WO2022036942A1 - 电机及手持云台 - Google Patents

电机及手持云台 Download PDF

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Publication number
WO2022036942A1
WO2022036942A1 PCT/CN2020/134993 CN2020134993W WO2022036942A1 WO 2022036942 A1 WO2022036942 A1 WO 2022036942A1 CN 2020134993 W CN2020134993 W CN 2020134993W WO 2022036942 A1 WO2022036942 A1 WO 2022036942A1
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WO
WIPO (PCT)
Prior art keywords
motor
magnetic ring
rear end
end cover
motor housing
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Application number
PCT/CN2020/134993
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English (en)
French (fr)
Inventor
柳云飞
徐振华
杨健
杨乃旭
Original Assignee
深圳市大疆创新科技有限公司
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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
Publication of WO2022036942A1 publication Critical patent/WO2022036942A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • 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

Definitions

  • the present application relates to the technical field of motors, and in particular, to a motor and a handheld gimbal.
  • a motor includes a relatively fixed stator and a rotatable rotor. During operation, the motor generates a changing magnetic field to drive the rotor to rotate, thereby outputting rotational speed and torque. In addition, the motor also judges the current state of motor motion through the Hall device, and then the controller controls the drive circuit to supply power to the motor according to the signal collected by the Hall device, so that the motor can continue to work normally.
  • the existing preload nut is usually fixed above the Hall magnet in the Hall device, and the Hall magnet and the preload nut are stacked in the axial direction, which is higher than the bottom of the motor, which leads to a large overall volume of the motor, which is not conducive to The application of the motor in small electronic equipment (eg: handheld pan/tilt, mobile car, mobile robot, small handheld pan/tilt).
  • small electronic equipment eg: handheld pan/tilt, mobile car, mobile robot, small handheld pan/tilt.
  • the present application proposes a motor and a handheld gimbal, which solve the above technical problems through structural improvement.
  • the present application provides a motor including a motor housing and a stator assembly and a rotor assembly disposed in the motor housing, the rotor assembly including a rotating shaft; wherein the motor further includes a pre- A tightening nut and a magnetic ring, the preloading nut is locked on the non-shaft extension end of the rotating shaft, the magnetic ring is sleeved outside the preloading nut, and the preloading nut and the magnetic ring are at least partially located inside the motor housing.
  • the stator assembly includes an iron core fixedly connected to the motor housing, the iron core is provided with a recess corresponding to the non-shaft extension end, and the preload nut and the magnetic ring are located at the inside the recess.
  • the motor housing includes a rear end surface, the non-shaft extension end extends toward the rear end surface in the motor housing, and the preload nut and the magnetic ring do not extend beyond the rear end surface.
  • the motor further includes a rear end cover mounted on the motor housing, and the rear end cover does not exceed the rear end surface of the motor housing.
  • the rear end cover is bonded to the motor housing.
  • the edge of the rear end cover is bonded to the motor housing by adhesive.
  • the motor further includes a Hall detection module disposed on the rear end cover, and the Hall detection module is disposed opposite to the magnetic ring.
  • the rear end cover is provided with a through hole
  • the motor further includes a bearing assembled in the through hole, the rotating shaft is fixed to the bearing, and the bearing is bonded to the hole wall of the through hole .
  • the magnetic ring does not exceed the end face of the preload nut close to the rear end cover.
  • the magnetic ring is flush with the end surface of the preload nut close to the rear end cover.
  • the magnetic ring is bonded to the preload nut.
  • a handheld pan/tilt head including a handle and a pan/tilt mechanism disposed on the handle, the pan/tilt mechanism including any one of the motors described above.
  • the present application designs a motor with a novel structure and a handheld gimbal with the same.
  • the motor can reduce the thickness of the motor by arranging the pre-tightening nut and the magnetic ring at least partially in the motor housing to avoid the height of the pre-tightening nut and the magnetic ring. Out of the bottom of the motor; at the same time, the magnetic ring and the pre-tightening nut are stacked on the radial direction of the motor by arranging the magnetic ring on the pre-tightening nut, so that the structure in the motor is more compact.
  • FIG. 1 is a schematic structural diagram of a handheld cloud platform according to an exemplary embodiment of the present application
  • FIG. 2 is a partial structural schematic diagram of a motor according to an exemplary embodiment of the present application.
  • FIG. 3 is a schematic diagram of an exploded structure of a motor according to an exemplary embodiment of the present application.
  • FIG. 4 is a schematic cross-sectional view of a motor according to an exemplary embodiment of the present application.
  • FIG. 1 is a schematic structural diagram of a handheld gimbal according to an exemplary embodiment of the present application.
  • the handheld gimbal 100 in the embodiment of the present application includes a handle 101 and a gimbal mechanism 102 disposed on the handle 101 .
  • the handheld gimbal 100 is used to carry the photographing device 103 .
  • the pan-tilt mechanism 102 can be used to mount the photographing device 103 such as a mobile phone, tablet, camera, and video camera, so as to realize the fixing of the photographing device 103, and the attitude adjustment (for example, changing the height, inclination and/or direction of the photographing device 103) and making the photographing device 103.
  • the device 103 is stably maintained in a certain posture.
  • the gimbal mechanism 102 may include a single-axis gimbal, a two-axis gimbal or a three-axis gimbal.
  • the photographing device 103 is integrated on the gimbal mechanism 102 to form an integrated handheld gimbal camera.
  • the first driving device 1022 is connected to the photographing device 103 for driving the photographing device 103 to rotate on the pitch axis
  • the second driving device 1024 is connected to the first axle arm 1021 for driving the photographing device 103 to rotate on the rolling axis
  • the third driving device 1025 is fixed on the second axle arm 1023, and the rotating shaft of the third driving device 1025 is connected to the top of the handle 101 for driving the photographing device 103 to rotate on the yaw axis.
  • the first driving device 1022, the second driving device 1024 and the third driving device 1025 all use the motor 10 of the present application.
  • the motor 10 of the embodiment of the present application includes a motor housing 11 and a stator assembly 2 and a rotor assembly 3 disposed in the motor housing 11 .
  • the motor 10 further includes a connecting portion 112 disposed on the motor housing 11 , and the motor 10 is connected to the shaft arm through the connecting portion 112 .
  • the motor 10 is sleeved on the shaft arm through the connecting portion 112 and fixed by screws.
  • the stator assembly 2 includes an iron core 21 fixedly connected to the motor housing 11 and a plurality of coil windings 22 .
  • the plurality of coil windings 22 are wound on the iron core 21 , and the iron core 21 can be fixed in the motor housing 11 .
  • the iron core 21 includes an annular central body 211 and a plurality of sleeve portions 212 radiatingly extending from the outer peripheral surface of the central body 211 .
  • the plurality of coil windings 22 correspond to the plurality of sleeve parts 212 , and each coil winding 22 is wound on the corresponding sleeve part 212 .
  • a three-phase alternating current is supplied to the plurality of coil windings 22 to generate a changing magnetic field for driving the rotor assembly 3 to rotate.
  • the rotor assembly 3 includes a rotating shaft 31 , an end cover 32 , a cage 33 and a plurality of permanent magnets (not shown).
  • the end cover 32 corresponds to the top of the motor 10 , and the end cover 32 is assembled on the front end of the motor housing 11 .
  • the retainer 33 is installed in the end cap 32 , and the shape of the retainer 33 matches the shape of the inner wall of the end cap 32 , so that the retainer 33 can better fit with the inner wall of the end cap 32 .
  • the motor 10 further includes a clip 34 assembled on the end cover 32 , and the propeller 20 can be connected to the clip 34 by clip fitting, thereby facilitating the quick disassembly of the propeller 20 .
  • the clip 34 can be connected to the end cover 32 by screws, and can also be fixed to the end cover 32 by welding or bonding.
  • the shaft 31 includes a shaft extension end 311 and a non-shaft extension end 312 .
  • the shaft extension end 311 can be fixedly connected with the end cover 32 or fixedly connected with the clip 34 , and the non-shaft extension end 312 of the shaft 31 is located at the motor 10 . bottom of.
  • one end of the rotating shaft 31 is fixedly connected with the clip 34 as an example for illustration.
  • the holder 33 includes an annular base body 331 and a plurality of magnetic isolation arms 332 extending from the annular base body 331 .
  • a groove 333 is formed between every two magnetic isolation arms 332 .
  • the plurality of permanent magnets correspond to the plurality of grooves 333 , and each permanent magnet is disposed in the corresponding groove 333 .
  • a plurality of permanent magnets are opposed to the plurality of coil windings 22 . Surfaces of two adjacent permanent magnets close to the inner wall have opposite polarities, and the magnetic isolation arm 332 can isolate the two adjacent permanent magnets from each other, preventing the permanent magnets from attracting or repelling each other and causing positional movement.
  • the permanent magnets are fixedly connected to the retainer 33 but not to the inner wall of the end cap 32 .
  • the permanent magnet is fixedly connected to the holder 33 and is also fixedly connected to the inner wall of the end cover 32 .
  • the permanent magnet is not fixedly connected to the holder 33 , but is only fixedly connected to the inner wall of the end cover 32 . At this time, the permanent magnet is still accommodated in the groove 333 .
  • a plurality of permanent magnets can be driven by the magnetic field to drive the end cover 32 to rotate (permanent magnets drive the cage 33 to rotate). , the holder 33 then drives the end cover 32 to rotate; or the permanent magnet directly drives the end cover 32 to rotate), thereby driving the rotating shaft 31 connected to the end cover 32 to rotate.
  • any one of the connection between the permanent magnet and the holder 33, the connection between the permanent magnet and the inner wall of the end cover 32, and the holder 33 and the inner wall of the end cover 32 may be glued with anaerobic glue or other adhesives, or it may be Connection by snap or welding, or combination of multiple connection methods, is not limited here.
  • the motor 10 further includes a bearing assembly, and the bearing assembly is accommodated in the stator assembly 2 , specifically in the central hole of the center body 211 .
  • the bearing assembly may include a ball bearing 41 , and the rotating shaft 31 passes through the ball bearing 41 .
  • the bearing assembly may also include an oil-impregnated bearing (not shown).
  • the rotating shaft 31 is provided with a ball bearing 41 and an oil-impregnated bearing.
  • the oil-impregnated bearing and the ball bearing 41 jointly support the rotation of the rotating shaft 31 .
  • the rotation of the rotating shaft 31 is jointly supported by a ball bearing 41 and a spherical or ellipsoidal oil-impregnated bearing.
  • the arrangement of the ball bearing 41 can reduce the resistance of the rotating shaft 31 of the rotor to rotate, and ensure the performance of the motor 10 while extending the motor.
  • the oil-impregnated bearing can automatically adjust the concentricity with the ball bearing 41 to achieve automatic centering and ensure the stability of the motor 10.
  • the motor 10 also includes a preload nut 12 and a magnetic ring 13.
  • the non-shaft extension end 312 of the rotating shaft 31 is provided with a thread that cooperates with the preload nut 12.
  • the preload nut 12 is locked on the non-shaft extension end 312 of the rotating shaft 31, and the magnetic
  • the ring 13 is sleeved outside the pre-tightening nut 12 , and the pre-tightening nut 12 and the magnetic ring 13 can rotate with the rotating shaft 31 .
  • the magnetic ring 13 cooperates with the Hall detection module 16.
  • the Hall detection module 16 can collect the magnetic signal of the motor 10 to generate the Hall signal.
  • the control driving circuit supplies power to the motor 10 to adjust the rotation of the photographing device 103 to the target position.
  • the controller of the handheld pan/tilt 10 may be disposed in the handle 101 , and the controller is electrically connected to the motor 10 .
  • the preload nut 12 and the magnetic ring 13 are at least partially located in the motor housing 11 to reduce the thickness of the motor 10 and prevent the preload nut 12 and the magnetic ring 15 from protruding from the bottom of the motor 10 .
  • the magnetic ring 13 is assembled on the end of the non-shaft extension end 312 by the preload nut 12, and the magnetic ring 13 and the preload nut 12 are stacked on the shaft of the motor 20, so that the preload nut 12 and the magnetic ring 13 above the bottom of the motor.
  • the magnetic ring 15 is sleeved on the pre-tightening nut 12 so that the magnetic ring 15 and the pre-tightening nut 12 are stacked in the radial direction of the motor 10 , thereby making the structure of the motor 10 more compact.
  • the iron core 21 is provided with a concave portion 213 corresponding to the non-shaft extension end 312, and the pre-tightening nut 12 and the magnetic ring 13 are located in the concave portion 213, so that the assembly method of the pre-tightening nut 12 and the magnetic ring 13 is more compact, Therefore, the thickness of the motor 10 can be reduced.
  • the concave portion 213 is disposed on the central body 211 of the iron core 21 .
  • the motor housing 11 includes a rear end surface 111 , and the rear end surface 111 is an end surface of the motor housing 11 corresponding to the bottom of the motor 10 .
  • the non-shaft extension end 312 of the rotating shaft 31 extends toward the rear end surface 111 in the motor housing 11, and the preload nut 12 and the magnetic ring 13 do not exceed the rear end surface 111, so that the preload nut 12 and the magnetic ring 13 are not higher than the motor. 10 bottom.
  • the magnetic ring 13 and the preload nut 12 are stacked in the radial direction of the motor 10 , which further makes the structure of the motor 10 compact and reduces the thickness of the motor 10 .
  • the motor 10 further includes a rear end cover 14 mounted on the motor housing 11 , and the rear end cover 14 does not extend beyond the rear end surface 111 of the motor housing 11 .
  • the rear end cover 14 is arranged in the motor housing 11 to avoid increasing the size of the rear end cover 14 in the axial direction of the motor 10 to meet the requirement of reducing the thickness of the motor 10 .
  • the rear end cover 14 is glued to the motor housing 11 .
  • the edge of the rear end cover 14 is bonded to the motor housing 11 by adhesive.
  • the rear end cover 14 can also be bonded to the iron core 21 .
  • the rear end cover 14 is provided with a through hole 141
  • the motor 10 further includes a bearing 142 assembled in the through hole 141
  • the shaft 31 is fixed to the bearing 142
  • the bearing 142 cooperates with the ball bearing 41 to support the rotation of the shaft 31 .
  • the bearing 142 is bonded to the hole wall of the through hole 141 .
  • the bearing 142 can also be fixed to the rear end cover 14 by other means such as welding.
  • the magnetic ring 13 does not exceed the end face of the preload nut 12 close to the rear end cover 14 .
  • the magnetic ring 13 in the axial direction of the rotating shaft 31 , is flush with the end surface of the preload nut 12 close to the rear end cover 14 .
  • the magnetic ring 13 is bonded to the pre-tightening nut 12 , so that the assembly method of the magnetic ring 13 and the pre-tightening nut 12 can be simplified.
  • the motor 10 further includes a Hall detection module 16 disposed on the rear end cover 14 , the Hall detection module 16 is disposed on the opposite side of the rear end cover 14 and the magnetic ring 13 , and the Hall detection module 16 is disposed opposite to the magnetic ring 13 .
  • the magnetic ring 13 cooperates with the Hall detection module 16, the Hall detection module 16 can collect the magnetic signal of the motor 10 to generate the Hall signal, and the controller of the handheld pan/tilt 10 obtains the adjustment position of the photographing device 103 according to the Hall signal, and controls the driving The circuit powers the motor 10 to adjust the rotation of the camera 103 to the target position.
  • the motor 10 of the present application is not limited to be applied to the handheld pan/tilt 100, and the motor 10 can also be used in electronic devices such as a mobile car, a mobile robot, or an unmanned aerial vehicle.
  • the present application designs a motor 10 with a novel structure and a handheld gimbal 100 having the same.
  • the motor 10 is arranged in the motor housing 11 by arranging the pre-tightening nut 12 and the magnetic ring 13 in the motor housing 11 , specifically in the iron core 21 , so that the thickness of the motor 10 can be reduced to make the structure compact.
  • the magnetic ring 13 is sleeved on the pre-tightening nut 12 so that the magnetic ring 13 and the pre-tightening nut 12 are stacked in the radial direction of the motor 10 , thereby making the structure of the motor 10 more compact.
  • the rear end cover 14 is fixed in the motor housing 11 by means of bonding, so that the outer side of the motor 10 is free of screw bulges, so that the outer surface of the motor 10 looks more rounded.

Abstract

一种电机（10）及手持云台（100），所述电机（10）包括电机壳体（11）以及设置在电机壳体（11）内的定子组件（2）和转子组件（3），转子组件（3）包括转轴（31）；其中，所述电机（10）还包括预紧螺母（12）和磁环（13），所述预紧螺母（12）锁紧于所述转轴（31）的非轴伸端（312），所述磁环（13）套设于所述预紧螺母（12）外，所述预紧螺母（12）及所述磁环（13）至少部分位于所述电机壳体（11）内。该电机（10）通过将预紧螺母（12）及磁环（13）至少部分设置于电机壳体（11）内，以降低电机（10）厚度，避免预紧螺母（12）及磁环（13）高出电机（10）的底部；同时通过将磁环（13）套设于预紧螺母（12），以使磁环（13）与预紧螺母（12）在电机（10）的径向堆叠，从而使电机（10）内的结构更加紧凑。

Description

电机及手持云台 技术领域
本申请涉及电机技术领域，特别涉及一种电机及手持云台。
背景技术
一般地，电机包括相对固定的定子与能够旋转的转子，在工作时，电机产生变化磁场以驱动转子转动，从而输出转速和转矩。此外，电机还通过霍尔器件来判断当前电机运动的状态，然后控制器根据霍尔器件所采集的信号控制驱动电路为电机供电，让电机持续正常的工作。现有预紧螺母通常固定在霍尔器件中的霍尔磁铁的上方，霍尔磁铁和预紧螺母在轴向上堆叠，高出电机的底部，如此导致了电机的整体体积较大，不利于该电机在小型电子设备(例如：手持云台、移动小车、移动机器人、小型手持云台)上的应用。
发明内容
本申请提出一种电机及手持云台，通过结构改进以解决上述技术问题。
依据本申请实施例的第一方面，本申请提供了一种电机，包括电机壳体以及设置在电机壳体内的定子组件和转子组件，转子组件包括转轴；其中，所述电机还包括预紧螺母和磁环，所述预紧螺母锁紧于所述转轴的非轴伸端，所述磁环套设于所述预紧螺母外，所述预紧螺母及所述磁环至少部分位于所述电机壳体内。
可选地，所述定子组件包括与所述电机壳体固定连接的铁芯，所述铁芯对应所述非轴伸端设置有凹陷部，所述预紧螺母及所述磁环位于所述凹陷部内。
可选地，所述电机壳体包括后端面，所述非轴伸端在所述电机壳体内朝向所述后端面延伸，所述预紧螺母及所述磁环不超出所述后端面。
可选地，所述电机还包括装配于所述电机壳体的后端盖，所述后端盖不超出所述电机壳体的所述后端面。
可选地，所述后端盖粘接于所述电机壳体。
可选地，所述后端盖的边缘通过粘胶粘接于所述电机壳体。
可选地，所述电机还包括设置于所述后端盖的霍尔检测模块，所述霍尔检测模块与所述磁环相对设置。
可选地，所述后端盖设有通孔，所述电机还包括装配于所述通孔的轴承，所述转轴固定于所述轴承，所述轴承粘接于所述通孔的孔壁。
可选地，在所述转轴的轴向上，所述磁环不超出所述预紧螺母靠近所述后端盖的端面。
可选地，在所述转轴的轴向上，所述磁环与所述预紧螺母靠近所述后端盖的端面齐平。
可选地，所述磁环粘接于所述预紧螺母。
根据本申请实施例的第二方面，提供了一种手持云台，包括手柄以及设置于所述手柄上的云台机构，所述云台机构包括上述任一项所述的电机。
本申请的实施例提供的技术方案可以包括以下有益效果：
本申请设计了一种新型结构的电机及具有其的手持云台，该电机通过将预紧螺母及磁环至少部分设置于电机壳体内，以降低电机厚度，避免预紧螺母及磁环高出电机的底部；同时通过将磁环套设于预紧螺母，以使磁环与预紧螺母在电机的径向堆叠，从而使电机内的结构更加紧凑。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，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是本申请一示例性实施例示出的一种手持云台的结构示意图；
图2是本申请一示例性实施例示出的一种电机的部分结构示意图；
图3是本申请一示例性实施例示出的一种电机的分解结构示意图；
图4是本申请一示例性实施例示出的一种电机的剖面示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
下面结合附图，对本申请的电机及手持云台进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
如图1所示，图1是本申请一示例性实施例示出的一种手持云台的结构示意图。本申请实施例的手持云台100包括手柄101以及设置于手柄101上的云台机构102。所述手持云台100用于承载拍摄装置103。该云台机构102可以用于搭载手机、平板、照相机和摄像机等拍摄装置103以实现拍摄装置103的固定、及姿态调节(例如：改变拍摄装置103的高度、倾角和/或方向)和使拍摄装置103稳定保持在某个确定的姿态。其中，该云台机构102可以包括单轴云台、两轴云台或者三轴云台。在一些实施例中，所述拍摄装置103集成在所述云台机构102上，以形成一体化手持云台相机。
在一些实施例中，该云台机构102为三轴云台，该云台机构102包括第一轴臂1021及装配于第一轴臂1021上的第一驱动装置1022、第二轴臂1023及装配于第二轴臂1023的第二驱动装置1024、以及第三驱动装置1025。其中，第一驱动装置1022连接于拍摄装置103，用以驱动拍摄装置103在俯仰轴向上转动，第二驱动装置1024连接于第一轴臂1021，用于驱动拍摄装置103在横滚轴向上转动，第三驱动装置1025固定于第二轴臂1023，该第三驱动装置1025的转轴连接于手柄101的顶部，用于驱动拍摄装置103在航向轴向上转动。该实施例中，第一驱动装置1022、第二驱动装置1024及第三驱动 装置1025均采用本申请的电机10。
如图2至图4所示，本申请实施例的电机10包括电机壳体11以及设置在电机壳体11内的定子组件2和转子组件3。该电机10还包括设置于电机壳体11的连接部112，电机10通过该连接部112与轴臂连接。在一些实施例中，电机10通过连接部112套接于轴臂并通过螺钉进行固定。
定子组件2包括与电机壳体11固定连接的铁芯21及多个线圈绕组22，多个线圈绕组22缠绕在铁芯21上，该铁芯21可以固定于电机壳体11内。在一些实施例中，该铁芯21包括环形的中心体211及自中心体211的外周面辐射延伸的多个套设部212。多个线圈绕组22与多个套设部212对应，每个线圈绕组22绕在对应套设部212上。对多个线圈绕组22通入三相交流电流，产生变化的磁场，以用于驱动转子组件3转动。
转子组件3包括转轴31、端盖32、保持架33以及多个永磁铁(未图示)。该端盖32对应于电机10的顶部，端盖32装配于电机壳体11的前端。保持架33安装在端盖32内，该保持架33的形状与端盖32的内壁的形状匹配，以使得保持架33能够更好地与端盖32的内壁贴合。
该电机10还包括装配于端盖32的卡接件34，螺旋桨20可以通过卡配的方式与卡接件34连接，从而可以便于螺旋桨20的快速拆卸。该卡接件34可以通过螺钉连接于端盖32，也可以通过焊接或者粘接等方式固定于端盖32。其中，该转轴31包括轴伸端311和非轴伸端312，该轴伸端311可以与端盖32固定连接或者与卡接件34固定连接，该转轴31的非轴伸端312位于电机10的底部。在图示的实施例中，以转轴31的一端与卡接件34固定连接为例进行示例。
保持架33包括环状基体331及自环状基体331延伸的多个隔磁臂332。每两个隔磁臂332之间形成一个凹槽333。多个永磁体与多个凹槽333对应，每个永磁体设置在对应的凹槽333内。多个永磁体与多个线圈绕组22相对。相邻的两个永磁体靠近内壁的表面的极性相反，隔磁臂332可将相邻的两个永磁体相互隔离开，防止永磁体相互吸引或相互排斥而发生位置移动。
在一个例子中，永磁体与保持架33固定连接，而不与端盖32的内壁固定连接。在另一个例子中，永磁体与保持架33固定连接的同时还与端盖32的内壁固定连接。在又一个例子中，永磁体与保持架33不固定连接，只与端盖32的内壁固定连接，此时，永磁体仍收容在凹槽333内。无论是上述哪种固定连接方式，当多个线圈绕组22通入 三相交流电流产生变化的磁场时，多个永磁体被该磁场驱动都能带动端盖32转动(永磁体带动保持架33转动，保持架33再带动端盖32转动；或永磁体直接带动端盖32转动)，从而带动与端盖32连接的转轴31转动。
其中，永磁体与保持架33的连接、永磁体与端盖32的内壁连接、保持架33与端盖32的内壁中的任意一个可以是用厌氧胶或其他黏胶胶接，也可以是卡合或焊接方式连接，或多种连接方式结合，在此不作限制。
该电机10还包括轴承组件，轴承组件收容于定子组件2内，具体地收容于中心体211的中心孔内。该轴承组件可以包括滚珠轴承41，转轴31穿设于滚珠轴承41。该轴承组件还可以包括含油轴承(未图示)，转轴31穿设滚珠轴承41及含油轴承，含油轴承与滚珠轴承41共同支承转轴31的转动。通过一个滚珠轴承41及一个球状或椭球状含油轴承来共同支承转轴31的转动，一方面，滚珠轴承41的设置能够减小转子的转轴31转动的阻力，保证电机10的性能的同时能够延长电机10的使用寿命；另一方面，在转轴31的转动过程中，含油轴承能够自动调整与滚珠轴承41的同心度，实现自动对心，保证电机10工作的稳定性。
电机10还包括预紧螺母12和磁环13，该转轴31的非轴伸端312设有与预紧螺母12配合的螺纹，预紧螺母12锁紧于转轴31的非轴伸端312，磁环13套设于预紧螺母12外，预紧螺母12和磁环13可以随转轴31转动。该磁环13通过与霍尔检测模块16配合，霍尔检测模块16可以采集电机10的磁信号产生霍尔信号，手持云台10的控制器根据霍尔信号获取拍摄装置103的调节位置，并控制驱动电路为电机10供电，以调节拍摄装置103转动至目标位置。其中，手持云台10的控制器可以设置在手柄101内，该控制器与电机10电连接。
该预紧螺母12及磁环13至少部分位于电机壳体11内，以降低电机10厚度，避免预紧螺母12及磁环15高出电机10的底部。现有技术中，磁环13通过预紧螺母12装配在非轴伸端312的端部，磁环13和预紧螺母12在电机20的轴上堆叠，以使预紧螺母12和磁环13高出电机的底部。本申请通过将磁环15套设于预紧螺母12，以使磁环15与预紧螺母12在电机10的径向堆叠，从而使电机10内的结构更加紧凑。
进一步地，该铁芯21对应非轴伸端312设置有凹陷部213，预紧螺母12及磁环13位于凹陷部213内，如此以使预紧螺母12及磁环13的装配方式更加紧凑，从而满足降低电机10的厚度。具体地，该凹陷部213设置于铁芯21的中心体211上。
其中，该电机壳体11包括后端面111，该后端面111为电机壳体11对应电机10底部的端面。转轴31的非轴伸端312在电机壳体11内朝向后端面111延伸，预紧螺母12及磁环13不超出后端面111，如此以使预紧螺母12和磁环13不高出电机10的底部。磁环13与预紧螺母12在电机10的径向堆叠，进一步地使电机10的结构紧凑，降低电机10厚度。
此外，该电机10还包括装配于电机壳体11的后端盖14，后端盖14不超出电机壳体11的后端面111。将后端盖14设置在电机壳体11内，以避免后端盖14增加在电机10轴向上的尺寸，以满足降低电机10厚度的需求。为了使该电机10的底部表面和侧面无螺丝鼓包，该后端盖14粘接于电机壳体11。在一些实施例中，该后端盖14的边缘通过粘胶粘接于电机壳体11。当然，该后端盖14也可以粘接于铁芯21。
该后端盖14设有通孔141，电机10还包括装配于通孔141的轴承142，转轴31固定于轴承142，该轴承142与滚珠轴承41配合共同支承转轴31的转动。其中，轴承142粘接于通孔141的孔壁。当然，该轴承142也可以通过焊接等其他方式固定于后端盖14。
其中，在转轴31的轴向上，该磁环13不超出预紧螺母12靠近后端盖14的端面。在一些实施例中，在转轴31的轴向上，磁环13与预紧螺母12靠近后端盖14的端面齐平。其中，该磁环13粘接于预紧螺母12，从而可以简化磁环13与预紧螺母12的装配方式。
该电机10还包括设置于后端盖14的霍尔检测模块16，霍尔检测模块16设置于后端盖14与磁环13相对的一侧，该霍尔检测模块16与磁环13相对设置。磁环13与霍尔检测模块16配合，霍尔检测模块16可以采集电机10的磁信号产生霍尔信号，手持云台10的控制器根据霍尔信号获取拍摄装置103的调节位置，并控制驱动电路为电机10供电，以调节拍摄装置103转动至目标位置。
当然，本申请的电机10并不限于应用于手持云台100，该电机10还可以用于移动小车、移动机器人或无人飞行器等电子设备中。
本申请设计了一种新型结构的电机10及具有其的手持云台100，该电机10通过将预紧螺母12及磁环13设置于电机壳体11内，具体地设置在铁芯21内，从而可以降低电机10厚度，使结构紧凑。同时通过将磁环13套设于预紧螺母12，以使磁环13与预紧螺母12在电机10的径向堆叠，从而使电机10内的结构更加紧凑。该后端盖14通过 粘接的方式固定在电机壳体11内，可以使电机10的外侧无螺钉鼓包，使电机10的外表面看起来更圆润。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本申请实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。
本申请文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该申请文件或者该申请披露。

Claims (12)

  1. 一种电机，其特征在于，包括电机壳体以及设置在电机壳体内的定子组件和转子组件，转子组件包括转轴；其中，所述电机还包括预紧螺母和磁环，所述预紧螺母锁紧于所述转轴的非轴伸端，所述磁环套设于所述预紧螺母外，所述预紧螺母及所述磁环至少部分位于所述电机壳体内。
  2. 根据权利要求1所述的电机，其特征在于，所述定子组件包括与所述电机壳体固定连接的铁芯，所述铁芯对应所述非轴伸端设置有凹陷部，所述预紧螺母及所述磁环位于所述凹陷部内。
  3. 根据权利要求1所述的电机，其特征在于，所述电机壳体包括后端面，所述非轴伸端在所述电机壳体内朝向所述后端面延伸，所述预紧螺母及所述磁环不超出所述后端面。
  4. 根据权利要求3所述的电机，其特征在于，所述电机还包括装配于所述电机壳体的后端盖，所述后端盖不超出所述电机壳体的所述后端面。
  5. 根据权利要求4所述的电机，其特征在于，所述后端盖粘接于所述电机壳体。
  6. 根据权利要求5所述的电机，其特征在于，所述后端盖的边缘通过粘胶粘接于所述电机壳体。
  7. 根据权利要求4所述的电机，其特征在于，所述电机还包括设置于所述后端盖的霍尔检测模块，所述霍尔检测模块与所述磁环相对设置。
  8. 根据权利要求4所述的电机，其特征在于，所述后端盖设有通孔，所述电机还包括装配于所述通孔的轴承，所述转轴固定于所述轴承，所述轴承粘接于所述通孔的孔壁。
  9. 根据权利要求4所述的电机，其特征在于，在所述转轴的轴向上，所述磁环不超出所述预紧螺母靠近所述后端盖的端面。
  10. 根据权利要求9所述的电机，其特征在于，在所述转轴的轴向上，所述磁环与所述预紧螺母靠近所述后端盖的端面齐平。
  11. 根据权利要求1所述的电机，其特征在于，所述磁环粘接于所述预紧螺母。
  12. 一种手持云台，其特征在于，包括手柄以及设置于所述手柄上的云台机构，所述云台机构包括权利要求1至11中任一项所述的电机。
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