Gimbal and UAV

Abstract

A pan-tilt platform and an unmanned aerial vehicle, the pan-tilt platform specifically comprising: a bracket (10) for carrying a camera device (20); a motor (11) for driving the bracket (10) to rotate, the motor (11) comprising a stator (111) and a rotor (112); an electric regulator, the electric regulator being electrically connected to the motor (11) and being used to control the operation of the motor (11), the motor (11) being energized and outputting power under the control of the electric regulator; and a magnetic gear assembly (12), the magnetic gear assembly (12) comprising a torque input end and a torque output end, the torque input end being mechanically coupled to the rotor (112), and the torque output end being mechanically coupled to the bracket (10); wherein the motor (11) drives the torque input end to rotate, and after the magnetic gear assembly (12) changes the rotation speed, the torque output end drives the bracket (10) to rotate, so as to change the posture of the camera device (20). The motor (11) can achieve a large torque transmission in a small space, and the torque transmission has a high precision. Moreover, as the use time increases, higher transmission accuracy and lower transmission noise can still be achieved.

Description

Gimbals and UAVs Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a gimbal and an unmanned aerial vehicle. Background Art

[0002] As users pursue a more refined user experience, their demands for image quality and the overall shooting experience are becoming increasingly demanding. To achieve optimal shooting results, a gimbal (pan-tilt platform) is often used to support the camera. The pan-tilt platform typically has a motor to drive the camera and adjust the shooting angle.

[0003] In prior art, one approach to implementing a motor is to use a direct-drive brushless motor to achieve power output. However, due to the limited space available for motor placement on a gimbal, direct-drive brushless motors struggle to deliver sufficient torque within this compact footprint. Another approach involves adding a gear reducer to achieve torque transmission. However, this significantly increases the size of the motor and, over time, can easily wear out, leading to reduced transmission accuracy and increased noise.

[0004] Application Contents

[0005] In order to solve the problem in the prior art that existing motors cannot achieve greater torque transmission in a smaller volume, an embodiment of the present application provides a gimbal and an unmanned aerial vehicle.

[0006] In a first aspect, an embodiment of the present application provides a pan / tilt platform, comprising:

[0007] A bracket for carrying a camera device;

[0008] A motor, used to drive the bracket to rotate, the motor comprising a stator and a rotor;

[0009] an electric regulator, the electric regulator being electrically connected to the motor and configured to control the operation of the motor, wherein the motor is electrically connected to the electric regulator, and under the control of the electric regulator, the motor is energized and outputs power; and

[0010] a magnetic gear assembly, the magnetic gear assembly comprising a torque input end and a torque output end, the torque input end being mechanically coupled to the rotor, and the torque output end being mechanically coupled to the bracket;

[0011] The motor drives the torque input end to rotate, and after the magnetic gear assembly changes the rotation speed, the torque output end drives the bracket to rotate, so as to change the posture of the camera device.

[0012] Optionally, the stator and the rotor are arranged radially, the stator is located inside the rotor, and the rotor and the stator are spaced apart from each other and are arranged away from the center position of the motor.

[0013] Optionally, the magnetic gear assembly includes: a first rotor, a magnetic-adjusting rotor, and a second rotor arranged in sequence, the first rotor serving as the torque input end, the magnetic-adjusting rotor or the second rotor being capable of serving as the torque output end, and the power output by the motor changes after being modulated by the first rotor, the magnetic-adjusting rotor, and the second rotor.

[0014] Optionally, the rotor is fixed to the first rotor, and when the stator is energized to drive the rotor to rotate, the rotor can drive the first rotor to rotate together.

[0015] Optionally, the motor further includes an output shaft, and the output shaft is fixedly connected to the torque output end.

[0016] Optionally, the motor further includes: a housing, the output shaft is at least partially disposed within the housing; the magnetic adjustment rotor is fixedly connected to the output shaft, the second rotor and the stator are fixed within the housing, and the magnetic adjustment rotor and the output shaft can rotate relative to the second rotor and the stator.

[0017] Optionally, the motor further includes: a housing, the output shaft is at least partially disposed within the housing; the second rotor is fixedly connected to the output shaft, the magnetic adjustment rotor and the stator are fixed within the housing, and the second rotor and the output shaft can rotate relative to the magnetic adjustment rotor and the stator.

[0018] Optionally, the motor also includes a position detection sensor, which is used to detect the rotational position of the torque input end and the torque output end. The electric regulator is electrically connected to the position detection sensor, and the electric regulator is used to adjust the control signal for driving the first rotor based on the rotational position, so that the torque output end rotates to the target angle.

[0019] Optionally, the position detection sensor includes at least one of a Hall sensor and a photoelectric sensor.

[0020] Optionally, the position detection sensor includes a first position detection sensor and a second position detection sensor, the first position detection sensor is used to detect a first rotational position of the torque input end, and the second position detection sensor is used to detect a second rotational position of the torque output end.

[0021] Optionally, the first rotor includes a first magnetic element, which can generate a first magnetic field with a first harmonic component; the magnetic modulation rotor includes a magnetic conductive element, which can modulate the first magnetic field into a second magnetic field with a second harmonic component; the second harmonic component matches the third harmonic component generated by the second magnetic element on the second rotor to transmit and modulate the power input to the magnetic gear assembly.

[0022] Optionally, the magnetic conductive element is a silicon steel sheet or a magnetic conductive steel block.

[0023] Optionally, the magnetic gear assembly includes at least one of an axial magnetic gear assembly and a radial magnetic gear assembly.

[0024] Optionally, the magnetic gear assembly is an axial magnetic gear assembly; the first rotor, the magnetic-adjusting rotor and the second rotor are sequentially sleeved on the output shaft along the axial direction of the output shaft.

[0025] Optionally, an axial gap is formed between the first rotor and the magnetically adjustable rotor, and between the magnetically adjustable rotor and the second rotor.

[0026] Optionally, the motor further includes a first thrust bearing, which is sleeved on the outside of the output shaft and located between the first rotor and the second rotor.

[0027] Optionally, one of the upper side wall and the lower side wall of the first thrust bearing is fixedly connected to the first rotor, and the other of the upper side wall and the lower side wall is fixedly connected to the second rotor, and the upper side wall and the lower side wall are relatively rotatable.

[0028] Optionally, the first thrust bearing is sleeved outside the output shaft, and the relative positions of the two remain unchanged.

[0029] Optionally, the motor further includes an upper cover, which is sleeved on the outside of the output shaft and connected to the top of the housing. The upper cover and the housing can be combined to form a receiving space, and the receiving space can accommodate the magnetic gear assembly, the stator and the rotor.

[0030] Optionally, the outer wall of the magnetic-adjustable rotor is fixedly connected to the inner wall of the shell, and the upper cover is pressed onto the magnetic-adjustable rotor to prevent the magnetic-adjustable rotor from moving axially along the output shaft.

[0031] Optionally, the outer side wall of the second rotor is fixedly connected to the inner wall of the upper cover, and the upper cover is pressed onto the second rotor to prevent the second rotor from moving axially along the output shaft.

[0032] Optionally, the motor further includes a second thrust bearing, which is sleeved outside the output shaft and connected to the upper cover.

[0033] Optionally, the second thrust bearing is fixedly connected to the output shaft, and the lower side wall of the second thrust bearing is fixedly connected to the upper cover.

[0034] Optionally, the motor further includes a first deep groove ball bearing, which is sleeved outside the output shaft and connected to the first rotor.

[0035] Optionally, an inner wall of the first deep groove ball bearing is fixedly connected to the output shaft, and an outer wall of the first deep groove ball bearing is fixedly connected to the first rotor.

[0036] Optionally, the magnetic gear assembly is a radial magnetic gear assembly; the first rotor, the magnetic adjustment rotor and the second rotor are sequentially sleeved outside the output shaft along the radial direction of the output shaft.

[0037] Optionally, radial gaps are formed between the first rotor and the magnetic-adjusting rotor, and between the magnetic-adjusting rotor and the second rotor.

[0038] Optionally, a through hole for the output shaft to pass through is provided in the magnetically adjustable rotor, and the output shaft passes through the through hole and can rotate in the through hole;

[0039] A receiving groove is provided in the magnetic regulating rotor, the stator is sleeved on the outside of the output shaft and fixed in the receiving groove, at least a portion of the first rotor extends into the receiving groove, and the rotor is fixed to the portion of the first rotor extending into the receiving groove and is arranged relative to the stator at a distance.

[0040] Optionally, the motor further includes a second deep groove ball bearing, and the second deep groove ball bearing is arranged between the first rotor and the second rotor.

[0041] Optionally, an inner wall of the second deep groove ball bearing is connected to the second rotor, and an outer wall of the second deep groove ball bearing is connected to the first rotor.

[0042] Optionally, the motor further includes a third deep groove ball bearing, and the third deep groove ball bearing is arranged between the output shaft and the magnetically adjustable rotor.

[0043] Optionally, the inner wall of the third deep groove ball bearing is fixedly connected to the output shaft, and the outer wall of the third deep groove ball bearing is fixedly connected to the magnetically adjustable rotor.

[0044] Optionally, the motor further includes at least one fourth deep groove ball bearing, and the fourth deep groove ball bearing is arranged between the first rotor and the magnetically adjustable rotor.

[0045] Optionally, the inner wall of the fourth deep groove ball bearing is connected to the first rotor, and the outer wall of the fourth deep groove ball bearing is connected to the magnetically adjustable rotor.

[0046] Optionally, the stator is a coil and the rotor is a magnetic component.

[0047] Optionally, the bracket includes at least one of a roll axis bracket, a pitch axis bracket, and a yaw axis bracket, and the motor includes at least one of the following:

[0048] A roll drive motor, used for driving the roll axis bracket to rotate around the roll axis;

[0049] A pitch drive motor, used for driving the pitch axis bracket to rotate around the pitch axis;

[0050] The yaw drive motor is used to drive the yaw axis bracket to rotate around the yaw axis.

[0051] In a second aspect, an embodiment of the present application further discloses an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises: an unmanned aerial vehicle body, a camera device, and any one of the above-mentioned gimbals;

[0052] The gimbal is connected to the unmanned aerial vehicle body, and the camera device is mounted on the gimbal.

[0053] In the embodiments of the present application, since the torque input end of the magnetic gear assembly is coupled to the motor's rotor, the magnetic gear assembly can be used to reduce the motor's output speed, increase the motor's output torque, and convert the motor's output power into a high-torque output that is transmitted to the magnetic gear assembly's torque output end. Since the torque output end is mechanically coupled to the bracket, the power output from the torque output end can drive the bracket to rotate. Due to the magnetic gear assembly's simple structure and small size, it can achieve high torque transmission within a small space, with high torque transmission precision. Furthermore, since the magnetic gear assembly achieves torque transmission through the coupling of magnetic poles, it will not wear out over time, maintaining high transmission precision and low transmission noise.

[0054] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0056] FIG1 schematically shows a structural diagram of a pan / tilt platform according to an embodiment of the present application;

[0057] FIG2 schematically shows a structural diagram of another pan / tilt platform according to an embodiment of the present application;

[0058] FIG3 schematically shows a structural diagram of a motor according to an embodiment of the present application;

[0059] FIG4 schematically shows an exploded structural diagram of the motor shown in FIG3 ;

[0060] FIG5 schematically shows a cross-sectional structural diagram of the motor shown in FIG3 ;

[0061] FIG6 schematically shows a structural diagram of another motor according to an embodiment of the present application;

[0062] FIG7 schematically shows an exploded structural diagram of the motor shown in FIG6 ;

[0063] FIG8 schematically shows a cross-sectional structural diagram of the motor shown in FIG6 ;

[0064] FIG9 schematically shows a structural diagram of another motor according to an embodiment of the present application;

[0065] FIG10 schematically shows a structural diagram of another motor according to an embodiment of the present application;

[0066] FIG11 schematically shows a structural diagram of an unmanned aerial vehicle according to an embodiment of the present application.

[0067] Explanation of the accompanying drawings: 10-bracket, 11-motor, 111-stator, 112-rotor, 113-housing, 114-output shaft, 115-first thrust bearing, 116-upper cover, 117-second thrust bearing, 118-first deep groove ball bearing, 119-second deep groove ball bearing, 1110-third deep groove ball bearing, 1111-fourth deep groove ball bearing, 1112-position detection sensor, 11121-first position detection sensor, 11122-second position detection sensor, 12-magnetic gear assembly, 121-first rotor, 1211-first magnetic element, 122-magnetic adjustment rotor, 1221-magnetic conductive element, 123-second rotor, 1231-second magnetic element, 1232-accommodating groove, 20-camera equipment, 100-UAV body, 300-gimbal. Specific embodiments

[0068] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0069] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly refer to one or more of the features. Throughout the description of this application, unless otherwise specified, "plurality" means two or more. Furthermore, "and / or" in the specification and claims refers to at least one of the connected entities, and the character " / " generally indicates an "or" relationship between the connected entities.

[0070] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0071] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0072] Embodiments of the present application provide a gimbal that can be used to support a camera device, which may include, but is not limited to, a camera, a terminal device, or a video camera. The gimbal can be used to mount and support the camera device and control its rotation or movement to adjust the camera device, thereby enriching the functionality of the camera device and the shooting experience.

[0073] Referring to Figure 1, a schematic diagram of the structure of a gimbal according to an embodiment of the present application is shown, and referring to Figure 2, a schematic diagram of the structure of another gimbal according to an embodiment of the present application is shown. Referring to Figure 3, a schematic diagram of the structure of a motor and magnetic gear assembly according to an embodiment of the present application is shown, and referring to Figure 4, a schematic diagram of the exploded structure of the motor and magnetic gear assembly shown in Figure 3 is shown, and referring to Figure 5, a schematic diagram of the cross-sectional structure of the motor and magnetic gear assembly shown in Figure 3 is shown. Referring to Figure 6, a schematic diagram of the structure of another motor and magnetic gear assembly according to an embodiment of the present application is shown, and referring to Figure 7, a schematic diagram of the exploded structure of the motor and magnetic gear assembly shown in Figure 6 is shown, and referring to Figure 8, a schematic diagram of the cross-sectional structure of the motor shown in Figure 6 is shown.

[0074] Specifically, the gimbal shown in FIG1 can be mounted on an unmanned aerial vehicle and can be used to support a camera 20. The gimbal can be used to control the rotation of the camera 20 along the pitch, yaw, or roll axes to capture images from multiple angles, thus achieving aerial photography. The gimbal shown in FIG2 is a handheld gimbal that can have a built-in balance adjustment system. By setting and adjusting the balance of the camera, it can provide stable and smooth image quality, meeting the needs of daily photography and film and television production.

[0075] It should be noted that the gimbal described in the embodiment of the present application can be the gimbal mounted on the unmanned aerial vehicle as shown in Figure 1, or it can be the handheld gimbal shown in Figure 2. The embodiment of the present application does not limit the specific type of the gimbal.

[0076] Specifically, the gimbal may include: a bracket 10, which can be used to support the camera 20; a motor 11, which is used to drive the bracket 10 to rotate. The motor 11 includes a stator 111 and a rotor 112; and an electronically controlled speed controller (not shown). The electronically controlled speed controller is electrically connected to the motor 11 and, under the control of the electronically controlled speed controller, energizes the motor 11 and outputs power. A magnetic gear assembly 12 may include a torque input terminal and a torque output terminal. The torque input terminal is mechanically coupled to the rotor 112, and the torque output terminal is mechanically coupled to the bracket 10. The motor 11 drives the torque input terminal to rotate. After the magnetic gear assembly 12 changes the rotational speed, the torque output terminal drives the bracket 10 to rotate, thereby changing the posture of the camera.

[0077] It should be noted that the bracket 10 may specifically include at least one of a roll axis bracket, a pitch axis bracket, and a yaw axis bracket, and the specific content of the bracket 10 is not limited in this embodiment of the application. The motor 11 includes at least one of the following: a roll drive motor for driving the roll axis bracket to rotate about the roll axis; a pitch drive motor for driving the pitch axis bracket to rotate about the pitch axis; and a yaw drive motor for driving the yaw axis bracket to rotate about the yaw axis.

[0078] In the embodiment of the present application, motor 11 can be used to output power. Since the torque input end of magnetic gear assembly 12 is coupled to rotor 112 of motor 11, magnetic gear assembly 12 can be used to reduce the speed of motor 11 output, increase the torque output of motor 11, and convert the power output of motor 11 into a high torque output, which is then transmitted to the torque output end of magnetic gear assembly 12. Since the torque output end is mechanically coupled to bracket 10, the power output from the torque output end can drive bracket 10 to rotate. Due to the simple structure and small size of magnetic gear assembly 12, magnetic gear assembly 12 can achieve high torque transmission in a small space with high torque transmission precision. Furthermore, since magnetic gear assembly 12 achieves torque transmission through magnetic pole coupling, it will not wear out over time, and can still achieve high transmission precision and low transmission noise.

[0079] In some optional embodiments of the application, the magnetic gear assembly 12 may be an axial magnetic gear assembly as shown in Figures 3 to 5. Specifically, the components of the axial magnetic gear assembly may be sequentially distributed along the axial direction, so that the axial magnetic gear assembly has a greater height along the axial direction and a correspondingly smaller width along the radial direction.

[0080] In other optional embodiments of the present application, the magnetic gear assembly 12 may also be a radial magnetic gear assembly as shown in Figures 6 to 8. Specifically, the components of the radial magnetic gear assembly may be sequentially distributed along the radial direction, so that the radial magnetic gear assembly has a larger radial width and a correspondingly smaller axial height.

[0081] In specific applications, those skilled in the art can set the magnetic gear assembly 12 to at least one of the axial magnetic gear assembly or the radial magnetic gear assembly according to actual needs, so as to facilitate the layout of the magnetic gear assembly 12 in the motor 11 and minimize the space occupied by the motor 11 in the gimbal.

[0082] For example, if the space for arranging the magnetic gear assembly 12 in the gimbal is flat, the radial magnetic gear assembly can be selected. Alternatively, if the height of the space for arranging the magnetic gear assembly 12 in the gimbal allows, the axial magnetic gear assembly can be selected to minimize the outer diameter of the magnetic gear assembly 12, thereby reducing the overall size of the motor 11.

[0083] In some optional embodiments of the present application, the stator 111 and the rotor 112 are radially arranged, with the stator 111 located inside the rotor 112. The rotor 112 is spaced apart from the stator 111 and positioned away from the center of the motor 11. In other words, the motor 11 may be an outer rotor motor. Because outer rotor motors are more compact than inner rotor motors, an outer rotor motor can reduce the space occupied by the motor within the gimbal, facilitating its layout within the gimbal.

[0084] Optionally, the magnetic gear assembly 12 may include: a first rotor 121, a magnetic-adjusting rotor 122, and a second rotor 123 arranged in sequence, the first rotor 121 can serve as the torque input end, and the magnetic-adjusting rotor 122 or the second rotor 123 can serve as the torque output end. The power output by the motor 12 changes after modulation by the first rotor 121, the magnetic-adjusting rotor 122, and the second rotor 123, thereby realizing torque transmission.

[0085] In a specific application, the first rotor 121 can be connected to the output end of the motor 11 to transmit the power output by the motor 11 to the first rotor 121. Through the modulation of the first rotor 121, the magnetic-adjusting rotor 122 and the second rotor 123, the power output by the motor 11 can undergo torque changes and be output from the magnetic-adjusting rotor 122 or the second rotor 123.

[0086] It should be noted that either the magnetic-adjusting rotor 122 or the second rotor 123 can serve as the torque output terminal, thereby modulating the power output of the motor 11 to varying degrees and achieving varying torque variations. For example, the magnetic-adjusting rotor 122 or the second rotor 123 can be directly or indirectly connected to the bracket 10. The present application does not specifically limit the connection method between the magnetic-adjusting rotor 122 or the second rotor 123 and the bracket 10.

[0087] In the embodiment of the present application, the rotor 112 can be fixed to the first rotor 121. When the stator 111 is energized to drive the rotor 112 to rotate, the rotor 112 can drive the first rotor 121 to rotate together. In specific applications, by fixedly connecting the rotor 112 to the first rotor 121, it is possible to avoid providing a transmission mechanism between the motor 11 and the magnetic gear assembly 12, simplifying the structure of the motor 12, and thus reducing the overall size of the motor 11 and the magnetic gear assembly 12.

[0088] In some optional embodiments of the present application, the rotor 112 and the first rotor 121 may be interference-fitted to secure the rotor 112 to the first rotor 121. In practical applications, a first groove for accommodating the rotor 112 may be provided on the second rotor 123. The size of the first groove may be slightly larger than the size of the rotor 112. In this way, when the rotor 112 is embedded in the first groove, an interference fit between the rotor 112 and the first rotor 121 may be achieved. This implementation method is simple and does not require the introduction of additional connectors.

[0089] In other optional embodiments of the present application, the rotor 112 can be bonded, clamped, or connected to the first rotor 121 via fasteners to fix the rotor 112 to the first rotor 121. In practical applications, the two can be bonded using an adhesive medium such as tape or glue, or fixedly connected using fasteners such as bolts or screws, which is not limited in the present embodiment.

[0090] Optionally, the motor 11 may further include an output shaft 114, which may be fixedly connected to the torque output end, that is, the output shaft 114 of the motor 11 is used as a power output shaft and is directly or indirectly connected to the bracket 10, so as to make the structure of the motor 11 and the magnetic gear assembly 12 more compact, which is beneficial to the layout of the motor 11 and the magnetic gear assembly 12 in the gimbal.

[0091] In some optional embodiments of the present application, the motor 11 may further include a housing 113, the output shaft 114 is at least partially disposed in the housing 113, the magnetic adjustment rotor 122 is fixedly connected to the output shaft 114, the second rotor 123 and the stator 111 are fixed in the housing 113, and the magnetic adjustment rotor 122 and the output shaft 114 can rotate relative to the second rotor 123 and the stator 111 to achieve power output.

[0092] In practical applications, by using the modulation pole 122 as the torque output end and connecting it directly or indirectly to the bracket 10, the internal force exerted on the modulation pole 122 is relatively uniform, and the torque output is also more stable. In this way, the bracket 10 can be stably driven to rotate to change the posture of the camera device 20.

[0093] In other optional embodiments of the present application, the motor 11 may further include: a housing 113, an output shaft 114 at least partially disposed in the housing 113; a second rotor 123 is fixedly connected to the output shaft 114, the magnetic adjustment rotor 122 and the stator 111 are fixed in the housing 113, and the second rotor 123 and the output shaft 114 can rotate relative to the magnetic adjustment rotor 122 and the stator 111 to achieve power output.

[0094] In practical applications, the second rotor 123 can be used as the torque output terminal, directly or indirectly connected to the bracket 10. Because the power output by the motor 11 can be modulated sequentially by the first rotor 121, the magnetic-tuning rotor 122, and the second rotor 123, a wide modulation range can be achieved. Thus, when the second rotor 123 drives the bracket 10 to rotate, the bracket 10 can achieve a wide rotation range.

[0095] Referring to FIG9 , a schematic diagram of the structure of another motor according to an embodiment of the present application is shown, and referring to FIG10 , a schematic diagram of the structure of another motor according to an embodiment of the present application is shown. Specifically, the motor 11 may further include a position detection sensor 1112 , which may be used to detect the rotational position of the torque input end and the torque output end. The electric regulator may be electrically connected to the position detection sensor 1112 , and the electric regulator may be used to adjust a control signal driving the first rotor 121 based on the rotational position, so that the torque output end rotates to the target angle.

[0096] In a specific application, the position detection sensor 1112 can be used to detect the rotational position of the torque input end and the torque output end, and to achieve precise angle control with reference to the rotation angles of the torque input end and the torque output end, so that the torque output end can be accurately rotated to the target angle, thereby improving the driving accuracy of the motor 11 for the bracket 10, which is beneficial for the camera device 20 on the bracket 10 to be accurately rotated to the required position, thereby enabling the pan-tilt head to accurately control the camera device 20.

[0097] In an embodiment of the present application, the electronic regulator can be electrically connected to the stator 111, and the electronic regulator can be used to output a control signal to the stator 111 that can drive the first rotor 121 to rotate, so that the rotation of the first rotor 121 can drive the second rotor 123 to rotate to the target angle, thereby realizing torque transmission.

[0098] In specific applications, the electronic controller can output a control signal to the stator 111 to control the power supply to the stator 111. When the stator 111 is powered, an electromagnetic field can be generated to drive the rotor 112 to rotate. Because the rotor 112 is fixed to the first rotor 121, when the rotor 112 rotates, it can drive the first rotor 121 to rotate, outputting power to the first rotor 121. Through the coupling between the magnetic rotor 122 and the first rotor 121, and between the magnetic rotor 122 and the second rotor 123, the second rotor 123 can be driven to rotate to the target angle, achieving torque transmission. Specifically, the target angle is the angle corresponding to the second rotor 123 when the camera device 20 on the bracket 10 is adjusted to the desired position.

[0099] Optionally, the position detection sensor 1112 may include at least one of a Hall sensor and a photoelectric sensor. The present embodiment of the application does not limit the specific content of the position detection sensor 1112. The photoelectric sensor may include, but is not limited to, an infrared sensor, a light-sensitive sensor, etc., and the present embodiment of the application does not limit the specific content of the photoelectric sensor.

[0100] Optionally, the position detection sensor 1112 may include a first position detection sensor 11121 and a second position detection sensor 11122. The first position detection sensor 11121 may be disposed near the torque input end to detect a first rotational position of the torque input end, and the second position detection sensor 11122 may be disposed near the torque output end to detect a second rotational position of the torque output end. For example, the torque input end may be the first rotor 121, and the torque output end may be the second rotor 123.

[0101] In the embodiment of the present application, by detecting the first rotation position of the first rotor 121 and the second rotation position of the second rotor 123 , a closed-loop detection can be formed, so that the second rotor 123 can be accurately rotated to the target angle.

[0102] Specifically, the closed-loop detection may be implemented as follows: when controlling the stator 111, the electronic controller may provide the stator 111 with a control signal to rotate the first rotor 121 forward by a degree and the second rotor 123 forward by b degrees. Then, the first position detection sensor 11121 detects the first rotational position of the first rotor 121 to determine whether the first rotor 121 has rotated forward by a degree. If the first rotor 121 does not rotate as required, the control signal driving the first rotor 121 is adjusted in real time until the first rotor 121 has rotated forward by a degree. As the second rotor 123 rotates driven by the first rotor 121, the second position detection sensor 11122 detects the second rotational position of the second rotor 123 to determine whether the second rotor 123 has rotated forward by b degrees. If the second rotor 123 does not rotate as required, the control signal driving the first rotor 121 is adjusted in real time until the second rotor 123 has rotated forward by b degrees, reaching the target angle.

[0103] Optionally, the stator 111 may be a coil, and the rotor 112 may be a magnetic component. The coil may be electrically connected to the electric regulator. Under the control of the electric regulator, the coil can be energized and drive the magnetic component to move to output power.

[0104] Specifically, the ESC can be used to control the on / off power of the coil. When the ESC controls the coil to be energized, the coil can generate an electromagnetic field. Under the influence of the electromagnetic field, the magnetic element can rotate, achieving power output.

[0105] Optionally, the coil and the magnetic component are arranged relative to each other and spaced apart, and the magnetic component can be sleeved outside the output shaft 114. When the coil is energized, the magnetic component can be driven to rotate around the output shaft 114 to achieve power output.

[0106] Specifically, the coil and the magnetic part can be arranged at a relative interval and form a gap between the coil and the magnetic part. For example, the magnetic part can be arranged on the inner side of the coil or on the outer side of the coil. The embodiment of the present application does not limit the relative position of the magnetic part and the coil. The magnetic part can be sleeved outside the output shaft 114 and form a gap between the output shaft 114. Therefore, when the magnetic part rotates under the drive of the coil, the magnetic part can rotate around the output shaft 114.

[0107] Optionally, the first rotor 121 includes a first magnetic element 1211 coupled to the rotor 112. When triggered by the rotor 112, the first magnetic element 1211 on the first rotor 121 can generate a first magnetic field having a first harmonic component. The magnetically modulated rotor 122 includes a magnetically conductive element 1221 that can modulate the first magnetic field into a second magnetic field having a second harmonic component. This second harmonic component matches the third harmonic component generated by the second magnetic element 1231 on the second rotor 123, thereby transmitting and modulating the power input to the magnetic gear assembly 12.

[0108] Optionally, the magnetic conductive element 1221 may be made of at least one of a silicon steel sheet or a magnetic conductive steel block to achieve a magnetic conductive function. The embodiment of the present application does not limit the specific material of the magnetic conductive element 1221.

[0109] In a specific application, the number of pairs of the first magnetic elements 1211, the number of pairs of the magnetically conductive elements 1221, and the number of pairs of the second magnetic elements 1231 are all different. Small air gaps can be formed between the first magnetic elements 1211 and the magnetically conductive elements 1221, as well as between the magnetically conductive elements 1221 and the second magnetic elements 1231, to separate the first magnetic elements 1211 and the magnetically conductive elements 1221, and to separate the magnetically conductive elements 1221 and the second magnetic elements 1231.

[0110] Specifically, because the first magnetic element 1211 is coupled to the rotor 112, when the rotor 112 rotates, the rotor 112 can trigger the first magnetic element 1211 to form a first magnetic field having a first harmonic component. Because the magnetically conductive element 1221 is coupled to the first magnetic element 1211, the magnetically conductive element 1221 can modulate the first magnetic field into a second magnetic field having a second harmonic component. The second magnetic element 1231 on the other side of the magnetically conductive element 1221 can generate a third magnetic field having a third harmonic component. Because the second magnetic wave component of the second magnetic field matches the third harmonic component of the third magnetic field, the second and third magnetic fields can interact, thereby achieving torque transmission.

[0111] In practical applications, in order to achieve torque transmission and maximize torque density, the logarithm Po of the first magnetic element 1211, the logarithm Pi of the magnetic conductive element 1221, and the logarithm Ps of the second magnetic element 1231 need to follow the following relationship:

[0112] Po=Ps–Pi (Formula 1)

[0113] For example, when the number of pairs Po of the first magnetic elements 1211 is 4, the number of pairs Pi of the magnetic conductive elements 1221 is 15, and the number Ps of the second magnetic elements 1231 is 11, the number of pairs of magnetic poles can satisfy Formula 1. In this way, when the rotor 112 is triggered, the four pairs of first magnetic elements 1211 on the first rotor 121 can generate a first magnetic field dominated by the 4th harmonic cost. The first magnetic field is modulated by the 15 pairs of magnetic conductive elements 1221 on the magnetic modulation rotor 122 to generate a second magnetic field dominated by the 11th harmonic. Since the 11 pairs of magnetic poles on the second rotor 123 can generate a third magnetic field dominated by the 11th harmonic, the 11th harmonic of the second magnetic field can interact with the 11th harmonic of the third magnetic field to achieve torque transmission.

[0114] Of course, in actual applications, the logarithm of the first magnetic element 1211, the logarithm of the magnetic conductive element 1221 and the logarithm of the second magnetic element 1231 can be set according to actual conditions while satisfying Formula 1, and the embodiment of the present application does not make any specific restrictions on this.

[0115] Optionally, the stator 111 and the housing 113 may have an interference fit to secure the stator 111 to the housing 113. In practical applications, a second groove may be provided on the housing 113 to accommodate the stator 111. The size of the second groove may be slightly larger than the size of the stator 111. Thus, when the stator 111 is embedded in the second groove, an interference fit between the stator 111 and the housing 113 can be achieved. This is simple and does not require the introduction of additional connectors.

[0116] Optionally, the stator 111 can be bonded, clamped, or connected to the housing 113 via fasteners to fix the stator 111 to the housing 113. In practical applications, the stator 111 and the housing 113 can be bonded using an adhesive medium such as tape or glue, and the stator 111 and the housing 113 can be fixedly connected using fasteners such as bolts or screws, which is not limited in this embodiment of the present application.

[0117] In some optional embodiments of the present application, the first rotor 121, the magnetic adjustment rotor 122 and the second rotor 123 can all be sleeved on the outside of the output shaft 114, the first rotor 121 is rotatably connected to the output shaft 114, the magnetic adjustment rotor 122 is fixedly connected to the housing 113, and the second rotor 123 is connected to the output shaft 114; when triggered by the rotor 112, the first rotor 121 can rotate around the output shaft 114, and the rotation of the first rotor 121 can trigger the second rotor 123 to rotate together with the output shaft 114, so that relative rotation between the first rotor 121 and the second rotor 123 can be achieved to realize torque transmission.

[0118] Specifically, when the stator 111 is energized, the rotor 112 can be driven to rotate with the first rotor 121 about the output shaft 114. Because the magnetic-adjustable rotor 122 is fixed to the housing 113, it does not rotate. The rotation of the first rotor 121 triggers the second rotor 123 to rotate along with the output shaft 114. The relative rotation between the first rotor 121 and the output shaft 114 enables torque transmission, and the rotation of the output shaft 114 ultimately outputs the torque.

[0119] In some optional embodiments of the present application, the second rotor 123 and the output shaft 114 may be integrally formed to achieve a fixed connection between the first rotor 121 and the output shaft 114. In the case of an integrally formed structure, the connection strength between the second rotor 123 and the output shaft 114 is higher, and the process of separately processing these two components can be avoided, simplifying the manufacturing process. Specifically, the second rotor 123 and the output shaft 114 can be processed into an integral structure through machining, casting, or other processing methods. The present application does not specifically limit the processing method of the integral structure.

[0120] In other optional embodiments of the present application, the second rotor 123 and the output shaft 114 are separate structures, and the second rotor 123 is fixedly connected to the output shaft 114 to achieve synchronous rotation of the second rotor 123 and the output shaft 114. In specific applications, when the second rotor 123 and the output shaft 114 are separate structures, the structures of the second rotor 123 and the output shaft 114 can be relatively simple, and the processing difficulty is relatively low.

[0121] Optionally, the second rotor 123 and the output shaft 114 can form an interference fit to secure the second rotor 123 to the output shaft 114. In practical applications, a third groove can be provided on the output shaft 114 to accommodate the second rotor 123. The dimensions of the third groove can be slightly larger than those of the second rotor 123. Thus, when the second rotor 123 is embedded in the third groove, an interference fit can be achieved between the second rotor 123 and the output shaft 114. This is simple and does not require additional connectors.

[0122] Optionally, the second rotor 123 is bonded, clamped, or connected to the output shaft 114 via fasteners to secure the second rotor 123 to the output shaft 114. In practical applications, the two can be bonded using an adhesive medium such as tape or glue, or fixedly connected using fasteners such as bolts or screws, which is not limited in this embodiment of the present application.

[0123] In some optional embodiments of the present application, the magnetic gear assembly 12 may be an axial magnetic gear assembly as shown in Figures 3 to 5 , and the first rotor 121, the magnetic-adjusting rotor 122, and the second rotor 123 may be sequentially sleeved on the output shaft 114 along the axial direction of the output shaft 114. The axial magnetic gear assembly has a greater height along the axial direction of the output shaft 114 and a correspondingly smaller width along the radial direction.

[0124] Specifically, when the magnetic gear assembly 12 is an axial magnetic gear assembly, axial gaps can be formed between the first rotor 121 and the magnetizing rotor 122, as well as between the magnetizing rotor 122 and the second rotor 123. In this way, the first magnetic element 1211 and the magnetically conductive element 1221, as well as the magnetically conductive element 1221 and the second magnetic element 1231, can be separated axially along the output shaft 114 to achieve axial coupling between the second rotor 123 and the magnetizing rotor 122, as well as between the magnetizing rotor 122 and the second rotor 123.

[0125] As shown in FIG5 , the stator 111 is sleeved on the output shaft 114 and fixed to the housing 113. The rotor 112 is fixed to the first rotor 121 and spaced apart from the stator 111 to achieve coupling between the rotor 112 and the stator 111. In this way, when the stator 111 is energized, the rotor 112 can be driven to rotate with the first rotor 121.

[0126] As shown in Figures 4 and 5, motor 11 may further include a first thrust bearing 115, which is sleeved onto the output shaft 114 and positioned between the first rotor 121 and the second rotor 123. First thrust bearing 115 can be used to withstand axial loads and prevent axial movement of the first and second rotors 121, 123. This further improves the reliability of the rotation of the first and second rotors 121, 123 about the output shaft 114.

[0127] Optionally, one of the upper and lower sidewalls of the first thrust bearing 115 is fixedly connected to the first rotor 121, and the other of the upper and lower sidewalls is fixedly connected to the second rotor 123, with the upper and lower sidewalls being relatively rotatable. In this way, while the first thrust bearing 115 bears axial load, the relative rotation between the first and second rotors 121, 123 is facilitated by the relative rotation between the upper and lower sidewalls.

[0128] It should be noted that Figure 5 only shows the first rotor 121, the magnetic-adjusting rotor 122, and the second rotor 123 arranged sequentially from bottom to top along the output shaft 114. In this case, the upper sidewall of the first thrust bearing 115 is connected to the second rotor 123, and the lower sidewall of the first thrust bearing 115 is connected to the first rotor 121. In contrast, when the first rotor 121, the magnetic-adjusting rotor 122, and the second rotor 123 are arranged sequentially from top to bottom along the output shaft 114, the lower sidewall of the first thrust bearing 115 is connected to the second rotor 123, and the upper sidewall of the first thrust bearing 115 is connected to the first rotor 121.

[0129] In the embodiment of the present application, the first thrust bearing 115 can be sleeved on the output shaft 114, and the relative positions of the two remain unchanged. For example, the first thrust bearing 115 can be fixedly connected to the output shaft 114 to achieve synchronous rotation of the first thrust bearing 115 and the output shaft 114.

[0130] Optionally, the inner wall of the first thrust bearing 115 can form an interference fit with the output shaft 114 to secure the first main thrust bearing to the output shaft 114. In practical applications, a fourth recess can be provided on the output shaft 114 to accommodate the first thrust bearing 115. The dimensions of the fourth recess can be slightly larger than those of the first thrust bearing 115. Thus, when the first thrust bearing 115 is embedded in the fourth recess, an interference fit can be achieved between the first thrust bearing 115 and the output shaft 114. This is simple and requires no additional connectors.

[0131] Optionally, the first thrust bearing 115 can be bonded, clamped, or connected to the output shaft 114 via fasteners to secure the first thrust bearing 115 to the output shaft 114. In practical applications, the two can be bonded using an adhesive medium such as tape or glue, or fixedly connected using fasteners such as bolts, screws, or keys, which is not limited in this embodiment of the present application.

[0132] In an embodiment of the present application, the motor 11 may further include an upper cover 116, which is sleeved on the outside of the output shaft 114 and connected to the top of the outer shell 113. The upper cover 116 and the outer shell 113 can be enclosed to form a accommodating space, and the accommodating space can accommodate the magnetic gear assembly 12, the stator 111 and the rotor 112 of the motor 11.

[0133] Specifically, the upper cover 116 can be fixed to the top of the housing 113 and fixedly connected to the housing 113. The upper cover 116 and the housing 113 can form a relatively closed accommodation space to protect the magnetic gear assembly 12 and the brushless motor 111, the stator 111 and the rotor 112 in the accommodation space.

[0134] Optionally, the outer wall of the magnetizing rotor 122 is fixedly connected to the inner wall of the housing 113, and the upper cover 116 is press-fitted onto the magnetizing rotor 122 to prevent the magnetizing rotor 122 from moving axially along the output shaft 114. In this way, the magnetizing rotor 122 can be fixed to the housing 113, and the axial movement of the magnetizing rotor 122 along the output shaft 114 can be prevented, thereby improving the reliability of the connection between the magnetizing rotor 122 and the housing 113.

[0135] Optionally, the motor 11 may further include a second thrust bearing 117, which is sleeved onto the output shaft 114 and connected to the upper cover 116. The second thrust bearing 117 can be used to withstand axial loads and prevent axial movement of the upper cover 116. This further improves the reliability of the upper cover 116's rotation about the output shaft 114 and enhances the stability of the upper cover 116's press-fitting with the magnetically tuned rotor 122.

[0136] In the embodiment of the present application, the second thrust bearing 117 is fixedly connected to the output shaft 114 to achieve synchronous rotation of the second thrust bearing 117 and the output shaft 114. The lower side wall of the second thrust bearing 117 is fixedly connected to the upper cover 116, so that the upper cover 116 can rotate relative to the second thrust bearing 117, thereby achieving relative rotation between the upper cover 116 and the output shaft 114.

[0137] Optionally, the inner wall of the second thrust bearing 117 forms an interference fit with the output shaft 114, thereby securing the second main thrust bearing to the output shaft 114. In practical applications, a fifth groove for accommodating the second thrust bearing 117 can be provided on the output shaft 114. The dimensions of the fifth groove can be slightly larger than those of the second thrust bearing 117. Thus, when the second thrust bearing 117 is embedded in the fifth groove, an interference fit can be achieved between the second thrust bearing 117 and the output shaft 114. This is simple and requires no additional connectors.

[0138] Optionally, the interior of the second thrust bearing 117 is bonded, clamped, or connected to the output shaft 114 via fasteners to secure the second thrust bearing 117 to the output shaft 114. In practical applications, the two can be bonded using an adhesive medium such as tape or glue, or fixedly connected using fasteners such as bolts, screws, or keys, which are not limited in this embodiment of the present application.

[0139] Optionally, the motor 11 may further include a first deep groove ball bearing 118, which is sleeved on the output shaft 114 and connected to the first rotor 121. The first deep groove ball bearing 118 is configured to cooperate with the second thrust bearing 117 to offset the end torque applied to the output shaft 114, thereby ensuring smooth rotation of the output shaft 114.

[0140] In a specific application, since the second thrust bearing 117 is connected to the top of the output shaft 114, the top of the output shaft 114 is subjected to end torque. By connecting the second deep groove ball bearing 118 to the bottom of the output shaft 114, the end torque on the output shaft 114 can be offset, thereby making the force on the output shaft 114 more uniform and ensuring smooth rotation of the output shaft 114.

[0141] In the embodiment of the present application, the inner wall of the first deep groove ball bearing 118 is fixedly connected to the output shaft 114, thereby securing the first deep groove ball bearing 118 to the output shaft 114. The outer wall of the first deep groove ball bearing 118 is fixedly connected to the first rotor 121, thereby securing the first deep groove ball bearing 118 to the second rotor 123. Because the first deep groove ball bearing 118, the outer wall, and the inner wall can rotate relative to each other, the first rotor 121 can rotate about the output shaft 114.

[0142] Optionally, the inner wall of the first deep groove ball bearing 118 forms an interference fit with the output shaft 114 to secure the first deep groove ball bearing 118 to the output shaft 114. In practical applications, a sixth groove for accommodating the first deep groove ball bearing 118 can be provided on the output shaft 114. The dimensions of the sixth groove can be slightly larger than those of the first deep groove ball bearing 118. Thus, when the first deep groove ball bearing 118 is embedded in the sixth groove, an interference fit can be achieved between the first deep groove ball bearing 118 and the output shaft 114. This method is simple and does not require the introduction of additional connectors.

[0143] Optionally, the inner wall of the first deep groove ball bearing 118 is bonded, clamped, or connected to the output shaft 114 via fasteners to secure the first deep groove ball bearing 118 to the output shaft 114. In practical applications, the two can be bonded using an adhesive medium such as tape or glue, or fixedly connected using fasteners such as bolts, screws, or keys, which are not limited in this embodiment of the present application.

[0144] In some optional embodiments of the present application, the magnetic gear assembly 12 may also be a radial magnetic gear assembly as shown in Figures 6 to 8 ; the first rotor 121, the magnetic-adjusting rotor 122, and the second rotor 123 are sequentially sleeved outside the output shaft 114 along the radial direction of the output shaft 114. The axial magnetic gear assembly has a smaller height in the axial direction and a correspondingly larger width in the radial direction.

[0145] Specifically, radial gaps are formed between the first rotor 121 and the magnetic-adjusting rotor 122, as well as between the magnetic-adjusting rotor 122 and the second rotor 123. This allows the first magnetic element 1211 and the magnetically conductive element 1221, as well as the magnetically conductive element 1221 and the second magnetic element 1231, to be separated radially along the output shaft 114, thereby achieving radial coupling between the second rotor 123 and the magnetic-adjusting rotor 122, as well as between the magnetic-adjusting rotor 122 and the second rotor 123.

[0146] As shown in Figure 8, the magnetic-adjusting rotor 122 is provided with a through-hole for the output shaft 114 to pass through. The output shaft 114 is inserted into the through-hole and can rotate within the through-hole. The magnetic-adjusting rotor 122 is provided with a receiving slot 1232. The stator 111 is sleeved onto the outside of the output shaft 114 and fixed within the receiving slot 1232, thereby achieving a fixed connection between the stator 111 and the magnetic-adjusting rotor 122. At least a portion of the first rotor 121 extends into the receiving slot 1232. The rotor 112 is fixed to the portion of the first rotor 121 that extends into the receiving slot 1232 and is spaced relative to the stator 111 to achieve coupling between the rotor 112 and the stator 111. In this way, when the stator 111 is energized, the rotor 112 can be driven to rotate with the first rotor 121.

[0147] Optionally, the stator 111 and the magnetic-tuning rotor 122 have an interference fit to secure the stator 111 to the magnetic-tuning rotor 122. In practical applications, a seventh groove for accommodating the stator 111 can be provided on the magnetic-tuning rotor 122. The dimensions of the seventh groove can be slightly larger than those of the stator 111. Thus, when the stator 111 is embedded in the seventh groove, an interference fit can be achieved between the stator 111 and the magnetic-tuning rotor 122. This is simple to implement and does not require additional connectors.

[0148] Optionally, the stator 111 is bonded, clamped, or connected to the magnetic-adjusting rotor 122 via fasteners to fix the stator 111 to the magnetic-adjusting rotor 122. In practical applications, the stator 111 and the magnetic-adjusting rotor 122 can be bonded using an adhesive medium such as tape or glue, or fixedly connected using fasteners such as bolts, screws, or keys, which are not limited in this embodiment of the present application.

[0149] Optionally, the motor 11 may further include a second deep groove ball bearing 119 , which is disposed between the first rotor 121 and the second rotor 123 to achieve smooth rotation of the second rotor 123 .

[0150] In practical applications, the second deep groove ball bearing 119 can be disposed at the bottom of the output shaft 114 to offset the end torque of the output shaft 114 , thereby enabling the second rotor 123 sleeved on the bottom of the output shaft 114 to rotate smoothly.

[0151] Optionally, the inner wall of the second deep groove ball bearing 119 is connected to the second rotor 123 to secure the second deep groove ball bearing 119 to the second rotor 123. The outer wall of the second deep groove ball bearing 119 is connected to the first rotor 121 to secure the second deep groove ball bearing 119 to the first rotor 121. Because the second deep groove ball bearing 119, the outer wall, and the inner wall can rotate relative to each other, the second rotor 123 can rotate about the first rotor 121.

[0152] Optionally, the motor 11 further includes a third deep groove ball bearing 1110 , which is disposed between the output shaft 114 and the magnetic-adjustable rotor 122 to achieve smooth rotation of the magnetic-adjustable rotor 122 around the output shaft 114 .

[0153] In practical applications, the third deep groove ball bearing 1110 can be disposed on the top of the output shaft 114 to offset the end torque of the output shaft 114 , thereby enabling the magnetically modulated rotor 122 sleeved on the top of the output shaft 114 to rotate smoothly.

[0154] Optionally, the inner wall of the third deep groove ball bearing 1110 is fixedly connected to the output shaft 114 to secure the third deep groove ball bearing 1110 to the output shaft 114. The outer wall of the third deep groove ball bearing 1110 is fixedly connected to the magnetic adjustment rotor 122 to secure the third deep groove ball bearing 1110 to the magnetic adjustment rotor 122. Because the third deep groove ball bearing 1110 and the outer and inner walls can rotate relative to each other, the output shaft 114 can be easily rotated within the through hole of the magnetic adjustment rotor 122.

[0155] Optionally, the motor 11 may further include at least one fourth deep groove ball bearing 1111 , which is disposed between the first rotor 121 and the magnetic-adjusting rotor 122 to achieve smooth rotation of the first rotor 121 around the magnetic-adjusting rotor 122 .

[0156] In practical applications, the fourth deep groove ball bearing 1111 can be arranged between the first rotor 121 and the magnetic adjustment rotor 122 to bear the radial load between the first rotor 121 and the magnetic adjustment rotor 122, thereby achieving smooth rotation of the first rotor 121 sleeved outside the magnetic adjustment rotor 122.

[0157] Specifically, when the number of the fourth deep groove ball bearings 1111 is 2 or more, the height of a single fourth deep groove ball bearing 1111 can be made lower and the structure simpler.

[0158] It should be noted that the drawings of the embodiments of the present application only illustrate the case where there are two fourth deep groove ball bearings 1111. In actual applications, the number of fourth deep groove ball bearings 1111 can be set according to actual conditions, for example, 1, 4, or 5. The embodiments of the present application do not specifically limit the number of fourth deep groove ball bearings 1111.

[0159] Optionally, the inner wall of the fourth deep groove ball bearing 1111 is connected to the first rotor 121 to secure the fourth deep groove ball bearing 1111 to the first rotor 121. The outer wall of the fourth deep groove ball bearing 1111 is connected to the magnetic adjustment rotor 122 to secure the fourth deep groove ball bearing 1111 to the magnetic adjustment rotor 122. Because the fourth deep groove ball bearing 1111 and the outer and inner walls can rotate relative to each other, this facilitates smooth rotation of the first rotor 121 around the magnetic adjustment rotor 122.

[0160] In summary, the gimbal described in this application may have at least the following advantages:

[0161] In the embodiments of the present application, since the torque input end of the magnetic gear assembly is coupled to the motor's rotor, the magnetic gear assembly can be used to reduce the motor's output speed, increase the motor's output torque, and convert the motor's output power into a high-torque output that is transmitted to the magnetic gear assembly's torque output end. Since the torque output end is mechanically coupled to the bracket, the power output from the torque output end can drive the bracket to rotate. Due to the magnetic gear assembly's simple structure and small size, it can achieve high torque transmission within a small space, with high torque transmission precision. Furthermore, since the magnetic gear assembly achieves torque transmission through the coupling of magnetic poles, it will not wear out over time, maintaining high transmission precision and low transmission noise.

[0162] Referring to Figure 11, a structural schematic diagram of an unmanned aerial vehicle described in an embodiment of the present application is shown. As shown in Figure 11, the unmanned aerial vehicle may specifically include: an unmanned aerial vehicle body 100, a camera device 20, and the gimbal 300 described in the above embodiments; wherein the gimbal 300 is connected to the unmanned aerial vehicle body 100, and the camera device 20 is mounted on the gimbal 300.

[0163] Specifically, the UAV body 100 may be the main component of the UAV, such as the fuselage, the center body, etc. The structure of the gimbal 300 may be the same as the gimbal 300 described in any of the aforementioned embodiments, which will not be elaborated here.

[0164] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the components may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0165] References herein to "one embodiment," "an embodiment," or "one or more embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Furthermore, please note that instances of the phrase "in one embodiment" do not necessarily all refer to the same embodiment.

[0166] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0167] In the claims, any reference signs placed between brackets shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application may be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0168] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A pan / tilt head, characterized in that: The pan / tilt platform comprises: A bracket for carrying a camera device; A motor, used to drive the bracket to rotate, the motor comprising a stator and a rotor; an electric regulator, the electric regulator being electrically connected to the motor and configured to control the operation of the motor, wherein the motor is electrically connected to the electric regulator, and under the control of the electric regulator, the motor is energized and outputs power; and a magnetic gear assembly, the magnetic gear assembly comprising a torque input end and a torque output end, the torque input end being mechanically coupled to the rotor, and the torque output end being mechanically coupled to the bracket; The motor drives the torque input end to rotate, and after the magnetic gear assembly changes the rotation speed, the torque output end drives the bracket to rotate, so as to change the posture of the camera device.

2. The pan / tilt head according to claim 1, wherein: The stator and the rotor are arranged radially. The stator is located inside the rotor. The rotor and the stator are spaced apart and face each other, and are arranged away from the center of the motor.

3. The pan / tilt head according to claim 1, wherein: The magnetic gear assembly includes: a first rotor, a magnetic-adjusting rotor, and a second rotor arranged in sequence, the first rotor serving as the torque input end, the magnetic-adjusting rotor or the second rotor serving as the torque output end, and the power output by the motor changes after being modulated by the first rotor, the magnetic-adjusting rotor, and the second rotor.

4. The pan / tilt head according to claim 3, wherein: The rotor is fixed to the first rotor. When the stator is energized to drive the rotor to rotate, the rotor can drive the first rotor to rotate together.

5. The pan / tilt head according to claim 3, wherein: The motor further includes an output shaft, which is fixedly connected to the torque output end.

6. The pan / tilt head according to claim 5, characterized in that: The motor further includes: a housing, wherein the output shaft is at least partially disposed within the housing; the magnetically adjustable rotor is fixedly connected to the output shaft, the second rotor and the stator are fixed within the housing, and the magnetically adjustable rotor and the output shaft are capable of rotating relative to the second rotor and the stator.

7. The pan / tilt head according to claim 5, characterized in that: The motor also includes: a housing, the output shaft is at least partially arranged in the housing; the second rotor is fixedly connected to the output shaft, the magnetic adjustment rotor and the stator are fixed in the housing, and the second rotor and the output shaft can rotate relative to the magnetic adjustment rotor and the stator.

8. The pan / tilt head according to claim 1, wherein: The motor also includes a position detection sensor, which is used to detect the rotational position of the torque input end and the torque output end. The electric regulator is electrically connected to the position detection sensor. The electric regulator is used to adjust the control signal that drives the first rotor based on the rotational position, so that the torque output end rotates to the target angle.

9. The pan / tilt head according to claim 8, wherein: The position detection sensor includes at least one of a Hall sensor and a photoelectric sensor.

10. The pan / tilt head according to claim 8, wherein: The position detection sensor includes a first position detection sensor and a second position detection sensor. The first position detection sensor is used to detect a first rotation position of the torque input end, and the second position detection sensor is used to detect a second rotation position of the torque output end.

11. The pan / tilt head according to claim 3, wherein: The first rotor includes a first magnetic element, which can generate a first magnetic field with a first harmonic component; the magnetic modulation rotor includes a magnetic conductive element, which can modulate the first magnetic field into a second magnetic field with a second harmonic component; the second harmonic component matches the third harmonic component generated by the second magnetic element on the second rotor to transmit and modulate the power input to the magnetic gear assembly.

12. The pan / tilt head according to claim 11, wherein: The magnetic conductive element is a silicon steel sheet or a magnetic conductive steel block.

13. The pan / tilt head according to claim 1, wherein: The magnetic gear assembly includes at least one of an axial magnetic gear assembly and a radial magnetic gear assembly.

14. The pan / tilt head according to claim 5, characterized in that: The magnetic gear assembly is an axial magnetic gear assembly; the first rotor, the magnetic-adjusting rotor, and the second rotor are sequentially sleeved on the output shaft along the axial direction of the output shaft.

15. The pan / tilt platform according to claim 14, wherein: An axial gap is formed between the first rotor and the magnetically adjustable rotor, and between the magnetically adjustable rotor and the second rotor.

16. The pan / tilt head according to claim 14, wherein: The motor further includes a first thrust bearing, which is sleeved on the outside of the output shaft and located between the first rotor and the second rotor.

17. The pan / tilt platform according to claim 16, wherein: One of the upper side wall and the lower side wall of the first thrust bearing is fixedly connected to the first rotor, and the other of the upper side wall and the lower side wall is fixedly connected to the second rotor. The upper side wall and the lower side wall are relatively rotatable.

18. The pan / tilt head according to claim 16, wherein: The first thrust bearing is sleeved on the outside of the output shaft, and the relative positions of the two remain unchanged.

19. The pan / tilt head according to claim 14, wherein: The motor further includes an upper cover, which is sleeved on the outside of the output shaft and connected to the top of the housing. The upper cover and the housing can be combined to form a receiving space, and the receiving space can accommodate the magnetic gear assembly, the stator and the rotor.

20. The pan / tilt platform according to claim 19, wherein: The outer wall of the magnetic-adjusting rotor is fixedly connected to the inner wall of the shell, and the upper cover is pressed onto the magnetic-adjusting rotor to prevent the magnetic-adjusting rotor from moving along the axial direction of the output shaft.

21. The pan / tilt platform according to claim 19, wherein: The outer side wall of the second rotor is fixedly connected to the inner wall of the upper cover, and the upper cover is pressed onto the second rotor to prevent the second rotor from moving along the axial direction of the output shaft.

22. The pan / tilt platform according to claim 19, wherein: The motor further includes a second thrust bearing, which is sleeved outside the output shaft and connected to the upper cover.

23. The pan / tilt platform according to claim 22, wherein: The second thrust bearing is fixedly connected to the output shaft, and the lower side wall of the second thrust bearing is fixedly connected to the upper cover.

24. The pan / tilt platform according to claim 14, wherein: The motor further includes a first deep groove ball bearing, which is sleeved outside the output shaft and connected to the first rotor.

25. The pan / tilt platform according to claim 24, wherein: An inner wall of the first deep groove ball bearing is fixedly connected to the output shaft, and an outer wall of the first deep groove ball bearing is fixedly connected to the first rotor.

26. The pan / tilt platform according to claim 5, wherein: The magnetic gear assembly is a radial magnetic gear assembly; the first rotor, the magnetic adjustment rotor and the second rotor are sequentially sleeved outside the output shaft along the radial direction of the output shaft.

27. The pan / tilt platform according to claim 26, wherein: A radial gap is formed between the first rotor and the magnetic adjustment rotor, and between the magnetic adjustment rotor and the second rotor.

28. The pan / tilt platform according to claim 26, wherein: A through hole for the output shaft to pass through is provided in the magnetic regulating rotor, and the output shaft passes through the through hole and can rotate in the through hole; A receiving groove is provided in the magnetic regulating rotor, the stator is sleeved on the outside of the output shaft and fixed in the receiving groove, at least a portion of the first rotor extends into the receiving groove, and the rotor is fixed to the portion of the first rotor extending into the receiving groove and is arranged relative to the stator at a distance.

29. The pan / tilt platform according to claim 26, wherein: The motor further includes a second deep groove ball bearing disposed between the first rotor and the second rotor.

30. The pan / tilt platform according to claim 29, wherein: An inner wall of the second deep groove ball bearing is connected to the second rotor, and an outer wall of the second deep groove ball bearing is connected to the first rotor.

31. The pan / tilt platform according to claim 26, wherein: The motor further includes a third deep groove ball bearing, which is arranged between the output shaft and the magnetically adjustable rotor.

32. The pan / tilt platform according to claim 31, wherein: The inner wall of the third deep groove ball bearing is fixedly connected to the output shaft, and the outer wall of the third deep groove ball bearing is fixedly connected to the magnetically adjustable rotor.

33. The pan / tilt platform according to claim 26, wherein: The motor further includes at least one fourth deep groove ball bearing, and the fourth deep groove ball bearing is arranged between the first rotor and the magnetic adjustment rotor.

34. The pan / tilt platform according to claim 33, wherein: The inner wall of the fourth deep groove ball bearing is connected to the first rotor, and the outer wall of the fourth deep groove ball bearing is connected to the magnetically adjustable rotor.

35. The pan / tilt platform according to claim 1, wherein: The stator is a coil, and the rotor is a magnetic component.

36. The pan / tilt platform according to claim 1, wherein: The bracket includes at least one of a roll axis bracket, a pitch axis bracket, and a yaw axis bracket, and the motor includes at least one of the following: A roll drive motor, used for driving the roll axis bracket to rotate around the roll axis; A pitch drive motor, used for driving the pitch axis bracket to rotate around the pitch axis; The yaw drive motor is used to drive the yaw axis bracket to rotate around the yaw axis.

37. An unmanned aerial vehicle, characterized in that: The unmanned aerial vehicle comprises: an unmanned aerial vehicle body, a camera device, and a pan / tilt platform according to any one of claims 1 to 36; The gimbal is connected to the unmanned aerial vehicle body, and the camera device is mounted on the gimbal.

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