CN108343819A - Three axis holders - Google Patents

Abstract

The invention discloses a three-axis cloud platform, which includes a carrier, a first fixed frame, a second fixed frame, a third fixed frame, a first motor, a second motor and a third motor, wherein the first motor is connected with the The first fixed frame is connected with the second fixed frame, and is used to make the second fixed frame rotate relative to the first fixed frame; the second motor is connected with the second fixed frame and the third fixed frame respectively. The fixed frame is connected, and is used to make the third fixed frame rotate relative to the second fixed frame; the third motor is respectively connected to the third fixed frame and the carrier, and is used to make the carrier relatively fixed to the third The frame rotates; the first motor, the second motor and the third motor are arranged in the same plane. Through the application of the present invention, the thickness of the three-axis platform in the height direction is effectively reduced. Therefore, the volume and weight of the pan-tilt are reduced, and it is beneficial to the control of the three-axis pan-tilt.

Description

Three-axis gimbal

technical field

The invention relates to a three-axis cloud platform.

Background technique

The pan/tilt is a support device used to install and fix the camera. Current gimbals can be classified into three-axis gimbals, three-axis gimbals, etc. according to the degree of freedom of rotation. However, for example, the three-axis gimbal and the three-axis gimbal involve the connection of multiple motors, so there are the following problems:

1. The gimbal is bulky and heavy;

2. The layout of the internal circuit is too complicated, which is not conducive to production;

3. Improper stacking sequence, resulting in increased control difficulty and poor image stability.

Contents of the invention

The technical problem to be solved by the present invention is to provide a three-axis pan-tilt in order to overcome the defects of the prior art pan-tilt with excessive volume and weight and improper stacking.

The present invention solves the above technical problems through the following technical solutions:

A three-axis cloud platform is characterized in that it includes a carrier, a first fixed mount, a second fixed mount, a third fixed mount, a first motor, a second motor and a third motor, wherein,

The first motor is connected to the first fixed frame and the second fixed frame respectively, and is used to make the second fixed frame rotate relative to the first fixed frame;

The second motor is respectively connected to the second fixed frame and the third fixed frame, and is used to make the third fixed frame rotate relative to the second fixed frame;

The third motor is respectively connected to the third fixing frame and the carrier, and is used to make the carrier rotate relative to the third fixing frame;

The first motor, the second motor and the third motor are arranged in the same plane.

In the present invention, by arranging the first motor, the second motor and the third motor in the same plane, the stacking of the first motor, the second motor and the third motor in the height direction is avoided, effectively reducing the Thickness in height direction. Therefore, the volume and weight of the pan-tilt are reduced, and it is beneficial to the control of the three-axis pan-tilt.

Preferably, the axis of the first motor and the axis of the second motor are perpendicular and located on the same plane. By rationally arranging the axis of the first motor and the axis of the second motor, the distance deviation is eliminated and the control difficulty of the motor is reduced.

Preferably, the axis of the third motor is perpendicular to the axis of the first motor and the axis of the second motor respectively.

Preferably, the axis of the first motor is located on a horizontal plane. After the axis of the first motor is set on the horizontal plane, it is beneficial to simplify the coordinate system and reduce the difficulty of controlling the motor.

Preferably, the axis of the first motor is perpendicular to the horizontal plane.

Preferably, the stator of the first motor is connected to the first fixing frame, and the rotor of the first motor is connected to the second fixing frame;

The stator of the second motor is connected to the second fixed frame, and the rotor of the second motor is connected to the third fixed frame;

The stator of the third motor is connected to the third fixing frame, and the rotor of the second motor is connected to the carrier.

Preferably, the first fixing frame includes a base and an extension arm perpendicular to the base, and the first motor is connected to the extension arm.

Preferably, the third motor is located right below the base. Therefore, most or even all of the first motor, the second motor, the third motor and the carrier are kept in the projection of the base, thus effectively reducing the external expansion of the size of the three-axis gimbal. Conducive to miniaturization.

Preferably, the second motor, the third motor and the carrier are arranged in sequence along the same plane. By setting the position of the carrier, the structure is further compressed.

Preferably, a protective shell is provided on the outer cover of the carrier and the third motor.

Preferably, the three-axis pan/tilt further includes a first magnetic control board, a second magnetic control board and a third magnetic control board, wherein,

The first motor and the first magnetic control board are fixed on both sides of the first fixing frame;

The second motor and the second magnetic control board are fixed on both sides of the second fixing frame;

The third motor and the third magnetic control board are fixed on both sides of the third fixing frame.

Preferably, a control board is arranged on the first fixing frame, and the space between the carrier, the control board, the first magnetic control board, the second magnetic control board and the third magnetic control board is Electrically connected through the flex circuit board. The flexible circuit board can facilitate wiring and improve assembly efficiency.

Preferably, the carrier is a camera unit.

On the basis of conforming to common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain preferred examples of the present invention.

The positive and progressive effect of the present invention is that: through the application of the present invention, the thickness of the three-axis pan-tilt in the height direction is effectively reduced. Therefore, the volume and weight of the pan-tilt are reduced, and it is beneficial to the control of the three-axis pan-tilt.

Description of drawings

Fig. 1 is a schematic diagram of the exploded structure of the three-axis pan-tilt according to Embodiment 1 of the present invention.

Fig. 2 is a three-dimensional structural schematic diagram of a three-axis gimbal combined with a protective case according to Embodiment 1 of the present invention.

FIG. 3 is a schematic diagram of the three-dimensional structure of the three-axis gimbal according to Embodiment 1 of the present invention.

FIG. 4 is a right view structural diagram of the three-axis pan/tilt according to Embodiment 1 of the present invention.

Fig. 5 is a schematic structural diagram of the front view of the three-axis gimbal according to Embodiment 1 of the present invention.

FIG. 6 is a schematic top view structure diagram of the three-axis gimbal according to Embodiment 1 of the present invention.

FIG. 7 is a schematic diagram of the three-dimensional structure of the three-axis pan/tilt according to Embodiment 2 of the present invention.

FIG. 8 is a schematic structural diagram of the front view of the three-axis pan/tilt according to Embodiment 2 of the present invention.

FIG. 9 is a right view structural diagram of the three-axis pan/tilt according to Embodiment 2 of the present invention.

Fig. 10 is a schematic top view structure diagram of the three-axis gimbal according to Embodiment 2 of the present invention.

Explanation of reference signs

first motor 11

Stator 111

Rotor 112

second motor 12

Stator 121

Rotor 122

third motor 13

Stator 131

Rotor 132

First mount 21

Base 211

Extension arm 212

Second mount 22

Third mount 23

carrier 3

The first magnetic control board 41

Second magnetic control board 42

The third magnetic control board 43

Dashboard 5

Case 6

Axis X

Axis Y

Axis Z

Plane P

Plane M

Detailed ways

The present invention is further illustrated below by means of examples, but the present invention is not limited to the scope of the examples.

Example 1

As shown in Figures 1-6, this embodiment discloses a three-axis pan/tilt, including a carrier 3, a first fixing frame 21, a second fixing frame 22, a third fixing frame 23, a first motor 11, a second motor 12 and a third motor 13.

As shown in Figure 1, the first motor 11 is connected with the first fixed mount 21 and the second fixed mount 22 respectively, and is used to make the second fixed mount 22 rotate relative to the first fixed mount 21; The fixing frame 22 is connected with the third fixing frame 23 and is used to make the third fixing frame 23 rotate relative to the second fixing frame 22 . The third motor 13 is connected to the third fixing frame 23 and the carrier 3 respectively, and is used to make the carrier 3 rotate relative to the third fixing frame 23 .

Thus, as shown in FIG. 3, the rotation around the axis X of the first motor 11 can be realized by the first motor 11, the rotation around the axis Y of the second motor 12 can be realized by the second motor 12, and the rotation around the axis Y of the second motor 12 can be realized by the second motor 12. The three motors 13 can realize the rotation around the axis Z of the third motor 13 .

As shown in FIG. 3 , the axis X of the first motor 11 , the axis Y of the second motor 12 and the axis Z of the third motor 13 are perpendicular to each other. The axis Y of the second motor 12 is parallel to the axis of the carrier 3 , and the axis Z of the third motor 13 is perpendicular to the first fixing frame 21 . Wherein, preferably, the axis Y of the second motor 12 is coaxial with the axis of the carrier 3 . In this way, the stability of the carrier 3 is enhanced through the arrangement of the first motor 11 , the second motor 12 and the third motor 13 . When the carrier 3 is an imaging unit, the stability of imaging is greatly improved.

As shown in Figure 1, a general motor includes two parts: a stator and a rotor. In this embodiment, the stator 111 of the first motor 11 is connected to the first fixing frame 21 , and the rotor 112 of the first motor 11 is connected to the second fixing frame 22 . The stator 111 and the rotor 112 generate relative rotation, thereby driving the second fixed frame to rotate.

The stator 121 of the second motor 12 is connected to the second fixing frame 22 , and the rotor 122 of the second motor 12 is connected to the third fixing frame 23 . The stator 121 and the rotor 122 generate relative rotation, thereby driving the carrier 3 to rotate.

The stator 131 of the third motor 13 is connected to the third fixing frame 23 , and the rotor 132 of the third motor 13 is connected to the carrier 3 . The stator 131 and the rotor 132 generate relative rotation, thereby driving the carrier 3 to rotate.

As shown in FIG. 3 , the first motor 11 , the second motor 12 and the third motor 13 are arranged in the same plane P. As shown in FIG. Wherein, the first motor 11, the second motor 12, and the third motor 13 can float slightly in the height direction, as long as the main bodies of the first motor 11, the second motor 12, and the third motor 13 are located in the same plane P. .

By arranging the first motor 11, the second motor 12 and the third motor 13 in the same plane, the stacking of the first motor 11, the second motor 11 and the third motor 13 in the height direction is avoided, effectively reducing the three-axis The thickness of the gimbal in the height direction. Therefore, the volume and weight of the pan-tilt are reduced, and it is beneficial to the control of the three-axis pan-tilt.

As shown in FIG. 3 , in this embodiment, the axis X of the first motor 11 is perpendicular to the axis Y of the second motor 12 and both lie on the same plane P. Thus, the rational arrangement of the axis X of the first motor 11 and the axis Y of the second motor 12 is realized, the distance deviation of the plane where the axes are located is eliminated, and the difficulty of controlling the motors is reduced. The axis Z of the third electric machine 13 is perpendicular to the plane P.

Preferably, the axis X of the first motor 11 can be set to lie on a horizontal plane. In the initial state, that is, the plane P is set as a horizontal plane. After the axis X of the first motor 11 is set on the horizontal plane, it means that both the axis X and the axis Y are initially set horizontally. This is beneficial to simplify the coordinate system and reduce the difficulty of controlling the motor.

As shown in Figure 1, the first fixed frame 21 includes a base 211 and an extension arm 212 perpendicular to the base 211, the first motor 11 is connected to the extension arm 212, as shown in Figures 4, 5 and 6, the carrier 3 , the second motor 12 and the third motor 13 are located directly below the base 211 . Thus, most or even all of the first motor 11, the second motor 12, the third motor 13 and the carrier 3 are kept in the projection of the base 211, thus effectively reducing the size difference of the three-axis pan/tilt in the horizontal direction. size, which is conducive to miniaturization.

As shown in FIG. 5 , the second motor 12 , the third motor 13 and the carrier 3 are arranged in sequence along the same plane. By setting the position of the carrier 3, the structure is further compressed.

As shown in Figure 1, the three-axis pan/tilt of the present embodiment also includes a first magnetron board 41, a second magnetron board 42 and a third magnetron board 43, wherein the first motor 11 and the first magnetron board 41 are fixed On both sides of the first fixed frame 21; the second motor 12 and the second magnetron plate 42 are fixed on both sides of the second fixed frame 22; the third motor 13 and the third magnetic control plate 43 are fixed on both sides of the third fixed frame 23 .

Preferably, a control panel 5 is disposed on the first fixing frame 21 . The carrier 3 , the control board 5 , the first magnetron board 41 , the second magnetron board 42 and the third magnetron board 43 are electrically connected through a flexible circuit board. The flexible circuit board can facilitate wiring and improve assembly efficiency.

The carrier 3 in this embodiment is an imaging unit. Of course, the carrier 3 can also be configured as other related components.

As shown in FIG. 2 , in this embodiment, a protective case 6 may preferably be provided on the outside of the carrier 3 and the third motor 13 .

In addition, the positional relationship of the three-axis gimbal in this embodiment will change with the rotation of the motor, and the positional relationship in the initial state of the three-axis gimbal is defined in this embodiment.

Example 2

As shown in FIGS. 7-10 , the difference between this embodiment and Embodiment 1 lies in the change of the first motor 11 and the third motor, which leads to the change of the arrangement of the motors.

As shown in Figure 7, in this embodiment, the rotation around the axis Z of the first motor 11 can be realized by the first motor 11, and the rotation around the axis Y of the second motor 12 can be realized by the second motor 12. The third motor 13 can realize rotation around the axis X of the third motor 13 . (In Embodiment 1, the axis of the first motor 11 is the axis X, and the axis of the third motor 13 is the axis Z, that is, the axes of the first motor 11 and the third motor 13 are interchanged.)

As shown in FIG. 7 , the axis Z of the first motor 11 , the axis Y of the second motor 12 and the axis X of the third motor 13 are perpendicular to each other. The axis Y of the second motor 12 is parallel to the axis of the carrier 3 , and the axis X of the third motor 13 is perpendicular to the first fixing frame 21 . Wherein, preferably, the axis Y of the second motor 12 is coaxial with the axis of the carrier 3 . In this way, the stability of the carrier 3 is enhanced through the arrangement of the first motor 11 , the second motor 12 and the third motor 13 . When the carrier 3 is an imaging unit, the stability of imaging is greatly improved.

As shown in FIG. 7 and FIG. 8 , in this embodiment, the axis Z of the first motor 11 and the axis Y of the second motor 12 are perpendicular, and both are located on the same plane M. Thus, the rational arrangement of the axis Z of the first motor 11 and the axis Y of the second motor 12 is realized, the distance deviation of the plane where the axes are located is eliminated, and the difficulty of controlling the motors is reduced. The axis X of the third motor 13 and the axis of the second motor 12 are located on the plane P, and the axis X of the third motor 13 is perpendicular to the plane M.

Preferably, the axis Z of the first motor 11 can be set to be in a vertical state. In the initial state, the plane P is set as a vertical plane, and the plane P is set as a horizontal plane. The axis Z of the first motor 11 is set behind the horizontal plane, which means that both the axis X and the axis Y are initially set horizontally. This is beneficial to simplify the coordinate system and reduce the difficulty of controlling the motor.

The implementation principles of other parts of this embodiment are the same as those of Embodiment 1, so details are not repeated here.

Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that these are only examples, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principle and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims (13)

1. a three-axis cloud platform, is characterized in that, comprises carrier, the first fixed mount, the second fixed mount, the third fixed mount, the first motor, the second motor and the third motor, wherein, The first motor is connected to the first fixed frame and the second fixed frame respectively, and is used to make the second fixed frame rotate relative to the first fixed frame; The second motor is respectively connected to the second fixed frame and the third fixed frame, and is used to make the third fixed frame rotate relative to the second fixed frame; The third motor is respectively connected to the third fixing frame and the carrier, and is used to make the carrier rotate relative to the third fixing frame; The first motor, the second motor and the third motor are arranged in the same plane. 2. The three-axis gimbal according to claim 1, wherein the axis of the first motor and the axis of the second motor are perpendicular and located on the same plane. 3. The three-axis gimbal according to claim 2, wherein the axis of the third motor is perpendicular to the axis of the first motor and the axis of the second motor respectively. 4. The three-axis gimbal according to claim 1, wherein the axis of the first motor is located on a horizontal plane. 5. The three-axis gimbal according to claim 1, wherein the axis of the first motor is perpendicular to the horizontal plane. 6. The three-axis gimbal according to claim 1, wherein the stator of the first motor is connected to the first mount, and the rotor of the first motor is connected to the second mount; The stator of the second motor is connected to the second fixed frame, and the rotor of the second motor is connected to the third fixed frame; The stator of the third motor is connected to the third fixing frame, and the rotor of the second motor is connected to the carrier. 7. The three-axis gimbal according to claim 1, wherein the first fixing frame comprises a base and an extension arm perpendicular to the base, and the first motor is connected to the extension arm. 8. The three-axis gimbal according to claim 7, wherein the third motor is located directly below the base. 9. The three-axis pan/tilt according to any one of claims 1-8, wherein the second motor, the third motor and the carrier are arranged in sequence along the same plane. 10. The three-axis gimbal according to any one of claims 1-8, characterized in that a protective shell is provided on the outer cover of the carrier and the third motor. 11. The three-axis gimbal according to any one of claims 1-8, wherein the three-axis gimbal also includes a first magnetic control board, a second magnetic control board and a third magnetic control board, wherein , The first motor and the first magnetic control board are fixed on both sides of the first fixing frame; The second motor and the second magnetic control board are fixed on both sides of the second fixing frame; The third motor and the third magnetic control board are fixed on both sides of the third fixing frame. 12. The three-axis pan/tilt according to claim 11, wherein a control board is arranged on the first fixed mount, and the carrier, the control board, the first magnetic control board, the second The second magnetic control board is electrically connected to the third magnetic control board through a flexible circuit board. 13. The three-axis pan/tilt according to any one of claims 1-8, wherein the carrier is a camera unit.