Motor, gimbal, and unmanned aerial vehicle

Patent metadata

Field	Value
Publication number	US-10151965-B2
Application number	US-201715692441-A
Country	US
Kind code	B2
Filing date	Aug 31, 2017
Priority date	Feb 27, 2017
Publication date	Dec 11, 2018
Grant date	Dec 11, 2018

Abstract

This application relates to the field of aerial vehicle technologies, and provides a motor, a gimbal, and an unmanned aerial vehicle. The motor includes: a first and a second connection terminals, where the first connection terminal includes a circuit board including a coil circuit; the second connection terminal includes a permanent magnet adjacent to the coil circuit, wherein there is a gap between the permanent magnet and the coil circuit, and the permanent magnet has an axial magnetization structure; one of the first and the second connection terminals is fixedly connected to a lens module and sleeved over the lens module, and the other is movably connected to the lens module and sleeved over the lens module. In the foregoing manner, the overall size and weight of the motor are greatly reduced, and therefore, the motor has the advantages of a compact structure, a small size, and a light weight.

First claim

What is claimed is:

1. A gimbal, comprising:
a lens module;
a first-axis motor assembly driving the lens module to rotate, wherein the first-axis motor assembly comprises a motor; and
a housing, wherein the housing accommodates the lens module and the first-axis motor assembly,
wherein the motor in the first-axis motor assembly comprises:
a first connection terminal, comprising a circuit board, wherein the circuit board comprises a coil circuit; and
a second connection terminal, comprising a permanent magnet, wherein the permanent magnet is adjacent to the coil circuit, wherein there is a gap between the permanent magnet and the coil circuit, and the permanent magnet has an axial magnetization structure, wherein
one of the first connection terminal and the second connection terminal is fixedly connected to the lens module and sleeved over the lens module, and the other of the first connection terminal and the second connection terminal is movably connected to the lens module and sleeved over the lens module.

2. The gimbal according to claim 1 , wherein the motor comprises a first connection terminal and a second connection terminal, wherein one of the first connection terminal and the second connection terminal is movably connected to the lens module and is a stator of the motor, and the stator of the motor is fixedly connected to the housing.

3. The gimbal according to claim 2 , wherein one end of the stator of the motor is fixedly connected to one side of the housing.

4. The gimbal according to claim 3 , wherein another end of the stator of the motor is fixedly connected to another side of the housing.

5. The gimbal according to claim 2 , wherein the entire outer edge of the stator of the motor is fixedly connected to the inner side of the housing.

6. The gimbal according to claim 2 , wherein the stator of the motor is fixedly connected to the housing by using a connecting piece.

7. The gimbal according to claim 6 , wherein when the entire outer edge of the stator of the motor is fixedly connected to the inner side of the housing, the connecting piece is in an annular shape.

8. The gimbal according to claim 1 , wherein the number of the motor is one, and the lens module comprises one lens; and
a rotator of the motor is fixedly connected to the lens, and one end of the motor that is fixedly connected to the lens module is the rotator of the motor.

9. The gimbal according to claim 1 , wherein the number of the motor is one, and the lens module comprises a first lens and a second lens; and
a rotator of the motor is fixedly connected to the first lens and the second lens, and one end of the motor that is fixedly connected to the lens module is the rotator of the motor.

10. The gimbal according to claim 1 , wherein the motor comprises a first motor and a second motor, and the lens module comprises a first lens and a second lens;
a rotator of the first motor is fixedly connected to the first lens, a stator of the first motor is fixedly connected to the housing, and one end of the first motor that is movably connected to the first lens is the stator of the first motor; and
a rotator of the second motor is fixedly connected to the second lens, a stator of the second motor is fixedly connected to the housing, and one end of the second motor that is movably connected to the second lens is the stator of the second motor.

11. The gimbal according to claim 10 , wherein one end of the stator of the first motor and one end of the stator of the second motor are fixedly connected to a same side of the housing.

12. The gimbal according to claim 11 , wherein another end of the stator of the first motor and another end of the stator of the second motor are fixedly connected to another side of the housing.

13. The gimbal according to claim 11 , wherein the another end of the stator of the first motor and the another end of the stator of the second motor are fixedly connected to each other.

14. The gimbal according to claim 10 , wherein the entire outer edge of the stator of the first motor and the entire outer edge of the stator of the second motor are separately fixedly connected to the inner side of the housing.

15. The gimbal according to claim 10 , wherein the stator of the first motor and the stator of the second motor are separately fixedly connected to the housing by using a connecting piece.

16. The gimbal according to claim 15 , wherein when the entire outer edge of the stator of the first motor and the entire outer edge of the stator of the second motor are separately fixedly connected to the inner side of the housing, the connecting piece is in an annular shape.

17. The gimbal according to claim 1 , wherein the housing is spherical.

18. The gimbal according to claim 1 , wherein the first-axis motor assembly is a roll-axis motor assembly, the motor in the first-axis motor assembly is a roll-axis motor, and the roll-axis motor drives the lens module to rotate around a roll axis.

19. The gimbal according to claim 1 , further comprising:
a support; and
a pitch-axis motor, wherein a stator of the pitch-axis motor is fixedly connected to the support, and a rotator of the pitch-axis motor is fixedly connected to the housing.

20. The gimbal according to claim 19 , wherein the support comprises a cross arm and a first support arm, one end of the first support arm is fixedly connected to the cross arm, and the other end of the first support arm is fixedly connected to the stator of the pitch-axis motor.

21. The gimbal according to claim 20 , wherein the support further comprises a second support arm, one end of the second support arm is fixedly connected to one end of the cross arm away from the first support arm, and the other end of the second support arm is movably connected to the housing.

22. The gimbal according to claim 1 , wherein the terminal that is movably connected to the lens module of the first connection terminal and the second connection terminal is a stator of the motor, and the stator is movably connected to the lens module by using a bearing.

23. The gimbal according to claim 1 , wherein the circuit board further comprises a substrate and a power circuit disposed on the substrate, wherein the power circuit is electrically connected to the coil circuit.

24. The gimbal according to claim 23 , wherein the circuit board further comprises a detection circuit disposed on the substrate, wherein
the terminal that is fixedly connected to the lens module of the first connection terminal and the second connection terminal is a rotator of the motor, and the detection circuit is configured to detect a leakage magnetic field of the permanent magnet on the second connection terminal, so as to feed back positional information of the rotator.

25. The gimbal according to claim 24 , wherein the circuit board further comprises a drive and control chip, wherein the drive and control chip is separately electrically connected to the power circuit and the detection circuit, and the drive and control chip is configured to control the power circuit according to the positional information of the rotator fed back by the detection circuit.

26. The gimbal according to claim 1 , wherein the coil circuit comprises a single layer or multiple layers of linear circuits disposed in radial directions of the motor.

27. The gimbal according to claim 1 , wherein the first connection terminal or the secon

Assignees

• Autel Robotics Co Ltd

Inventors

• Zhang Zhengli
• Chang Songtao
• Cheng Zhuanpeng

Classifications

• H04N23/51

  Housings · CPC title

• H04N23/55

  Optical parts specially adapted for electronic image sensors; Mounting thereof · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title

• H04N23/45

  for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images · CPC title

• G03B15/006 Primary

  Apparatus mounted on flying objects · CPC title