沿所述摇轮转动的轴向方向抵持于所述转轴上,形成对所述转轴的抵持力,该抵持力将使转轴转动过程中与抵顶件之间产生动摩擦力,而该动摩擦力决定了摇轮转动时的阻尼感,通过调节件调节弹性件的压缩量,改变弹性件对抵顶件的压力,进而改变所述抵顶件对所述转轴的抵持力大小,从而改变转轴和抵顶件之间的动摩擦力大小,实现使用者在操作摇轮时的阻尼感调节,能够满足不同使用者的操作手感要求,提高用户体验。
另一方面,本发明实施例提供的云台的摇轮控制器包括控制主体和与所述控制主体连接的至少一个上述的摇轮结构。
本发明实施例提供的云台的摇轮遥控器采用上述的摇轮结构,该遥轮结构的摇轮的阻尼感可调,能够满足不同使用者的操作手感要求,使得使用者可以更好地通过摇轮控制器控制云台。
附图说明
为了更清楚地说明本发明实施例或现有技术中的方案,下面将对实施例或现有技术描述中所需要使用的附图作一个简单介绍,显而易见地,下面描述中的附图是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的一种摇轮结构的整体结构图;
图2为图1提供的摇轮结构的剖视图;
图3为图1提供的摇轮结构的爆炸图;
图4为图2中A的放大视图;
图5为图2中B的放大视图;
图6为本发明实施例提供的抵顶件的整体示意图;
图7为图6沿C-C剖视线的剖视图;
图8为本发明实施例提供的另一种摇轮结构的整体结构图;
图9为图8提供的摇轮结构的剖视图;
图10为图9中D的放大视图;
图11为本发明实施例提供的摇轮控制器的结构示意图;
图12为本发明实施例提供的摇轮控制器的另一种结构示意图。
附图标记说明:
1          控制主体
2          摇轮结构
10         基座
101        容纳腔
20         摇轮组件
21         摇轮
211        第一通孔
212        盲孔
22         转轴
221        连接键
222        第一螺钉
223        筒形安装部
23         手柄
231        摇杆
232        套筒
233        固定件
234        第三轴承
24         第一轴承
30         阻尼调节组件
31         调节件
311        调节轴
3111       限位部
3112       环状导向槽
3113       轴向沉孔
312        调节旋钮
3121       轴向通孔
313        第二螺钉
32         弹性件
33         抵顶件
331        支撑座
3311       第二通孔
332        压轮
3321       第二轴承
3322       轮圈
3322a      刚性轮圈
3322b      弹性轮圈
具体实施方式
除非另有定义,本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同;本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的,不是旨在于限制本发明;本发明的说明书和权利要求书及上述附图说明中的术语“包括”和“具有”以及它们的任何变形,意图在于覆盖不排他的包含。
在本文中提及“实施例”意味着,结合实施例描述的特定特征、结构或特性可以包含在本发明的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例,也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是,本文所描述的实施例可以与其它实施例相结合。
本发明实施例提供一种摇轮结构,其包括基座、摇轮组件和阻尼调节组件;
所述基座设置有容纳腔,所述摇轮组件和所述阻尼调节组件部分地位于所述容纳腔内;
其中,所述摇轮组件包括摇轮及与所述摇轮同轴联动的转轴,所述阻尼调节组件包括调节件、弹性件和抵顶件;
所述调节件通过所述弹性件作用于所述抵顶件,使所述抵顶件沿所述摇轮转动的轴向方向抵持于所述转轴上,所述调节件通过调节所述弹性件作用于所述抵顶件的压力,以调节所述抵顶件对所述转轴的抵持力。
本发明实施例提供的摇轮结构中设置的阻尼调节结构包括调节件、弹性件和抵顶件,调节件通过弹性件作用于抵顶件的一侧,抵顶件的另一侧沿所述摇轮转动的轴向方向抵持于所述转轴上,形成对所述转轴的抵持力,该抵持力将使转轴转动过程中与抵顶件之间产生动摩擦力,而该动摩擦力决定了摇轮转动时的阻尼感,通过调节件调节弹性件的压缩量,改变弹性件对抵顶件的压力,进而改变所述抵顶件对所述转轴的抵持力大小,从而改变转轴和抵顶件之间的动摩擦力大小,实现使用者在操作摇轮时的阻尼感调节,能够满足不同使用者的操作手感要求,提高用户体验。
基于上述的摇轮结构,本发明实施例提供的云台的摇轮控制器包括控制主体和与所述控制主体连接的至少一个所述的摇轮结构。
本发明提供的摇轮遥控器采用上述的摇轮结构,该遥轮结构的摇轮的阻尼感可调,能够满足不同使用者的操作手感要求,使得使用者可以更好地通过摇轮控制器控制云台。
为了使本技术领域的人员更好地理解本发明方案,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述。
参阅图1至图3,图示分别为本发明提供的摇轮结构的一种实施例的整体结构图及对应的剖视图、爆炸图。
具体地,所述摇轮结构包括基座10、摇轮组件20和阻尼调节组件30。
在本发明实施例中,所述基座10设置有容纳腔101,所述摇轮组件20和所述阻尼调节组件30部分地位于所述容纳腔101内。
所述摇轮组件20包括摇轮21及与所述摇轮21同轴联动的转轴22,所述阻尼调节组件30包括调节件31、弹性件32和抵顶件33;所述调节件31通过 所述弹性件32作用于所述抵顶件33,使所述抵顶件33沿所述摇轮21转动的轴向方向抵持于所述转轴22上,所述调节件31通过调节所述弹性件32作用于所述抵顶件33的压力,以调节所述抵顶件33对所述转轴22轴向的抵持力,从而形成不同的阻尼效果。在本实施例中,所述摇轮21与所述转轴22之间可采用键连接或法兰连接,或者所述摇轮21与所述转轴22一体成型;例如,图4示出了所述转轴22与所述摇轮21采用键连接的一种实例,具体的,在所述转轴22与所述摇轮21连接的一端设置有连接键221,结合图3,该连接键221将与所述摇轮21上设置的带键槽的第一通孔211配合实现所述转轴22与所述摇轮21的键连接;在一些实施例中,该连接键221可以是从所述转轴22侧面沿径向延伸出来的部分,即该连接键221与所述转轴22为一个整体;在另一些实施例中,所述连接键221也可以是独立与所述转轴22的部件,其通过固定结构或者固定件(比如图4中所示的第一螺钉222)固定在所述转轴22上。
进一步地,在本实施例中,所述调节件31包括调节轴311和调节旋钮312,所述调节轴311与所述转轴22共轴,所述调节旋钮312调节所述调节轴311在所述转轴22的轴线上运动。在本实施例中,所述调节轴311与所述调节旋钮312通过螺纹联接的方式连接。
在一些实施例中,可在所述调节轴311与所述调节旋钮312的一端设置内螺纹,在所述调节旋钮312上设置外螺纹,通过该内螺纹和外螺纹实现所述调节轴311与所述调节旋钮312的螺纹联接,比如,参阅图4,在所述调节轴311与所述调节旋钮312连接的一端设置轴向沉孔3113,在所述轴向沉孔3113内壁设置内螺纹,同时在所述调节旋钮312靠近所述调节轴311的一端设置沿轴向的螺纹柱(图中未标识),所述螺纹柱上设置有外螺纹,通过所述螺纹柱与所述轴向沉孔3113的配合实现所述调节轴311与所述调节旋钮312的螺纹联接;或者在所述调节旋钮312上设置轴向通孔3121,通过第二螺钉313穿过所述调 节旋钮312的轴向通孔3121与所述轴向沉孔3113配合实现所述调节轴311与所述调节旋钮312的螺纹联接。
在另一些实施例中,可在所述调节轴311与所述调节旋钮312的一端设置外螺纹,在所述调节旋钮312上设置内螺纹,通过该内螺纹和外螺纹实现所述调节轴311与所述调节旋钮312的螺纹联接,比如在所述调节旋钮312上设置轴向通孔3121,而所述调节轴311与所述调节旋钮312连接的一端设置外螺纹,通过该外螺纹与所述轴向通孔3121内壁设置的内螺纹的啮合实现所述调节轴311与所述调节旋钮312的螺纹联接。
进一步地,在本实施例中,所述转轴22为空心轴,而所述调节轴311依次穿过所述弹性件32、所述抵顶件33、所述转轴22和所述摇轮21后与所述调节旋钮312固定连接,即所述转轴22套设在所述调节轴311上。其中,当通过调节旋钮312调节所述调节轴311在轴向上运动时,所述摇轮21和所述转轴22均保持不动,仅所述弹性件32因所述调节轴311对其轴向作用力的变大或变小而相应的被压缩或者被释放,所述弹性件32的形变使得该轴向作用力的变化进一步传递成为所述抵顶件33对所述转轴22的轴向抵顶力的变化,从而可形成不同的阻尼感;进一步地,当完成所述调节轴311的调节后转动摇轮21时,所述调节轴311、调节旋钮312和弹性件32将保持静止状态,其不随所述转轴22一起转动,即所述调节旋钮312带动所述调节轴311的轴向运动与所述摇轮21带动所述转轴22的转动是所述摇轮21结构中互相独立的两个工作状态,所述调节轴311的轴向运动的结果是使所述转轴22的转动能够具有不同的阻尼感。在一些实施例中,也可在所述转轴22和空心的所述转轴22之间设置轴承(图中未标识),该轴承可以是滚珠轴承或者无油轴承。
进一步地,如图5所示,所述调节轴311上设置有限位部3111,所述弹性件32的两端分别抵持于所述限位部3111和所述抵顶件33,在本实施例中,该 限位部3111位于所述调节轴311远离所述调节旋钮312的一端。在另一些实施例中,所述限位部3111沿所述调节轴311的轴向还可设置有环状导向槽3112,使得所述弹性件32可以部分地位于所述环状导向槽3112内,一方面固定所述弹性件32,另一方面对所述弹性件32形成导向作用。
进一步地,在本实施例中,如2或图3所示,所述转轴22外侧还可套设有至少一个第一轴承24,所述第一轴承24固定在所述基座10的内腔中;所述第一轴承24可以是滚珠轴承或者无油轴承。
进一步地,在本实施例中,所述转轴22与所述抵顶件33接触的端面朝所述限位部3111的方向局部延伸形成同轴的筒形安装部223,所述调节轴311部分地位于所述筒形安装部223内,即所述筒形安装部223套设在所述调节轴311上。在本实施例中,所述筒形安装部223用于安装所述抵顶件33,具体的,所述抵顶件33可全部或部分地套设于所述筒形安装部223。
进一步地,在本实施例中,如图6和图7所示,所述抵顶件33包括支撑座331和压轮332,所述压轮332通过轮轴(图中未标识)固定在所述支撑座331外侧,在本实施例中,所述抵顶件33通过所述支撑座331套设在所述调节轴311或者所述筒形安装部223上时,因所述弹性件32的作用,所述压轮332抵持于所述转轴22的端面;
所述支撑座331设置有第二通孔3311,所述支撑座331通过所述第二通孔3311套设于所述转轴22(比如套设于筒形安装部223)或者所述调节件31(比如套设于调节轴311)上。作为本实施例的可选方案,所述支撑座331通过所述第二通孔3311套设于所述筒形安装部223时,所述筒形安装部223的径向截面可为方形,所述第二通孔3311的径向截面与所述筒形安装部223的径向截面形状相适配,且所述支撑座331套设在所述筒形安装部223上时具有一定的自由度,以便使用者通过所述摇轮21带动所述转轴22转动时能够产生一定的阻 尼感,在本实施例中,所述抵顶件33可随着所述转轴22一起转动。
作为本实施例的可选方案,所述压轮332由内至外包括第二轴承3321和轮圈3322,所述第二轴承3321可以是滚轴轴承或者无油轴承。在一些实施例中,所述轮圈3322可包括内层的刚性轮圈3322a和外层的弹性轮圈3322b,所述刚性轮圈3322a起到支撑作用,所述弹性轮圈3322b可增加所述压轮332与所述转轴22的动摩擦力,有助于产生阻尼感。
作为本实施例的可选方案,所述抵顶件33包括至少两个压轮332,每个所述压轮332均通过对应的轮轴固定在所述支撑座331上,且所述至少两个压轮332在所述支撑座331周向上均匀分布,本申请附图中示出的所述抵顶件33包括四个压轮332;当然,压轮332的个数可根据实际情况设定,在此不作限定;实际上也存在只设置一个压轮332的情况,当至设置一个压轮332时,该压轮332可以是通过轮轴固定在支撑座331上,也可以是整体套设在支撑座331上,且该压轮332与所述转轴22接触、并与所述转轴22共轴。
进一步地,在本实施例中,重新参阅图2,所述摇轮组件20还包括与所述摇轮21连接的手柄23,用户通过手柄23转动摇轮21;可选的,所述手柄23可包括摇杆231和套筒232以及固定件233,其中,所述摇杆231嵌入所述摇轮21上设置的盲孔212中,所述套筒232套设在摇杆231上,所述固定件233固定在所述摇杆231远离所述摇轮21的一端,用于限制所述套筒232的沿所述摇杆231的轴向的运动;进一步地,所述摇杆231与所述套筒232之间还可设置第三轴承234,减小用户操作手柄时所述摇杆231与所述套筒232之间的阻力,所述第三轴承234可以是滚珠轴承或者无油轴承。
在本实施例一种可能的实施例中,参阅图8和图9,不同于上述实施例中所述调节轴311完全贯穿所述转轴22的方案,本实施例中的调节轴311设置在所述转轴22的一侧,当然,所述转轴22与所述调节轴311仍然保持同轴状态,且所述转轴22可为实心轴,也可为空心轴,当所述转轴22为空心轴时,所述 调节轴311可部分地位于所述转轴22内腔中,也可以完全独立于所述转轴22设置。具体的,在本实施例中,所述基座10上开设有槽形孔(图中未示出),所述调节旋钮312部分地穿过所述槽形孔与所述调节轴311的一端连接,所述调节轴311的另一端依次穿过所述弹性件32和所述抵顶件33与所述转轴22同轴设置。在本实施例中,所述槽形孔的设置方向为所述转轴22的周向方向。
需要说明的是,在图8和图9所示的实施例中,除所述调节旋钮312的设置位置、所述转轴22与所述调节轴311相对位置关系与上述实施例存在一些区别外,其他部件的结构和位置关系均可参阅上述实施例中相关描述,在此不再展开说明,当然,图1和图8提供的两种结构虽然存在一些区别,但实质上都是对转轴22施加轴向的抵顶力,因此属于同一发明构思下的不同实施例;额外说明一下,如图10所示,所述调节轴311上同样可如上述实施例一般设置有限位部3111,同时所述弹性件32的两端分别抵持于所述限位部3111和所述抵顶件33,但是在本实施例中,该限位部3111与所述调节旋钮312的位置不同于上述实施例,由图10可知该限位部3111可位于所述调节轴311靠近所述调节旋钮312的一端,当然,这种不同是由于所述转轴22与所述调节轴311的配合方式的不同而进行的适应性调整,本质上仍然从属于本发明的整体发明构思。
本发明实施例提供的摇轮21结构与现有技术相比,至少存在如下优点:
通过设置的阻尼调节结构中调节件31使弹性件32作用于抵顶件33的一侧,抵顶件33的另一侧沿所述摇轮21转动的轴向方向抵持于所述转轴22上,形成对所述转轴22的抵持力,该抵持力将使转轴22转动过程中与抵顶件33之间产生动摩擦力,而该动摩擦力决定了摇轮21转动时的阻尼感,通过调节件31调节弹性件32的压缩量,改变弹性件32对抵顶件33的压力,进而改变所述抵顶件33对所述转轴22的抵持力大小,从而改变转轴22和抵顶件33之间的动摩擦力大小,实现使用者在操作摇轮21时的阻尼感调节,能够满足不同使用者的操作手感要求,提高用户体验。
本发明实施例还提供一种云台的摇轮控制器,该云台可以是单轴云台或者多轴云台,参阅图11和12,图示分别为本发明实施例提供的摇轮控制器的两种示意图,所述遥轮控制器包括控制主体1和与所述控制主体连接的至少一个摇轮结构2。其中,图11中所示的摇轮结构2具体可以参考上述实施例中结合图1至图7所描述的相关技术内容,图13中所示的所述遥轮结构2具体可以参考上述实施例中结合图6至图10所描述的相关技术内容。
根据本实施例提供的摇轮控制器,结合图1至图7,或者结合图6至图10,当用户转动所述摇轮结构2上的摇轮21时,所述转轴22将随着所述摇轮21一起转动,所述控制主体1内部设置的传感器件将获取所述转轴22的转动状态,并相应地生成云台的控制信号。在本实施例中,当设置有多个摇轮结构2时,每个摇轮结构2控制云台的一个轴。
本发明提供的云台的摇轮遥控器采用上述实施例中的摇轮结构,具有如下的优点:
由于该遥轮结构2的摇轮21的阻尼感可调,能够满足不同使用者的操作手感要求,使得使用者可以更好地通过摇轮控制器控制云台。
本发明实施例还提供一种云台控制系统,所述云台控制系统可包括云台和上述实施例中所述的云台的摇轮控制器,在本实施例中,所述云台可以是单轴云台或者多轴云台,相应的,所述云台的摇轮控制器上设置有单个或多个所述摇轮结构,每个摇轮结构控制云台的一个轴。
显然,以上所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例,附图中给出了本发明的较佳实施例,但并不限制本发明的专利范围。本发明可以以许多不同的形式来实现,相反地,提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。尽管参照前述实施例对本发明进行了详细的说明,对于本领域的技术人员来而言,其依然可以对前述各具体实施方式所记载的技术方案进行修改,或者对其中部分技术特征进行等效替换。凡是利 用本发明说明书及附图内容所做的等效结构,直接或间接运用在其他相关的技术领域,均同理在本发明专利保护范围之内。

Claims (28)

  1. 一种摇轮结构,其特征在于,包括基座、摇轮组件和阻尼调节组件;
    所述基座设置有容纳腔,所述摇轮组件和所述阻尼调节组件部分地位于所述容纳腔内;
    其中,所述摇轮组件包括摇轮及与所述摇轮同轴联动的转轴,所述阻尼调节组件包括调节件、弹性件和抵顶件;
    所述调节件通过所述弹性件作用于所述抵顶件,使所述抵顶件沿所述摇轮转动的轴向方向抵持于所述转轴上,所述调节件通过调节所述弹性件作用于所述抵顶件的压力,以调节所述抵顶件对所述转轴的抵持力。
  2. 根据权利要求1所述的摇轮结构,其特征在于,所述调节件包括调节轴和调节旋钮,所述调节轴与所述转轴共轴,所述调节旋钮调节所述调节轴在所述转轴的轴线上运动。
  3. 根据权利要求2所述的摇轮结构,其特征在于,所述转轴为空心轴,所述调节轴依次穿过所述弹性件、所述抵顶件、所述转轴和所述摇轮后与所述调节旋钮固定连接。
  4. 根据权利要求2所述的摇轮结构,其特征在于,所述基座上开设有槽形孔,所述调节旋钮部分地穿过所述槽形孔与所述调节轴的一端连接,所述调节轴的另一端依次穿过所述弹性件和所述抵顶件。
  5. 根据权利要求3或4所述的摇轮结构,其特征在于,所述调节轴远离所述调节旋钮的一端设置有限位部,所述弹性件的两端分别抵持于所述限位部和所述抵顶件。
  6. 根据权利要求5所述的摇轮结构,其特征在于,所述限位部沿所述调节轴的轴向设置有环状导向槽,所述弹性件部分地位于所述环状导向槽内。
  7. 根据权利要求5所述的摇轮结构,其特征在于,所述转轴与所述抵顶件 接触的端面朝所述限位部的方向局部延伸形成同轴的筒形安装部,所述调节轴部分地位于所述筒形安装部内,且所述抵顶件全部或部分地套设于所述筒形安装部。
  8. 根据权利要求7所述的摇轮结构,其特征在于,所述筒形安装部的径向截面为方形。
  9. 根据权利要求3或4所述的摇轮结构,其特征在于,所述调节轴与所述调节旋钮通过螺纹联接的方式连接;
    其中,所述调节轴与所述调节旋钮连接的一端设置轴向沉孔,所述调节旋钮上设置的外螺纹与所述轴向沉孔内壁设置的内螺纹啮合;或
    所述调节旋钮上设置轴向通孔,所述调节轴与所述调节旋钮连接的一端设置的外螺纹与所述轴向通孔内壁设置的内螺纹啮合。
  10. 根据权利要求3或4所述的摇轮结构,其特征在于,所述转轴外侧套设有至少一个轴承,所述轴承固定在所述基座的内腔中。
  11. 根据权利要求1所述的摇轮结构,其特征在于,所述抵顶件包括支撑座和压轮,所述压轮通过轮轴固定在所述支撑座外侧,且所述压轮抵持于所述转轴的端面;
    所述支撑座设置有通孔,所述支撑座通过所述通孔套设于所述转轴或者所述调节件。
  12. 根据权利要求11所述的摇轮结构,其特征在于,所述压轮由内至外包括轴承和轮圈,所述轮圈包括内层的刚性轮圈和外层的弹性轮圈。
  13. 根据权利要求11所述的摇轮结构,其特征在于,所述抵顶件包括至少两个压轮,每个所述压轮均通过对应的轮轴固定在所述支撑座上,所述至少两个压轮在所述支撑座周向上均匀分布。
  14. 根据权利要求1所述的摇轮结构,其特征在于,所述摇轮与所述转轴之间采用键连接或法兰连接,或者所述摇轮与所述转轴一体成型。
  15. 一种云台的摇轮控制器,其特征在于,包括控制主体和与所述控制主体连接的至少一个摇轮结构,所述摇轮结构,包括基座、摇轮组件和阻尼调节组件;
    所述基座设置有容纳腔,所述摇轮组件和所述阻尼调节组件部分地位于所述容纳腔内;
    其中,所述摇轮组件包括摇轮及与所述摇轮同轴联动的转轴,所述阻尼调节组件包括调节件、弹性件和抵顶件;
    所述调节件通过所述弹性件作用于所述抵顶件,使所述抵顶件沿所述摇轮转动的轴向方向抵持于所述转轴上,所述调节件通过调节所述弹性件作用于所述抵顶件的压力,以调节所述抵顶件对所述转轴的抵持力。
  16. 根据权利要求15所述的摇轮控制器,其特征在于,所述调节件包括调节轴和调节旋钮,所述调节轴与所述转轴共轴,所述调节旋钮调节所述调节轴在所述转轴的轴线上运动。
  17. 根据权利要求16所述的摇轮控制器,其特征在于,所述转轴为空心轴,所述调节轴依次穿过所述弹性件、所述抵顶件、所述转轴和所述摇轮后与所述调节旋钮固定连接。
  18. 根据权利要求16所述的摇轮控制器,其特征在于,所述基座上开设有槽形孔,所述调节旋钮部分地穿过所述槽形孔与所述调节轴的一端连接,所述调节轴的另一端依次穿过所述弹性件和所述抵顶件。
  19. 根据权利要求17或18所述的摇轮控制器,其特征在于,所述调节轴远离所述调节旋钮的一端设置有限位部,所述弹性件的两端分别抵持于所述限位部和所述抵顶件。
  20. 根据权利要求19所述的摇轮控制器,其特征在于,所述限位部沿所述调节轴的轴向设置有环状导向槽,所述弹性件部分地位于所述环状导向槽内。
  21. 根据权利要求19所述的摇轮控制器,其特征在于,所述转轴与所述抵 顶件接触的端面朝所述限位部的方向局部延伸形成同轴的筒形安装部,所述调节轴部分地位于所述筒形安装部内,且所述抵顶件全部或部分地套设于所述筒形安装部。
  22. 根据权利要求21所述的摇轮控制器,其特征在于,所述筒形安装部的径向截面为方形。
  23. 根据权利要求17或18所述的摇轮控制器,其特征在于,所述调节轴与所述调节旋钮通过螺纹联接的方式连接;
    其中,所述调节轴与所述调节旋钮连接的一端设置轴向沉孔,所述调节旋钮上设置的外螺纹与所述轴向沉孔内壁设置的内螺纹啮合;或
    所述调节旋钮上设置轴向通孔,所述调节轴与所述调节旋钮连接的一端设置的外螺纹与所述轴向通孔内壁设置的内螺纹啮合。
  24. 根据权利要求17或18所述的摇轮控制器,其特征在于,所述转轴外侧套设有至少一个轴承,所述轴承固定在所述基座的内腔中。
  25. 根据权利要求15所述的摇轮控制器,其特征在于,所述抵顶件包括支撑座和压轮,所述压轮通过轮轴固定在所述支撑座外侧,且所述压轮抵持于所述转轴的端面;
    所述支撑座设置有通孔,所述支撑座通过所述通孔套设于所述转轴或者所述调节件。
  26. 根据权利要求25所述的摇轮控制器,其特征在于,所述压轮由内至外包括轴承和轮圈,所述轮圈包括内层的刚性轮圈和外层的弹性轮圈。
  27. 根据权利要求25所述的摇轮控制器,其特征在于,所述抵顶件包括至少两个压轮,每个所述压轮均通过对应的轮轴固定在所述支撑座上,所述至少两个压轮在所述支撑座周向上均匀分布。
  28. 根据权利要求15所述的摇轮控制器,其特征在于,所述摇轮与所述转轴之间采用键连接或法兰连接,或者所述摇轮与所述转轴一体成型。
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