U.S. patent application number 17/461375 was filed with the patent office on 2021-12-16 for motor, gimbal having the motor, and image capturing device having the gimbal.
The applicant listed for this patent is SZ DJI OSMO TECHNOLOGY CO., LTD.. Invention is credited to Peng WANG, Li ZHOU.
Application Number | 20210389647 17/461375 |
Document ID | / |
Family ID | 1000005811414 |
Filed Date | 2021-12-16 |
United States Patent
Application |
20210389647 |
Kind Code |
A1 |
ZHOU; Li ; et al. |
December 16, 2021 |
MOTOR, GIMBAL HAVING THE MOTOR, AND IMAGE CAPTURING DEVICE HAVING
THE GIMBAL
Abstract
A motor assembly includes a stator directly fixed to a first
rotating member, a rotator coupled to a second rotating member and
rotatably connected with the stator, an electrical connecting
device, and a Hall angular displacement sensor disposed on a side
of the electrical connecting device. The rotator includes a
rotating shaft with two ends. A first end of the rotating shaft is
received in the first rotating member and a second end of the
rotating shaft is received in the second rotating member. The
electrical connecting device is configured to provide power to the
motor assembly for driving the second rotating member to rotate
with respect to the first rotating member. The Hall angular
displacement sensor is configured to detect a positional
relationship between the first rotating member and the second
rotating member.
Inventors: |
ZHOU; Li; (Shenzhen, CN)
; WANG; Peng; (Shenzhen, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SZ DJI OSMO TECHNOLOGY CO., LTD. |
Shenzhen |
|
CN |
|
|
Family ID: |
1000005811414 |
Appl. No.: |
17/461375 |
Filed: |
August 30, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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16692447 |
Nov 22, 2019 |
11106118 |
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17461375 |
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15115422 |
Jul 29, 2016 |
10488739 |
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PCT/CN2014/081613 |
Jul 3, 2014 |
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16692447 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
F16M 11/06 20130101;
H02K 11/215 20160101; H02K 1/27 20130101; H02K 29/08 20130101; H04N
5/23287 20130101; G03B 17/561 20130101; F16M 2200/041 20130101;
F16M 11/18 20130101 |
International
Class: |
G03B 17/56 20060101
G03B017/56; F16M 11/06 20060101 F16M011/06; F16M 11/18 20060101
F16M011/18; H02K 11/215 20060101 H02K011/215; H02K 29/08 20060101
H02K029/08; H02K 1/27 20060101 H02K001/27; H04N 5/232 20060101
H04N005/232 |
Foreign Application Data
Date |
Code |
Application Number |
Feb 28, 2014 |
CN |
201410070502.1 |
Claims
1. A motor assembly, comprising: a stator directly fixed to a first
rotating member; a rotator coupled to a second rotating member and
rotatably connected with the stator, the rotator including a
rotating shaft with two ends, a first end of the rotating shaft
being received in the first rotating member and a second end of the
rotating shaft being received in the second rotating member; an
electrical connecting device configured to provide power to the
motor assembly for driving the second rotating member to rotate
with respect to the first rotating member; and a Hall angular
displacement sensor disposed on a side of the electrical connecting
device and configured to detect a positional relationship between
the first rotating member and the second rotating member.
2. The motor assembly of claim 1, wherein the rotator is directly
fixed to the second rotating member.
3. The motor assembly of claim 1, wherein the rotator further
includes: an upper bearing and a lower bearing received in the
first rotating member and the second rotating member,
respectively.
4. The motor assembly of claim 1, further comprising: a magnet
fixed to the first end of rotating shaft.
5. The motor assembly of claim 1, wherein: the electrical
connecting device includes a first surface and a second surface
opposite to the first surface, the second surface facing the first
end of the rotating shaft; and the Hall angular displacement sensor
is fixedly arranged on the first surface.
6. The motor assembly of claim 1, wherein the electrical connecting
device includes a PCB board or a flexible circuit board.
7. The motor assembly of claim 1, wherein the rotator further
includes a rotor disposed at the second end of the rotating shaft,
the rotor surrounding at least a portion of the stator.
8. The motor assembly of claim 7, wherein the electrical connecting
device is further configured to: transmit a control signal to
control a rotational angle of the rotor with respect to the stator
for adjusting the positional relationship between the first
rotating member and the second rotating member.
9. A gimbal comprising: a first rotating member; a second rotating
member; and a motor configured to drive the second rotating member
to rotate with respect to the first rotating member, the motor
including: a stator directly fixed to the first rotating member; a
rotator coupled to the second rotating member and rotatably
connected with the stator, the rotator including a rotating shaft
with two ends, a first end of the rotating shaft being received in
the first rotating member and a second end of the rotating shaft
being received in the second rotating member; an electrical
connecting device configured to provide power to the motor for
driving the second rotating member to rotate with respect to the
first rotating member; and a Hall angular displacement sensor
disposed on a side of the electrical connecting device and
configured to detect a positional relationship between the first
rotating member and the second rotating member.
10. The gimbal of claim 9, wherein the rotator is directly fixed to
the second rotating member.
11. The gimbal of claim 9, wherein the rotator further includes: an
upper bearing and a lower bearing received in the first rotating
member and the second rotating member, respectively.
12. The gimbal of claim 9, wherein the motor further includes: a
magnet fixed to the first end of rotating shaft.
13. The gimbal of claim 9, wherein: the electrical connecting
device includes a first surface and a second surface opposite to
the first surface, the second surface facing the first end of the
rotating shaft; and the Hall angular displacement sensor is fixedly
arranged on the first surface.
14. The gimbal of claim 9, wherein the electrical connecting device
includes a PCB board or a flexible circuit board.
15. The gimbal of claim 9, wherein the rotator further includes a
rotor disposed at the second end of the rotating shaft, the rotor
surrounding at least a portion of the stator.
16. The gimbal of claim 15, wherein the electrical connecting
device is further configured to: transmit a control signal to
control a rotational angle of the rotor with respect to the stator
for adjusting the positional relationship between the first
rotating member and the second rotating member.
17. An image capturing device comprising: a gimbal; and a payload
carried on the gimbal, wherein the gimbal includes: a first
rotating member; a second rotating member; and a motor configured
to drive the second rotating member to rotate with respect to the
first rotating member, the motor including: a stator directly fixed
to the first rotating member; a rotator coupled to the second
rotating member and rotatably connected with the stator, the
rotator including a rotating shaft with two ends, a first end of
the rotating shaft being received in the first rotating member and
a second end of the rotating shaft being received in the second
rotating member; an electrical connecting device configured to
provide power to the motor for driving the second rotating member
to rotate with respect to the first rotating member; and a Hall
angular displacement sensor disposed on a side of the electrical
connecting device and configured to detect a positional
relationship between the first rotating member and the second
rotating member.
18. The image capturing device of claim 17, wherein the payload is
connected with the second rotating member.
19. The image capturing device of claim 17, wherein the payload is
a camera or a sensor.
20. The image capturing device of claim 17, wherein the motor
further includes: a magnet fixed to the first end of rotating
shaft.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of application Ser. No.
16/692,447, filed on Nov. 22, 2019, which is a continuation of
application Ser. No. 15/115,422, filed Jul. 29, 2016, now U.S. Pat.
No. 10,488,739, which is a National Stage Entry of International
Application No. PCT/CN2014/081613, filed Jul. 3, 2014, which claims
priority to Chinese Application No. 201410070502.1, filed Feb. 28,
2014, the entire contents of all of which are incorporated herein
by reference.
TECHNICAL FIELD
[0002] The present disclosure relates to a motor, a gimbal having
the motor and an image capturing device having the gimbal.
BACKGROUND OF THE DISCLOSURE
[0003] An image capturing device generally comprises a gimbal and
an image capturing apparatus carried on the gimbal. The gimbal is
configured to fix the image capturing device, freely adjust an
attitude of the image capturing apparatus (e.g., changing an
elevation and/or orientation of the image capturing apparatus) and
stably maintain the image capturing apparatus at a determined
attitude to achieve a stable, smooth and multi-angle image
capturing. The image capturing apparatus may be a camcorder or a
camera.
[0004] The gimbal comprises a motor. The motor is provided with a
stator, a rotor and a sensor for sensing relative positions of the
rotor with respect to the stator of the motor. The prior art sensor
generally includes an encoder and a potentiometer, where the
encoder has a high precision but a large volume, a high cost and a
certain frictional resistance, and the potentiometer has a low
precision but a greater frictional resistance, which significantly
affects the controlling of the gimbal. Both sensors are contact
type sensors, resulting in a great frictional resistance and poor
electrical contact.
SUMMARY OF THE DISCLOSURE
[0005] An object of the disclosure is to provide a motor having a
low frictional resistance, a gimbal having the motor, and an image
capturing device having the gimbal.
[0006] The aforementioned object may be achieved by various
embodiments of the disclosure.
[0007] In some embodiments, a motor may comprise a stator, a
rotator rotatably connected with the stator, and an electrical
connecting device for providing an electric signal for the motor.
The motor may further comprise a magnet fixed on the rotator, and a
Hall angular displacement sensor fixed on the electrical connecting
devices and arranged opposite to the magnet. The magnet and the
Hall angular displacement sensor may be spaced from each other by
the electrical connecting devices.
[0008] In some embodiments, a gimbal may comprise a first rotating
member, a second rotating member rotatably connected with the first
rotating member, and a motor configured to drive the second
rotating member to rotate with respect to the first rotating
member. The motor may comprise a stator, a rotator rotatably
connected with the stator, and an electrical connecting device for
providing an electric signal to the motor. The motor further
comprises a magnet fixed on the rotator, and a Hall angular
displacement sensor fixed on the electrical connecting device and
arranged opposite to the magnet. The magnet and the Hall angular
displacement sensor may be spaced from each other by the electrical
connecting device.
[0009] In some embodiments, an image capturing device may comprise
a gimbal and a payload carried on the gimbal. The gimbal may
comprise a first rotating member, a second rotating member
rotatably connected with the first rotating member, and a motor
configured to drive the second rotating member to rotate with
respect to the first rotating member. The motor may comprise a
stator, a rotator rotatably connected with the stator, and an
electrical connecting device configured to provide an electric
signal to the motor. The motor may further comprise a magnet fixed
on the rotator, and a Hall angular displacement sensor fixed on the
electrical connecting device and arranged opposite to the magnet.
The magnet and the Hall angular displacement sensor may be spaced
from each other by the device.
[0010] As compared with the prior art, a method of detecting a
positional relationship between the stator and the rotator by a
non-contact Hall angular displacement sensor is provided in the
present disclosure, which solves the great frictional resistance
problem in conventional detection methods.
BRIEF DESCRIPTION OF THE DRAWINGS
[0011] FIG. 1 is a perspective view of an image capturing device
according to the disclosure.
[0012] FIG. 2 is a perspective view of the image capturing device
from which the carried payload is removed according to the
disclosure.
[0013] FIG.3 is a sectional view of FIG. 2 along the line.
[0014] FIG. 4 is a perspective view of FIG. 2 from another angle of
view, from which the first rotating member is partially
omitted.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0015] The image capturing device in embodiments of the present
disclosure may be used as an auxiliary device for photographing,
image capturing, monitoring and sampling, and can be carried on an
air-based vehicle (e.g., a rotor wing aircraft or a fixed wing
aircraft), a water-based vehicle (e.g., a submarine or a ship), a
road-based vehicle (e.g., an automobile) or a space-based vehicle
(e.g., a satellite, a space station, or a spaceship) and the like.
The image capturing device may comprise a gimbal and a payload
carried on the gimbal. The gimbal may be configured to fix the
payload, freely adjust an attitude of the payload (e.g., to change
an elevation, an inclination angle and/or an orientation of the
payload), and stably maintain the carried payload at a determined
attitude. The payload may be an image capturing device such as a
camera or a camcorder. Alternatively, the payload may also be a
sensor or the like. In this embodiment, the image capturing device
may be carried by an aircraft. The payload may be an
interchangeable lens digital camera (ILDC), a surveillance camera
or the like. The image capturing device according to the present
disclosure will be described below in detail with reference to the
accompanying drawings.
[0016] As illustrated in FIG. 1 to FIG. 4, in some embodiments of
the disclosure, an image capturing device 100 may comprise a gimbal
10 and a payload 20 carried on the gimbal 10. The gimbal 10
comprises a first rotating member 1, a second rotating member 2
rotatably connected with one end of the first rotating member 1 and
being configured to carry the payload 20, and a motor 30 connecting
the first rotating member 1 with the second rotating member 2. In
this embodiment, the payload 20 is a camera. The motor 30 is
configured to drive the second rotating member 2 to rotate with
respect to the first rotating member 1.
[0017] The motor 30 comprises a stator 31 fixed on the first
rotating member 1, a rotator 32 rotatably connected with the stator
31 and fixed on the second rotating member 2, an electrical
connecting device 33 fixed on the first rotating member 1 and
providing an electric signal to the stator 31, a magnet 34 fixed on
the rotator 32 and a Hall angular displacement sensor 35 fixed on
the electrical connecting device 33 and arranged opposite to the
magnet 34. The magnet 34 and the Hall angular displacement sensor
35 may operate together to detect relative positions of the rotator
32 with respect to the stator 31 of the motor 30. The magnet 34 and
the Hall angular displacement sensor 35 are spaced from each other
by the electrical connecting device 33.
[0018] The rotator 32 comprises a rotating shaft assembly 36
rotatably connected with the stator 31 and a rotor 37 fixed on the
rotating shaft assembly 36. The rotor 37 is received in the second
rotating member 2. In this embodiment, the stator 31 is a coil, and
the rotor 37 is a magnet that generates a magnetic force with the
stator 31. In an alternative embodiment, the stator 31 may be a
magnet, and the rotor 37 may be a coil.
[0019] The rotating shaft assembly 36 comprises a rotating shaft
38, and an upper bearing 381 and a lower bearing 382 sleeved
respectively on two ends of the rotating shaft 38. One end of the
rotating shaft 38 is received in the first rotating member 1, and
the other end is received in the second rotating member 2. The
upper bearing 381 is received in the first rotating member 1. The
lower bearing 382 is received in the second rotating member 2. The
rotating shaft assembly 36 rotatably connects the first rotating
member 1 with the second rotating member 2 through the rotor 37 and
the stator 31. The magnet 34 is fixed on the rotating shaft 38 and
arranged to face the electrical connecting device 33 which is
received in the first rotating member 1.
[0020] The electrical connecting device 33 may be a printed circuit
board (PCB) or a flexible circuit board. The electrical connecting
device 33 comprises a first surface 331 and a second surface 332
opposite to the first surface 331. The Hall angular displacement
sensor 35 may be fixed on the first surface 331, and the magnet 34
is arranged opposite to the second surface 332, such that the
magnet 34 does not come into contact with the Hall angular
displacement sensor 35. When the Hall angular displacement sensor
35 senses a positional relationship between the stator 31 and the
rotator 32, the Hall angular displacement sensor 35 has a small
volume; therefore the problem of great frictional resistance of
conventional detection modes can be solved.
[0021] In some embodiments, in the image capturing device 100, the
magnet 34 is fixedly connected with the rotator 32, and the
electric connecting devices 33 provided with the Hall angular
displacement sensor 35 is fixedly connected with the stator 31. The
Hall angular displacement sensor 35 detects a rotational angle of
the rotor 37 with respect to the stator 31, forming an angular
displacement sensing manner which is of a non-contact type but has
an effect equivalent to that of an absolute position encoder. The
working resistance of the gimbal 10 is effectively reduced, and the
response of the gimbal 10 is increased.
[0022] Furthermore, the stator 31 may be fixed directly on the
first rotating member 1, and the rotator 32 may be fixed directly
on the second rotating member 2, such that the stator 31 and the
rotator 32 may be embedded directly into internal space of the
first rotating member 1 and the second rotating member 2 and
integrated with the first rotating member 1 and the second rotating
member 2, effectively reducing an overall size of the gimbal
10.
[0023] The foregoing disclosure is merely illustrative of some
embodiments of the disclosure, and the scope of the disclosure is
not limited thereto. Any equivalent modifications or variations
made by those of ordinary skill in the art according to the
disclosure of the invention shall fall into the protection scope as
defined in the appended claims.
* * * * *