WO2019227779A1 - 云台 - Google Patents

云台 Download PDF

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Publication number
WO2019227779A1
WO2019227779A1 PCT/CN2018/106176 CN2018106176W WO2019227779A1 WO 2019227779 A1 WO2019227779 A1 WO 2019227779A1 CN 2018106176 W CN2018106176 W CN 2018106176W WO 2019227779 A1 WO2019227779 A1 WO 2019227779A1
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WO
WIPO (PCT)
Prior art keywords
motor
gimbal
annular wall
rotor
stator
Prior art date
Application number
PCT/CN2018/106176
Other languages
English (en)
French (fr)
Inventor
刘浩
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市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 CN201880015419.0A priority Critical patent/CN110896649A/zh
Publication of WO2019227779A1 publication Critical patent/WO2019227779A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/10—Casings or enclosures characterised by the shape, form or construction thereof with arrangements for protection from ingress, e.g. water or fingers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head

Definitions

  • Embodiments of the present invention relate to the technical field of device stabilization, and in particular, to a PTZ.
  • the pan / tilt is widely used to increase the stability of the load equipment so that the load equipment can obtain better shooting effects.
  • the gimbal is usually provided with a motor to adjust the attitude of the load equipment.
  • the motor cannot be completely sealed in structure, there is a gap between the rotor and the stator of the motor. Therefore, how to ensure that gravel or small stones cannot easily enter the motor from the gap has become a technical problem to be solved.
  • An embodiment of the present invention provides a PTZ.
  • the pan / tilt according to the embodiment of the present invention includes:
  • a motor for driving a load device to rotate around an axis within a certain range including a stator and a rotor;
  • a rotating case, the rotor of the motor is at least partially housed in the rotating case
  • a motor base wherein the stator of the motor is at least partially accommodated in the motor base, the motor base includes a first annular wall surrounding the stator of the motor, and the rotating shell includes a second surrounding the rotor of the motor An annular wall, the first annular wall and the second annular wall at least partially overlapping to form an annular covering portion provided along a circumferential direction of the axis, the covering portion covering a stator and a rotor of the motor Interval.
  • the motor includes a first motor
  • the motor base includes a first motor base
  • the rotating casing includes a first casing
  • a stator of the first motor is at least partially housed in the first motor.
  • a motor base, and a rotor of the first motor is fixedly connected to the first casing.
  • the head comprises a load case, and the first case is disposed on the load case.
  • an end portion of the first annular wall of the first motor base is formed with an annular first step structure
  • an end portion of the second annular wall of the first housing is formed with an annular shape.
  • the second step structure is complementary to the second step structure to form the covering portion.
  • the pan / tilt head includes a motor cover mounted on the first motor base, and the motor cover and the first case are respectively disposed on opposite sides of the first motor base.
  • the motor includes a second motor
  • the motor base includes a second motor base
  • the gimbal includes a first shaft arm
  • the rotating housing includes a second housing
  • the first shaft arm The second casing is connected to the first motor base
  • the stator of the second motor is at least partially accommodated in the second motor base
  • the rotor of the second motor is fixedly connected to the second casing.
  • the pan / tilt head includes a first cover mounted on an outer side of the second case and a second cover mounted on an outer side of the second motor base.
  • the outside of the second motor base is opposite to each other.
  • an end portion of the first annular wall of the second motor base is formed with an annular third step structure, and the third step structure at least partially extends into a place of the second shell.
  • the covering portion is formed in a space surrounded by the second annular wall.
  • a channel is formed in the first shaft arm, and the pan / tilt head includes a line connection portion located in the channel and connecting the stator of the first motor and the first Rotor of two motors.
  • the head includes a second shaft arm, and the first shaft arm and the second shaft arm are symmetrically connected to the second shell along an axis of the second motor, and the cloud
  • the stage includes a load case, the first case is disposed on the load case, and the second shaft arm is rotatably connected to the load case.
  • the pan / tilt head includes a support shaft, the first shell and the support shaft are respectively disposed on opposite sides of the load housing, and the second shaft arm is rotatably connected to the support Shaft.
  • the pan / tilt head includes a third annular wall that is rotatably connected and a connecting seat, the third annular wall is disposed on the load housing and surrounds the supporting rotating shaft, and the second shaft arm is connected
  • the second shell and the connection seat, the connection seat includes a fourth annular wall surrounding the support shaft, an annular groove is formed on an end surface of the fourth annular wall, and the third annular wall at least partially accommodates In the annular groove.
  • the pan / tilt head includes a weight block, and the weight block is installed in the connecting seat.
  • the pan / tilt head includes a control circuit
  • the second shaft arm is formed with an accommodation space
  • the control circuit is disposed in the accommodation space and installed on a rotor of the second motor.
  • the gimbal of the embodiment of the present invention can be rotated by a motor-driven rotating shell.
  • the covering portion formed by the two annular walls can change the interval path between the stator and the rotor that enters the motor from outside the gimbal. It is not easy for gravel or small stones. Enter the gap between the stator and the rotor of the motor, and at the same time, the gap between the stator and the rotor of the motor can be made smaller, so that the reliability of the motor and the gimbal is improved.
  • FIG. 1 is a schematic perspective view of a pan / tilt according to an embodiment of the present invention.
  • FIG. 2 is an exploded schematic view of a gimbal according to an embodiment of the present invention.
  • FIG. 3 is a schematic cross-sectional view of a gimbal according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a covering portion according to an embodiment of the present invention.
  • FIG. 5 is another schematic structural diagram of a covering portion according to an embodiment of the present invention.
  • FIG. 6 is another schematic structural diagram of a covering portion according to an embodiment of the present invention.
  • FIG. 7 is another schematic structural diagram of a covering portion according to an embodiment of the present invention.
  • FIG. 8 is another schematic structural diagram of a covering portion according to an embodiment of the present invention.
  • FIG. 9 is another schematic structural diagram of a covering portion according to an embodiment of the present invention.
  • Gimbal 10 motor 11, stator 112, rotor 114, first motor 116, second motor 118, rotating casing 12, first casing 122, second annular wall 1222, second stepped structure 1224, second casing 124, first Three-step structure 1242, motor base 13, first motor base 131, first annular wall 1312, first step structure 1314, cover portion 132, second motor base 133, motor cover 134, first cover 135, second cover 136 , Load housing 14, third annular wall 142, first limiting portion 144, first shaft arm 15, channel 151, line connection portion 152, first arm body 153, first side cover 154, first groove 155 ,
  • the second shaft arm 16 the accommodation space 161, the control circuit 162, the second arm body 163, the second side cover 164, the second groove 165, the support rotating shaft 17, the connecting base 18, the fourth annular wall 182, the annular groove 1822, counterweight 19, load device 20, axis X, axis Y.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of “a plurality” is two or more, unless it is specifically and specifically defined otherwise.
  • the terms “installation”, “connected”, and “connected” should be understood in a broad sense.
  • it may be a fixed connection or a Removable connection or integral connection.
  • It can be a mechanical connection or an electrical connection.
  • It can be directly connected or indirectly connected through an intermediate medium.
  • It can be the internal connection of two elements or the interaction between two elements.
  • the specific meanings of the above terms in the embodiments of the present invention may be understood according to specific situations.
  • the pan / tilt head 10 includes a motor 11, a rotating shell 12, and a motor base 13.
  • the motor 11 is used to drive the load equipment 20 to rotate around the axis within a certain range.
  • the motor 11 includes a stator 112 and a rotor 114.
  • the rotor 114 of the motor 11 is at least partially housed in the rotating housing 12, and the stator 112 of the motor 11 is housed at least partially in the motor base 13.
  • the motor base 13 includes a first annular wall 1312 surrounding the stator 112 of the motor 11, and the rotating housing 12 includes a second annular wall 1222 surrounding the rotor 114 of the motor 11.
  • the first annular wall 1312 and the second annular wall 1222 at least partially overlap to An annular covering portion 132 is formed in a circumferential direction of the axis line, and the covering portion 132 covers an interval between the stator 112 and the rotor 114 of the motor 11.
  • the pan / tilt head 10 of the embodiment of the present invention can drive the load device 20 to rotate through the motor 11.
  • the covering portion 132 formed by the two annular walls can make the space between the stator 112 and the rotor 114 of the motor 11 from outside the pan / tilt 10 Changing, it is not easy for the gravel or small stones to enter the gap between the stator 112 and the rotor 114 of the motor 11, and at the same time, the gap between the stator 112 and the rotor 114 of the motor 11 can be made smaller. In this way, the motor 11 and the gimbal are improved. 10 reliability.
  • the head 10 may be a two-axis head or a three-axis head.
  • the PTZ 10 can provide stabilization to the load device 20 connected to the PTZ 10, so that the load device 20 can work in a better posture.
  • the head 10 is a two-axis head, particularly a two-axis orthogonal head.
  • the load device 20 may be one of a sensor, an imaging device, and a mobile terminal.
  • the sensor may be an attitude sensor (such as an acceleration sensor, an angle sensor, an inertial measurement unit, etc.).
  • the imaging device may be an imaging device such as a camera, a video camera, and the mobile terminal may be a mobile phone, a tablet computer, a smart wearable device, and the like. It can be understood that the imaging device may also be some mobile terminals, for example, the imaging device is a mobile phone, tablet computer, smart wearable device, etc. that have functions of taking pictures and videos, or the mobile terminal may also be some imaging device, which is not described in detail here. limited.
  • the covering portion 132 may be formed by partially overlapping the first annular wall 1312 and the second annular wall 1222 with different diameters in a cylindrical shape, or a complementary step shape at one end.
  • the two annular walls are partially overlapped and formed, or one annular wall with a stepped shape on one end and the other annular wall with a cylindrical shape are matched and formed.
  • the diameter of the first annular wall 1312 may be larger than the diameter of the second annular wall 1222.
  • the two annular walls 1222 extend at least partially into the first annular wall 1312 to form a covering portion 132 (see FIG. 4).
  • the diameter of the second annular wall 1222 is larger than the diameter of the first annular wall 1312, and the first annular wall 1312 is at least Partially projecting into the second annular wall 1222 may also form a covering portion 132 (see FIG. 5).
  • the step (notch portion) at one end of the first annular wall 1312 may be outside and the second annular
  • the step at one end of the wall 1222 can be complementarily formed to form the covering portion 132 (see FIG. 6); it is also possible that the step at one end of the first annular wall 1312 is at the inside and the step at one end of the second annular wall 1222 is at the outside It can form a cover 132 (see FIG. 7) in a complementary manner, which is not specifically limited herein.
  • one end of the first annular wall 1312 may be annular stepped and the second annular wall 1222 may be cylindrical.
  • One end of the second annular wall 1222 cooperates with the step of the first annular wall 1312 to form a covering portion 132 (see FIG. 8); it is also possible that the first annular wall 1312 is cylindrical and one end of the second annular wall 1222 is an annular step.
  • one end of the first annular wall 1312 cooperates with the step of the second annular wall 1222 to form a covering portion 132 (see FIG. 9).
  • the step may be located inside or outside the annular wall, which is not specifically limited herein.
  • the rotor 114 of the motor 11 is at least partially accommodated in the rotating case 12.
  • the rotor 114 of the motor 11 is partially accommodated in the rotating case 12, or the rotor 114 of the motor 11 is completely accommodated in the rotating case 12.
  • the stator 112 of the motor 11 is at least partially housed in the motor base 13 and is similarly understood.
  • the motor 11 includes a first motor 116
  • the motor base 13 includes a first motor base 131
  • the rotating casing 12 includes a first casing 122
  • the stator 112 of the first motor 116 The first motor base 131 is at least partially accommodated, and the rotor 114 of the first motor 116 is fixedly connected to the first casing 122.
  • the first casing 122 rotates with the rotor 114 of the first motor 116 to rotate the rotational casing 12, so that the motor 11 can drive the rotational casing 12 to rotate.
  • the rotating shell 12 rotates about the axis X of the first motor 116.
  • a covering portion 132 formed by the first case 122 and the first motor base 131 is provided along the axis X in the circumferential direction.
  • the axis X of the first motor 116 is a driving shaft of the first motor 116.
  • the first motor 116 may be the tilt axis motor 11 of the pan / tilt head 10, and the pan / tilt head 10 drives the load device 20 to rotate in the pitch direction through the first motor 116 to provide stabilization to the head 10 in the pitch direction.
  • the head 10 includes a load case 14, and the first case 122 is disposed on the load case 14. That is to say, the load casing 14 can be rotated by the first motor 116 to drive the rotation casing 12.
  • the rotor 114 of the first motor 116 may also be directly fixed to the load case 14.
  • the first case 122 is connected to the load case 14, and the first motor 116 can drive the first case 122 to rotate and then drive the load device 20 to rotate, so that the load device 20 works in a better posture.
  • the first motor 116 can also directly drive the load case 14 to rotate, and the first case 122 provided on the load case 14 also rotates synchronously.
  • the pitch axis motor of the gimbal 10 can be directly connected to the load housing 14 to drive the load device 20 to rotate in the pitch direction.
  • an end of the first annular wall 1312 of the first motor base 131 is formed with an annular first step structure 1314
  • an end of the second annular wall 1222 of the first shell 122 is formed with an annular second
  • the step structure 1224, the first step structure 1314 and the second step structure 1224 complementarily cooperate to form the covering portion 132.
  • the covering portion 132 formed by the two annular walls can change the interval path between the stator 112 and the rotor 114 of the first motor 116 entering from the outside of the gimbal 10, and become tortuous, and it is difficult for the gravel or small stones to enter the first
  • the interval between the stator 112 and the rotor 114 of a motor 116, and at the same time, the interval between the stator 112 and the rotor 114 of the first motor 116 can be made smaller, thereby improving the reliability of the first motor 116 and the gimbal 10.
  • the steps of the first annular wall 1312 of the first motor base 131 are on the inside, and the steps of the second annular wall 1222 of the first casing 122 are on the outside.
  • the pan / tilt head 10 includes a motor cover 134 mounted on the first motor base 131, and the motor cover 134 and the first case 122 are respectively disposed on opposite sides of the first motor base 131.
  • the first motor base 131 can provide support and seal for the first motor 116, and the motor cover 134 can facilitate the disassembly and assembly of the first motor 116.
  • the first motor 116 may be disposed in a relatively closed space formed by the cooperation of the first housing 122, the motor base 13 and the motor cover 134, which is beneficial to protecting the first motor 116 from interference from the external environment, thereby improving the first motor. 116 reliability.
  • the motor 11 includes a second motor 118
  • the motor base 13 includes a second motor base 133
  • the pan / tilt head 10 includes a first shaft arm 15
  • the rotating housing 12 includes a second housing 124
  • the first shaft arm 15 is connected
  • the stator 112 of the second motor 118 is at least partially housed in the second motor base 133
  • the rotor 114 of the second motor 118 is fixedly connected to the second casing 124.
  • the second motor 118 may be a yaw axis motor of the gimbal 10
  • the second casing 124 may rotate with the rotor 114 of the second motor 118
  • the second motor 118 drives the first shaft arm 15 by driving the second casing 124
  • the first motor base 131 rotates, which in turn can drive the load device 20 to rotate about the axis Y of the second motor 118.
  • the axis Y of the second motor 118 is a driving shaft of the second motor 118.
  • the second motor 118 can provide stabilization to the load device 20 in a rotation direction different from that of the first motor 116
  • the second motor base 133 can provide support for the second motor 118.
  • the first shaft arm 15 and the second housing 124 are fixedly connected (for example, can be made into an integrated structure), and the first shaft arm 15 and the first motor base 131 are detachably connected (for example, fixed by screws).
  • the head 10 may be an orthogonal head, and the axis Y of the second motor 118 is perpendicular to the axis X of the first motor 116.
  • the head 10 can also be a non-orthogonal head, and the axis Y of the second motor 118 and the axis X of the first motor 116 are not perpendicular and not parallel.
  • the gimbal 10 includes a first cover 135 mounted on the outside of the second case 124 and a second cover 136 mounted on the outside of the second motor base 133, the outside of the second case 124, and the second motor
  • the outer sides of the seats 133 face each other.
  • the first cover 135 and the second cover 136 facilitate the disassembly and sealing of the second motor 118 and the second motor base 133.
  • the second motor 118 may be disposed on the first cover 135, the second casing 124, and the second The relatively closed space formed by the motor base 133 and the second cover 136 cooperates to protect the second motor 118 from being easily interfered by the external environment, thereby improving the reliability of the second motor 118.
  • an end of the first annular wall 1312 of the second motor base 133 is formed with an annular third step structure 1242 (see FIG. 3), and the third step structure 1242 extends at least partially into the second shell 124.
  • a covering portion 132 is formed in a space surrounded by the second annular wall 1222.
  • the second annular wall 1222 of the second shell 124 is cylindrical, and the second annular wall 1222 of the second shell 124 cooperates with the third stepped structure 1242 to form a covering portion 132.
  • the covering portion 132 can change the spacing path between the stator 112 and the rotor 114 of the second motor 118 from outside the gimbal 10, and it is difficult for gravel or small stones to enter between the stator 112 and the rotor 114 of the second motor 118.
  • the interval between the stator 112 and the rotor 114 of the second motor 118 can be made smaller, which improves the reliability of the second motor 118 and the head 10.
  • the step of the first annular wall 1312 of the second motor base 133 is provided on the outside.
  • a channel 151 is formed in the first shaft arm 15, and the gimbal 10 includes a line connection portion 152.
  • the line connection portion 152 is located in the channel 151 and connects the stator 112 of the first motor 116 and the second motor 118.
  • the rotor 114 is located in the channel 151 and connects the stator 112 of the first motor 116 and the second motor 118.
  • first motor 116 and the second motor 118 may implement control and power supply to the first motor 116.
  • the line connection portion 152 is provided in the first shaft arm 15 to prevent the line from being exposed outside the gimbal 10 and the line connection portion 152 It is not easily affected by external ring interference and can ensure reliability.
  • the first shaft arm 15 includes a first arm body 153 and a first side cover 154.
  • the first shaft arm 15 is formed with a first groove 155, and the first side cover 154 covers the first groove 155.
  • the gimbal 10 can inspect and disassemble the line connection portion 152 in the channel 151 by removing the first side cover 154.
  • the first arm body 153 and the first side cover 154 may be detachably connected.
  • the first arm body 153 and the first side cover 154 are detachably connected by a snap structure.
  • the gimbal 10 includes a second shaft arm 16, the first shaft arm 15 and the second shaft arm 16 are symmetrically connected to the second casing 124 along the axis Y of the second motor 118, and the gimbal 10 includes a load casing The body 14, the first housing 122 is disposed on the load housing 14, and the second shaft arm 16 is rotatably connected to the load housing 14.
  • first shaft arm 15 and the second shaft arm 16 are connected to the load housing 14, which can reduce the load of a single shaft arm, at the same time, can maintain the balance of the gimbal 10, increase the structural stability of the gimbal 10, and improve the load.
  • the stabilization performance of the device 20 can reduce the load of a single shaft arm, at the same time, can maintain the balance of the gimbal 10, increase the structural stability of the gimbal 10, and improve the load.
  • the pan / tilt head 10 includes a support shaft 17, the first shell 122 and the support shaft 17 are respectively disposed on opposite sides of the load housing 14, and the second shaft arm 16 is rotatably connected to the support shaft 17.
  • the second shaft arm 16 and the first shaft arm 15 are symmetrically disposed on both sides of the load device 20, so that the structure of the gimbal 10 can be kept stable.
  • Supporting the rotating shaft 17 can ensure that the load housing 14 can keep rotating smoothly under the support of the first shaft arm 15.
  • the pan / tilt head 10 includes a third annular wall 142 and a connecting base 18 that are rotatably connected.
  • the third annular wall 142 is disposed on the load housing 14 and surrounds the support shaft 17.
  • the second shaft arm 16 is connected to the second shell. 124 and a connecting base 18.
  • the connecting base 18 includes a fourth annular wall 182 surrounding the supporting shaft 17. An end surface of the fourth annular wall 182 is formed with an annular groove 1822.
  • the third annular wall 142 is at least partially received in the annular groove 1822.
  • the cooperation of the third annular wall 142 and the fourth annular wall 182 can change the path from outside the gimbal 10 into the connecting seat 18, and it is difficult for the gravel or small stones to enter the connecting seat 18 to affect the rotation of the support shaft 17 and improve the support shaft 17 and PTZ 10 reliability.
  • the load housing 14 is also provided with a first limit position 144, and a second limit portion (not shown) is provided in the annular groove 1822.
  • the first limit portion 144 and the second limit portion are in the load housing 14.
  • the first limiting portion 144 is in a space surrounded by the third annular wall 142, and connects the inner wall of the third annular wall 142 and the supporting rotating shaft 17.
  • the pan / tilt head 10 includes a weight block 19, and the weight block 19 is installed in the connecting base 18.
  • the pan / tilt head 10 includes a control circuit 162.
  • the second shaft arm 16 is formed with an accommodation space 161.
  • the control circuit 162 is disposed in the accommodation space 161 and is mounted on the rotor 114 of the second motor 118.
  • the control circuit 162 is installed on the rotor 114 and the control circuit 162 of the second motor 118
  • the control circuit 162 can be set in the second shaft arm 16 with the rotation of the rotor 114 of the second motor 118, which can maintain the stability of the connection between the control circuit 162 and the second motor 118, and the control circuit 162 is not easily affected by the external environment. While ensuring reliability, the space and weight configuration of the PTZ 10 can be optimized.
  • the second shaft arm 16 includes a second arm body 163 and a second side cover 164.
  • the second shaft arm 16 is formed with a second groove 165, and the second side cover 164 is covered with the second groove 165 to form an accommodation. Space 161.
  • the gimbal 10 can inspect and disassemble the control circuit 162 in the accommodation space 161 by removing the second side cover 164.
  • the second arm body 163 and the second side cover 164 are detachably connected.
  • the second arm body 163 and the second side cover 164 are detachably connected by a snap structure.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Motor Or Generator Frames (AREA)
  • Studio Devices (AREA)

Abstract

本发明实施例公开了一种云台(10)，其包括电机(11)、转动壳(12)和电机座(12)。电机(11)用于驱动负载设备(20)在一定范围内绕轴线转动，电机(11)包括定子(112)和转子(114)。电机(11)的转子(114)至少部分地容置在转动壳(12)，电机(11)的定子(112)至少部分地容置在电机座(13)。电机座(13)包括围绕电机(11)的定子(112)的第一环形壁(1312)，转动壳(12)包括围绕电机(11)的转子(114)的第二环形壁(1222)，第一环形壁(1312)和第二环形壁(1222)至少部分地重叠以形成有沿轴线的周向设置的环形的覆盖部(132)，覆盖部(132)覆盖电机(11)的定子(112)和转子(114)之间的间隔。云台可以通过电机驱动转动壳转动，覆盖部可使得从云台外进入电机的定子和转子之间的间隔路径改变，砂砾或者小石子不容易进入电机的定子和转子之间的间隔，电机的定子和转子之间的间隔可以做得更小，提高电机和云台的可靠性。

Description

云台 技术领域
本发明实施例涉及设备增稳技术领域，特别涉及一种云台。
背景技术
在相关技术中，云台广泛地用于增加负载设备的稳定性，以使负载设备能够获得较佳的拍摄效果。云台通常设置有电机对负载设备的姿态进行调节。然而，由于电机在结构上不能做到完全密封，电机转子和定子之间会有间隙，因此，如何保证砂砾或者小石子等不容易从间隙进入电机内成为待解决的技术问题。
发明内容
本发明实施例提供了一种云台。
本发明实施例的云台包括：
电机，用于驱动负载设备在一定范围内绕轴线转动，所述电机包括定子和转子；
转动壳，所述电机的转子至少部分地容置在所述转动壳；
电机座，所述电机的定子至少部分地容置在所述电机座，所述电机座包括围绕所述电机的定子的第一环形壁，所述转动壳包括围绕所述电机的转子的第二环形壁，所述第一环形壁和所述第二环形壁至少部分地重叠以形成有沿所述轴线的周向设置的环形的覆盖部，所述覆盖部覆盖所述电机的定子和转子之间的间隔。
在某些实施方式中，所述电机包括第一电机，所述电机座包括第一电机座，所述转动壳包括第一壳，所述第一电机的定子至少部分地容置在所述第一电机座，所述第一电机的转子与所述第一壳固定连接。
在某些实施方式中，所述云台包括负载壳体，所述第一壳设置在所述负载壳体。
在某些实施方式中，所述第一电机座的所述第一环形壁的端部形成有环形的第一台阶结构，所述第一壳的所述第二环形壁的端部形成有环形的第二台阶结构，所述第一台阶结构与所述第二台阶结构互补配合以形成所述覆盖部。
在某些实施方式中，所述云台包括安装在所述第一电机座的电机盖，所述电机盖和所述第一壳分别设置在所述第一电机座相背的两侧。
在某些实施方式中，所述电机包括第二电机，所述电机座包括第二电机座，所述 云台包括第一轴臂，所述转动壳包括第二壳，所述第一轴臂连接所述第二壳和所述第一电机座，所述第二电机的定子至少部分地容置在所述第二电机座，所述第二电机的转子与所述第二壳固定连接。
在某些实施方式中，所述云台包括安装在所述第二壳的外侧的第一盖和安装在所述第二电机座的外侧的第二盖，所述第二壳的外侧和所述第二电机座的外侧相背。
在某些实施方式中，所述第二电机座的所述第一环形壁的端部形成有环形的第三台阶结构，所述第三台阶结构至少部分地伸入所述第二壳的所述第二环形壁所围成的空间中以形成所述覆盖部。
在某些实施方式中，所述第一轴臂内形成有通道，所述云台包括线路连接部，所述线路连接部位于所述通道内且连接所述第一电机的定子和所述第二电机的转子。
在某些实施方式中，所述云台包括第二轴臂，所述第一轴臂和所述第二轴臂沿所述第二电机的轴线对称连接在所述第二壳，所述云台包括负载壳体，所述第一壳设置在所述负载壳体，所述第二轴臂转动连接所述负载壳体。
在某些实施方式中，所述云台包括支撑转轴，所述第一壳和所述支撑转轴分别设置在所述负载壳体相背的两侧，所述第二轴臂转动连接所述支撑转轴。
在某些实施方式中，所述云台包括转动连接的第三环形壁和连接座，所述第三环形壁设置在所述负载壳体且围绕所述支撑转轴，所述第二轴臂连接所述第二壳和所述连接座，所述连接座包括围绕所述支撑转轴的第四环形壁，所述第四环形壁的端面形成有环形槽，所述第三环形壁至少部分地收容在所述环形槽。
在某些实施方式中，所述云台包括配重块，所述配重块安装在所述连接座内。
在某些实施方式中，所述云台包括控制电路，所述第二轴臂形成有容置空间，所述控制电路设置在所述容置空间内且安装在所述第二电机的转子。
本发明实施例的云台可以通过电机驱动转动壳转动，两个环形壁所形成的覆盖部，可使得从云台外进入电机的定子和转子之间的间隔路径改变，砂砾或者小石子不容易进入电机的定子和转子之间的间隔，同时，电机的定子和转子之间的间隔可以做得更小，如此，提高电机和云台的可靠性。
本发明实施例的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明实施例的实践了解到。
附图说明
本发明实施例的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明实施例的云台的立体示意图。
图2是本发明实施例的云台的分解示意图。
图3是本发明实施例的云台的剖面示意图。
图4是本发明实施例的覆盖部的结构示意图。
图5是本发明实施例的覆盖部的另一结构示意图。
图6是本发明实施例的覆盖部的又一结构示意图。
图7是本发明实施例的覆盖部的再一结构示意图。
图8是本发明实施例的覆盖部的再一结构示意图。
图9是本发明实施例的覆盖部的再一结构示意图。
主要元件符号说明：
云台10、电机11、定子112、转子114、第一电机116、第二电机118、转动壳12、第一壳122、第二环形壁1222、第二台阶结构1224、第二壳124、第三台阶结构1242、电机座13、第一电机座131、第一环形壁1312、第一台阶结构1314、覆盖部132、第二电机座133、电机盖134、第一盖135、第二盖136、负载壳体14、第三环形壁142、第一限位部144、第一轴臂15、通道151、线路连接部152、第一臂体153、第一侧盖154、第一凹槽155、第二轴臂16、容置空间161、控制电路162、第二臂体163、第二侧盖164、第二凹槽165、支撑转轴17、连接座18、第四环形壁182、环形槽1822、配重块19、负载设备20、轴线X、轴线Y。
具体实施方式
下面详细描述本发明实施例的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明实施例，而不能理解为对本发明实施例的限制。
在本发明实施例的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明实施例和简化描述，而不是指示或暗示所指的装 置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明实施例的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明实施例的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明实施例的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接。可以是机械连接，也可以是电连接。可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明实施例中的具体含义。
请一并参阅图1至图3，本发明实施例的云台10包括电机11、转动壳12和电机座13。电机11用于驱动负载设备20在一定范围内绕轴线转动，电机11包括定子112和转子114。电机11的转子114至少部分地容置在转动壳12，电机11的定子112至少部分地容置在电机座13。电机座13包括围绕电机11的定子112的第一环形壁1312，转动壳12包括围绕电机11的转子114的第二环形壁1222，第一环形壁1312和第二环形壁1222至少部分地重叠以形成有沿轴线的周向设置的环形的覆盖部132，覆盖部132覆盖电机11的定子112和转子114之间的间隔。
本发明实施例的云台10可以通过电机11驱动负载设备20转动，两个环形壁所形成的覆盖部132，可使得从云台10外进入电机11的定子112和转子114之间的间隔路径改变，砂砾或者小石子不容易进入电机11的定子112和转子114之间的间隔，同时，电机11的定子112和转子114之间的间隔可以做得更小，如此，提高电机11和云台10的可靠性。
需要说明的是，云台10可以是二轴云台或三轴云台。如此，云台10可以为连接到云台10的负载设备20提供增稳，使得负载设备20可以工作在较佳的姿态。在图示的实施例中，云台10为二轴云台，特别是二轴正交云台。其中，负载设备20可以是传感器、成像装置和移动终端中的一种。
传感器可为姿态传感器(如加速度传感器、角度传感器、惯性测量单元等)。成像装置可为相机、摄像机等成像装置，移动终端可为手机、平板电脑、智能可穿戴设备等。可以理解，成像装置还可是某些移动终端，例如成像装置是具有拍照和录像功能的手机、平板电脑、智能可穿戴设备等，或者说，移动终端还可是某些成像装置，在此不做具体限定。
请一并参阅图4至图9，具体地，覆盖部132可以是由呈圆筒状的不同直径的第一环形壁1312和第二环形壁1222部分重叠形成，或由一端呈互补的台阶状的两个环形壁部分重叠配合形成，或由一个一端呈台阶状的环形壁和另一呈圆筒状的环形壁配合形成。
具体地，覆盖部132由呈圆筒状的不同直径的第一环形壁1312和第二环形壁1222部分重叠形成时，可以是第一环形壁1312的直径大于第二环形壁1222的直径，第二环形壁1222至少部分地伸入第一环形壁1312中以形成覆盖部132(见图4)，反之，第二环形壁1222的直径大于第一环形壁1312的直径，第一环形壁1312至少部分地伸入第二环形壁1222中也可以形成覆盖部132(见图5)。
覆盖部132由一端呈互补的环形台阶状的第一环形壁1312和第二环形壁1222部分重叠配合形成时，可以是第一环形壁1312的一端的台阶(缺口部分)在外侧而第二环形壁1222的一端的台阶在内侧使其能够互补配合形成覆盖部132(见图6)；也可以是第一环形壁1312的一端的台阶在内侧而第二环形壁1222的一端的台阶在外侧使其能够互补配合形成覆盖部132(见图7)，在此不做具体限定。
覆盖部132由一个一端呈台阶状的环形壁和另一呈圆筒状的环形壁配合形成时，可以是第一环形壁1312的一端呈环形台阶状而第二环形壁1222呈圆筒状，第二环形壁1222的一端与第一环形壁1312的台阶配合以形成覆盖部132(见图8)；也可以是第一环形壁1312呈圆筒状而第二环形壁1222的一端呈环形台阶状，第一环形壁1312的一端与第二环形壁1222的台阶配合以形成覆盖部132(见图9)。进一步地，台阶可以位于环形壁的内侧或外侧，在此不做具体限定。
电机11的转子114至少部分地容置在转动壳12，可以是，电机11的转子114部分地容置在转动壳12内，也可以是，电机11的转子114完全地容置在转动壳12内。电机11的定子112至少部分地容置在电机座13内，也作类似理解。
请再次参阅图1至图3，在某些实施方式中，电机11包括第一电机116，电机座13包括第一电机座131，转动壳12包括第一壳122，第一电机116的定子112至少部分地容置在第一电机座131，第一电机116的转子114与第一壳122固定连接。
如此，第一壳122随第一电机116的转子114转动以使转动壳12转动，从而电机11可以驱动转动壳12转动。具体地，在一个实施例中，第一电机116驱动转动壳12时，转动壳12绕第一电机116的轴线X转动。第一壳122与第一电机座131所形成的覆盖部132沿轴线X周向设置。其中，第一电机116的轴线X为第一电机116的驱动轴。
其中，第一电机116可以是云台10的俯仰轴电机11，云台10通过第一电机116驱动 负载设备20在俯仰方向上转动从而在俯仰方向上为云台10提供增稳。
进一步地，在某些实施方式中，云台10包括负载壳体14，第一壳122设置在负载壳体14。也即是说，负载壳体14可以由第一电机116带动转动壳12来实现转动。当然，也第一电机116的转子114也可直接固定在负载壳体14上。
如此，第一壳122与负载壳体14连接，第一电机116可以驱动第一壳122转动进而可以驱动负载设备20转动，以使负载设备20工作在较佳的姿态。第一电机116也可直接驱动负载壳体14转动，而设置在负载壳体14上的第一壳122也同步转动。
在一个例子中，云台10的俯仰轴电机可以直接连接负载壳体14，以驱动负载设备20在俯仰方向上转动。
在某些实施方式中，第一电机座131的第一环形壁1312的端部形成有环形的第一台阶结构1314，第一壳122的第二环形壁1222的端部形成有环形的第二台阶结构1224，第一台阶结构1314与第二台阶结构1224互补配合以形成覆盖部132。
如此，两个环形壁所形成的覆盖部132，可使得从云台10外进入第一电机116的定子112和转子114之间的间隔路径改变，变得曲折，砂砾或者小石子不容易进入第一电机116的定子112和转子114之间的间隔，同时，第一电机116的定子112和转子114之间的间隔可以做得更小，提高第一电机116和云台10的可靠性。在图示的实施例中，第一电机座131的第一环形壁1312的台阶在内侧，第一壳122的第二环形壁1222的台阶在外侧。
在某些实施方式中，云台10包括安装在第一电机座131的电机盖134，电机盖134和第一壳122分别设置在第一电机座131相背的两侧。
如此，第一电机座131可为第一电机116提供支撑和密封，电机盖134可以方便第一电机116的拆装。同时，第一电机116可以设置在第一壳122、电机座13和电机盖134配合形成的相对密闭的空间内，有利于保护第一电机116不容易受到外界环境的干扰，从而提高第一电机116的可靠性。
在某些实施方式中，电机11包括第二电机118，电机座13包括第二电机座133，云台10包括第一轴臂15，转动壳12包括第二壳124，第一轴臂15连接第二壳124和第一电机座131，第二电机118的定子112至少部分地容置在第二电机座133，第二电机118的转子114与第二壳124固定连接。
可以理解，第二电机118可以是云台10的偏航轴电机，第二壳124可以随第二电机118的转子114而转动，第二电机118通过驱动第二壳124带动第一轴臂15、第一电机座131转动，进而可以带动负载设备20绕第二电机118的轴线Y转动。其中，第二电机118 的轴线Y为第二电机118的驱动轴。如此，第二电机118可以在不同于第一电机116的转动方向上为负载设备20提供增稳，第二电机座133可为第二电机118提供支撑。具体地，第一轴臂15和第二壳124固定连接(例如，可制成一体结构)，第一轴臂15和第一电机座131可拆卸连接(例如通过螺钉固定)。
具体地，第二电机118驱动负载设备20转动时，负载设备20绕第二电机118的轴线Y转动。在一个例子中，云台10可以是正交云台，第二电机118的轴线Y与第一电机116的轴线X垂直。当然，在其他例子中，云台10也可以是非正交云台，第二电机118的轴线Y与第一电机116的轴线X不垂直且不平行。
在某些实施方式中，云台10包括安装在第二壳124的外侧的第一盖135和安装在第二电机座133的外侧的第二盖136，第二壳124的外侧和第二电机座133的外侧相背。
如此，第一盖135和第二盖136有利于第二电机118及第二电机座133的拆装和密封，同时，第二电机118可以设置在第一盖135、第二壳124、第二电机座133和第二盖136配合形成的相对密闭的空间内，有利于保护第二电机118不容易受到外界环境的干扰，从而提高第二电机118的可靠性。
在某些实施方式中，第二电机座133的第一环形壁1312的端部形成有环形的第三台阶结构1242(见图3)，第三台阶结构1242至少部分地伸入第二壳124的第二环形壁1222所围成的空间中以形成覆盖部132。
本实施方式中，第二壳124的第二环形壁1222呈圆筒状，第二壳124的第二环形壁1222与第三台阶结构1242配合形成覆盖部132，如此，两个环形壁所形成的覆盖部132，可使得从云台10外进入第二电机118的定子112和转子114之间的间隔路径改变，砂砾或者小石子不容易进入第二电机118的定子112和转子114之间的间隔，同时，第二电机118的定子112和转子114之间的间隔可以做得更小，提高第二电机118和云台10的可靠性。在图示的实施例中，第二电机座133的第一环形壁1312的台阶设置在外侧。
在某些实施方式中，第一轴臂15内形成有通道151，云台10包括线路连接部152，线路连接部152位于通道151内且连接第一电机116的定子112和第二电机118的转子114。
如此，第一电机116和第二电机118可以是实现对第一电机116的控制和供电，线路连接部152设置在第一轴臂15内可以避免线路裸露在云台10外，线路连接部152不容易受到外界环形干扰而可以保证可靠性。
在某些实施方式中，第一轴臂15包括第一臂体153和第一侧盖154，第一轴臂15形成有第一凹槽155，第一侧盖154盖设第一凹槽155以形成通道151。如此，云台10可以 通过拆卸第一侧盖154对通道151内的线路连接部152进行检查和拆装。第一臂体153和第一侧盖154可为可拆卸地连接。在一个例子中，第一臂体153和第一侧盖154通过卡扣结构可拆卸地连接。
在某些实施方式中，云台10包括第二轴臂16，第一轴臂15和第二轴臂16沿第二电机118的轴线Y对称连接在第二壳124，云台10包括负载壳体14，第一壳122设置在负载壳体14，第二轴臂16转动连接负载壳体14。
如此，第一轴臂15和第二轴臂16连接负载壳体14，可以减轻单个轴臂的负荷，同时，可以保持云台10平衡，增加云台10的结构稳定性，也能提高对负载设备20的增稳性能。
在某些实施方式中，云台10包括支撑转轴17，第一壳122和支撑转轴17分别设置在负载壳体14相背的两侧，第二轴臂16转动连接支撑转轴17。
如此，第二轴臂16与第一轴臂15对称设置在负载设备20的两侧，可以保持云台10的结构稳定。支撑转轴17可以保证负载壳体14在第一轴臂15的支撑下可以保持平稳转动。
在某些实施方式中，云台10包括转动连接的第三环形壁142和连接座18，第三环形壁142设置在负载壳体14且围绕支撑转轴17，第二轴臂16连接第二壳124和连接座18，连接座18包括围绕支撑转轴17的第四环形壁182，第四环形壁182的端面形成有环形槽1822，第三环形壁142至少部分地收容在环形槽1822。
如此，第三环形壁142和第四环形壁182配合可以使得从云台10外进入连接座18内的路径改变，砂砾或者小石子不容易进入连接座18内影响支撑转轴17转动，提高支撑转轴17和云台10的可靠性。
另外，负载壳体14上还设置有第一限位144，环形槽1822内设置有第二限位部(图未示)，第一限位部144和第二限位部在负载壳体14转动的圆周上存在干涉的部位，如此，在负载壳体14转动到第一限位部144与第二限位部干涉时的角度时，负载壳体14因第一限位部144和第二限位部的干涉而停止转动，进而可避免云台10过度转动而导致部件的损坏。在图示的实施方式中，第一限位部位144于第三环形壁142所围成的空间内，且连接第三环形壁142的内壁和支撑转轴17。
在某些实施方式中，云台10包括配重块19，配重块19安装在连接座18内。
可以理解，连接座18与支撑转轴17配合使得负载设备20可以平稳转动，从而连接座18内可以不设置电机，如此，配重块19可以替代电机，使得云台10的重心平衡，有 利于进一步保持云台10稳定，提高用户体验。
在某些实施方式中，云台10包括控制电路162，第二轴臂16形成有容置空间161，控制电路162设置在容置空间161内且安装在第二电机118的转子114。
可以理解，第二电机118的转子114和第二壳124固定连接，且第二轴臂16和第二壳124固定连接，如此，控制电路162安装在第二电机118的转子114，控制电路162可以随第二电机118的转子114转动，将控制电路162设置在第二轴臂16内，可以保持控制电路162和第二电机118连接的稳定性，且控制电路162不容易受到外界环境的影响而保证可靠性，同时，可以优化云台10的空间和重量配置。
具体地，第二轴臂16包括第二臂体163和第二侧盖164，第二轴臂16形成有第二凹槽165，第二侧盖164盖设第二凹槽165以形成容置空间161。如此，云台10可以通过拆卸第二侧盖164对容置空间161内的控制电路162进行检查和拆装。第二臂体163和第二侧盖164为可拆卸地连接。在一个例子中，第二臂体163和第二侧盖164通过卡扣结构可拆卸地连接。
上文的公开提供了许多不同的实施方式或例子用来实现本发明实施例的不同结构。为了简化本发明实施例的公开，上文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明实施例。此外，本发明实施例可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明实施例提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
在本说明书的描述中，参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明实施例的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
尽管已经示出和描述了本发明实施例的实施方式，本领域的普通技术人员可以理解：在不脱离本发明实施例的原理和宗旨的情况下可以对这些实施方式进行多种变化、修改、替换和变型，本发明实施例的范围由权利要求及其等同物限定。

Claims (14)

  1. 一种云台，其特征在于，包括：
    电机，用于驱动负载设备在一定范围内绕轴线转动，所述电机包括定子和转子；
    转动壳，所述电机的转子至少部分地容置在所述转动壳；
    电机座，所述电机的定子至少部分地容置在所述电机座，所述电机座包括围绕所述电机的定子的第一环形壁，所述转动壳包括围绕所述电机的转子的第二环形壁，所述第一环形壁和所述第二环形壁至少部分地重叠以形成有沿所述轴线的周向设置的环形的覆盖部，所述覆盖部覆盖所述电机的定子和转子之间的间隔。
  2. 如权利要求1所述的云台，其特征在于，所述电机包括第一电机，所述电机座包括第一电机座，所述转动壳包括第一壳，所述第一电机的定子至少部分地容置在所述第一电机座，所述第一电机的转子与所述第一壳固定连接。
  3. 如权利要求2所述的云台，其特征在于，所述云台包括负载壳体，所述第一壳设置在所述负载壳体。
  4. 如权利要求2所述的云台，其特征在于，所述第一电机座的所述第一环形壁的端部形成有环形的第一台阶结构，所述第一壳的所述第二环形壁的端部形成有环形的第二台阶结构，所述第一台阶结构与所述第二台阶结构互补配合以形成所述覆盖部。
  5. 如权利要求2所述的云台，其特征在于，所述云台包括安装在所述第一电机座的电机盖，所述电机盖和所述第一壳分别设置在所述第一电机座相背的两侧。
  6. 如权利要求2所述的云台，其特征在于，所述电机包括第二电机，所述电机座包括第二电机座，所述云台包括第一轴臂，所述转动壳包括第二壳，所述第一轴臂连接所述第二壳和所述第一电机座，所述第二电机的定子至少部分地容置在所述第二电机座，所述第二电机的转子与所述第二壳固定连接。
  7. 如权利要求6所述的云台，其特征在于，所述云台包括安装在所述第二壳的外侧的第一盖和安装在所述第二电机座的外侧的第二盖，所述第二壳的外侧和所述第二电机座的外侧相背。
  8. 如权利要求6所述的云台，其特征在于，所述第二电机座的所述第一环形壁的 端部形成有环形的第三台阶结构，所述第三台阶结构至少部分地伸入所述第二壳的所述第二环形壁所围成的空间中以形成所述覆盖部。
  9. 如权利要求6所述的云台，其特征在于，所述第一轴臂内形成有通道，所述云台包括线路连接部，所述线路连接部位于所述通道内且连接所述第一电机的定子和所述第二电机的转子。
  10. 如权利要求6所述的云台，其特征在于，所述云台包括第二轴臂，所述第一轴臂和所述第二轴臂沿所述第二电机的轴线对称连接在所述第二壳，所述云台包括负载壳体，所述第一壳设置在所述负载壳体，所述第二轴臂转动连接所述负载壳体。
  11. 如权利要求10所述的云台，其特征在于，所述云台包括支撑转轴，所述第一壳和所述支撑转轴分别设置在所述负载壳体相背的两侧，所述第二轴臂转动连接所述支撑转轴。
  12. 如权利要求11所述的云台，其特征在于，所述云台包括转动连接的第三环形壁和连接座，所述第三环形壁设置在所述负载壳体且围绕所述支撑转轴，所述第二轴臂连接所述第二壳和所述连接座，所述连接座包括围绕所述支撑转轴的第四环形壁，所述第四环形壁的端面形成有环形槽，所述第三环形壁至少部分地收容在所述环形槽。
  13. 如权利要求12所述的云台，其特征在于，所述云台包括配重块，所述配重块安装在所述连接座内。
  14. 如权利要求10所述的云台，其特征在于，所述云台包括控制电路，所述第二轴臂形成有容置空间，所述控制电路设置在所述容置空间内且安装在所述第二电机的转子。
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