A gimbal motor and electronic device

Abstract

This application provides a gimbal motor and a gimbal camera. The gimbal motor includes a stator assembly; a rotor assembly that is rotatable relative to the stator assembly; a detection element, at least a portion of which is connected to the rotor assembly and is used to follow the rotation of the rotor assembly relative to the stator assembly, generating an angle signal characterizing the rotation of the rotor assembly relative to the stator assembly; and a control unit electrically connected to the detection element, which is used to determine the rotation angle of the rotor assembly based on the angle signal. The gimbal motor provided in this application eliminates the need for Hall sensors, reducing issues such as magnetic field interference and nonlinear output, thereby improving the feedback efficiency and motion control capability of the gimbal motor.

Description

Technical Field

[0001] This application belongs to the field of electronic equipment technology, specifically relating to a gimbal motor and electronic equipment. Background Technology

[0002] Currently, electronic devices, such as gimbal cameras, typically include a gimbal motor and a camera. The gimbal motor can adjust the angle of the camera, enabling the camera to obtain stable and smooth images in dynamic environments and achieve better imaging results.

[0003] In related technologies, gimbal motors typically use Hall effect sensors for position detection. This position detection provides angle and position feedback for the gimbal motor, enabling the camera to achieve better imaging results. However, position detection using Hall effect sensors suffers from susceptibility to magnetic field interference and non-linear output, which reduces the feedback efficiency and motion control capabilities of the gimbal motor. Summary of the Invention

[0004] This application aims to provide a gimbal motor and electronic device to solve the problems of magnetic field interference and nonlinear output in existing position detection methods using Hall sensors, which reduce the feedback efficiency and motion control capability of the gimbal motor.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, this application discloses a gimbal motor, the gimbal motor comprising: Stator assembly; A rotor assembly that is rotatable relative to the stator assembly; The detection element, at least a portion of which is connected to the rotor assembly, rotates with the rotor assembly relative to the stator assembly, and generates an angular signal characterizing the rotation of the rotor assembly relative to the stator assembly. The control unit is electrically connected to the detection element and is used to determine the rotation angle of the rotor assembly based on the angle signal.

[0006] Secondly, this application also discloses an electronic device, which includes: a gimbal motor and a camera as described in any of the above claims, wherein the gimbal motor is connected to the camera.

[0007] In this embodiment, by setting up detection elements, at least a portion of the detection elements are connected to the rotor assembly. The at least a portion of the detection elements can generate an angle signal representing the rotation of the rotor assembly relative to the stator assembly based on the rotation of the rotor assembly relative to the stator assembly. The control unit can determine the rotation angle of the rotor assembly based on the angle signal. The electrical angle of the gimbal motor can be determined through the rotation angle, providing accurate position information for the gimbal motor. This eliminates the need for Hall sensors, reduces magnetic field interference, nonlinear output, and other problems, thereby improving the feedback efficiency and motion control capability of the gimbal motor.

[0008] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0009] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is an exploded schematic diagram of a gimbal motor provided in an embodiment of this application; Figure 2 This is a cross-sectional schematic diagram of a gimbal motor provided in an embodiment of this application; Figure 3 This is a top view of a gimbal motor provided in an embodiment of this application; Figure 4 This is a partial schematic diagram of a top view of a gimbal motor provided in an embodiment of this application; Figure 5 This is an enlarged top view of a gimbal motor provided in an embodiment of this application; Figure 6 This is a partially enlarged cross-sectional view of a gimbal motor provided in an embodiment of this application; Figure 7 This is an impedance detection circuit diagram for a gimbal motor provided in an embodiment of this application; Figure 8 This is another impedance detection circuit diagram for a gimbal motor provided in an embodiment of this application; Figure 9 This is a schematic diagram of another gimbal motor provided in an embodiment of this application.

[0010] Reference numerals: 1-Stator assembly; 11-Second positioning protrusion; 12-Coil; 13-Winding bracket; 14-Stator core; 2-Rotor assembly; 21-Rotor housing; 22-Rotor core; 3-Detection component; 31-Conductive ring; 32-Conductive protrusion; 33-Gyroscope; 4-Control unit; 41-Control board; 411-Through hole; 412-Positioning hole; 42-Impedance detection circuit; 43-Grounding terminal; 5-Spindle; 51-Third positioning groove; 6-Locking ring; 61-Fourth positioning protrusion; 7-Bearing; 71-Second positioning groove; 8-Limiting component; 9-Insulating component; 100-Outer shell; 101-Lock arm; 102-Bracket; 1021-Mounting through hole; 1022-First positioning groove; 1023-Third positioning protrusion; 1024-First positioning protrusion. Detailed Implementation

[0011] The embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0012] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0013] The terms "first," "second," and "third" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movement of components in a specific posture (as shown in the figures). If the specific posture changes, the directional indication will also change accordingly. The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or components inherent to these processes, methods, products, or devices.

[0014] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0015] Currently, electronic devices, such as gimbal cameras, typically include a gimbal motor and a camera. The gimbal motor can adjust the angle of the camera, enabling the camera to obtain stable and smooth images in dynamic environments and achieve better imaging results.

[0016] In related technologies, gimbal motors typically use Hall effect sensors for position detection. A common method involves placing three Hall effect sensors on the stator assembly of the gimbal motor, each with a 120° phase difference along the circumference. Whenever the magnetic pole of the rotor assembly of the gimbal electrodes passes a Hall effect sensor, the sensor outputs a logic level of 0 or 1 based on the rotor assembly's polarity. These logic signals represent the current state of the rotor assembly. By analyzing the combination of levels from the three Hall effect sensors, the position of the rotor assembly can be determined.

[0017] While Hall effect sensors offer advantages such as simplified control and instant feedback for position detection, their core detection principle—based on magnetic field induction—makes them highly susceptible to interference from external magnetic fields. This not only reduces the accuracy of position detection but also introduces additional signal noise. The output signal of a Hall effect sensor typically exhibits non-linear characteristics, requiring additional signal correction or linearization processing, thus increasing the complexity of the gimbal motor. Processing the Hall effect sensor's output signal necessitates dedicated electronic components for position decoding and signal conversion, further increasing the hardware complexity and production cost of the gimbal motor. Because the installation position and orientation of the Hall effect sensor significantly impact the accuracy of the detection data, high installation precision is required.

[0018] Therefore, due to the problems mentioned above, such as susceptibility to magnetic field interference, nonlinear output, high hardware complexity, and high installation accuracy requirements, Hall sensors reduce the feedback efficiency and motion control capability of the gimbal motor.

[0019] Based on the above analysis, this application provides a gimbal motor to at least solve the aforementioned technical problems. The gimbal motor of this application will now be described in detail with reference to the accompanying drawings.

[0020] See Figures 1-9 This document illustrates a structural schematic diagram of a gimbal motor provided in this application. The gimbal motor provided in this embodiment specifically includes: a stator assembly 1; a rotor assembly 2, which is rotatable relative to the stator assembly 1; a detection element 3, at least a portion of which is connected to the rotor assembly 2 and is used to follow the rotation of the rotor assembly 2 relative to the stator assembly 1, generating an angle signal characterizing the rotation of the rotor assembly 2 relative to the stator assembly 1; and a control unit 4, electrically connected to the detection element 3, which is used to determine the rotation angle of the rotor assembly 2 based on the angle signal.

[0021] Specifically, such as Figure 1 and Figure 2 As shown, stator assembly 1 and rotor assembly 2 are interlocked. When stator assembly 1 is energized, it generates a rotating magnetic field, which can drive rotor assembly 2 to rotate relative to stator assembly 1.

[0022] like Figures 2-6 As shown, a portion of the detection element 3 is connected to the rotor assembly 2. Or as... Figure 9 As shown, the entire detection element 3 is fixedly connected to the rotor assembly 2. When the rotor assembly 2 rotates relative to the stator assembly 1, part of the detection element 3 or the entire detection element 3 can rotate with the rotor assembly 2, and the detection element 3 can generate an angular signal to characterize the rotation of the rotor assembly 2 relative to the stator assembly 1.

[0023] like Figure 2As shown, the control unit 4 can be fixedly mounted on the stator assembly 1, or as... Figure 9 As shown, the control unit 4 can be fixedly mounted on the rotor assembly 2.

[0024] like Figure 5 and Figure 9 As shown, the control unit 4 is electrically connected to the detection element 3. After receiving the angle signal from the detection element 3, the control unit 4 can perform calculations and analysis based on the received angle signal to determine the rotation angle of the rotor assembly 2.

[0025] In this embodiment, by setting a detection element 3, at least a portion of the detection element 3 is connected to the rotor assembly 2. The at least a portion of the detection element 3 can generate an angle signal representing the rotation of the rotor assembly 2 relative to the stator assembly 1 based on the rotation of the rotor assembly 2 relative to the stator assembly 1. The control unit 4 can determine the rotation angle of the rotor assembly 2 based on the angle signal. The electrical angle of the gimbal motor can be determined by the rotation angle, providing accurate position information for the gimbal motor. This eliminates the need for Hall sensors, reduces magnetic field interference, nonlinear output, and other problems, thereby improving the feedback efficiency and motion control capability of the gimbal motor.

[0026] Optionally, the detection element 3 includes a conductive ring 31 and a conductive protrusion 32; the control unit 4 is fixedly connected to the stator assembly 1; the conductive ring 31 is disposed on the control unit 4 and electrically connected to the control unit 4; the conductive protrusion 32 is fixedly connected to the rotor assembly 2; the conductive ring 31 and the conductive protrusion 32 abut against each other; the conductive protrusion 32 is used to follow the rotation of the rotor assembly 2 and form an impedance signal for characterizing the rotation of the rotor assembly 2 relative to the stator assembly 1, and the control unit 4 is used to determine the rotation angle of the rotor assembly 2 based on the impedance signal.

[0027] Specifically, the conductive ring 31 is made of a conductive material, which enables the conductive ring 31 to have stable electrical performance.

[0028] like Figure 3 and Figure 4 As shown, the control unit 4 can be fixed to the stator assembly 1 by means of snap-fitting, bonding, etc., and the conductive ring 31 can be fixedly connected to the control unit 4 by means of bonding, snap-fitting, etc. In some embodiments, the conductive ring 31 can be bonded to the control unit 4 with insulating adhesive. The insulating adhesive can not only improve the stability of the connection between the conductive ring 31 and the control unit 4, but also achieve insulation between the conductive ring 31 and the control unit 4, thereby improving the durability and safety of the gimbal motor during operation.

[0029] The conductive protrusion 32 is fixedly connected to the rotor assembly 2. Both the conductive protrusion 32 and the rotor assembly 2 are made of metal. The conductive protrusion 32 is provided with contact points, which can be spherical, hemispherical, or any other shape. The contact points on the conductive protrusion 32 abut against the conductive ring 31.

[0030] During the rotation of rotor assembly 2 relative to stator assembly 1, conductive protrusion 32 rotates with rotor assembly 2. Since conductive ring 31 is fixed on control unit 4, and control unit 4 is fixed on stator assembly 1, the contact point of conductive protrusion 32 will slide on conductive ring 31, causing the contact position between conductive protrusion 32 and conductive ring 31 to change. This allows an impedance signal characterizing the rotation of rotor assembly 2 relative to stator assembly 1 to be formed between conductive protrusion 32 and conductive ring 31. Control unit 4 can perform calculations and analysis based on the received impedance signal to determine the rotation angle of rotor assembly 2.

[0031] In this embodiment, a conductive ring 31 and a conductive protrusion 32 are provided. The conductive ring 31 is disposed on and electrically connected to the control unit 4, and the conductive protrusion 32 is fixedly connected to the rotor assembly 2. The conductive ring 31 and the conductive protrusion 32 abut against each other. The conductive protrusion 32 is used to rotate with the rotor assembly 2 and form an impedance signal to characterize the rotation of the rotor assembly 2 relative to the stator assembly 1. The control unit 4 is used to determine the rotation angle of the rotor assembly 2 based on the impedance signal. Since its detection principle is not based on magnetic field induction, changes in the external magnetic field will not interfere with the generation and detection of the impedance signal, further improving the accuracy of position detection. Moreover, the use of the conductive ring 31 and the conductive protrusion 32 for detection is simple in structure, further reducing the hardware complexity and production cost of the gimbal motor. In addition, the installation of the conductive ring 31 and the conductive protrusion 32 is relatively simple, further improving the production efficiency and stability of the gimbal motor.

[0032] Optionally, the control unit 4 includes a control board 41 and an impedance detection circuit 42 and a grounding terminal 43 disposed on the control board 41; the control board 41 is fixedly connected to the stator assembly 1; the conductive protrusion 32 is electrically connected to the grounding terminal 43; the conductive ring 31 is disposed on the control board 41, one end of the conductive ring 31 is electrically connected to the grounding terminal 43, and the other end of the conductive ring 31 is electrically connected to one end of the impedance detection circuit 42; the other end of the impedance detection circuit 42 is electrically connected to the grounding terminal 43; the conductive protrusion 32 rotates with the rotor assembly 2 to change the effective conductive length of the conductive ring 31 connected to the impedance detection circuit 42, and the impedance detection circuit 42 is used to detect the impedance of the conductive ring 31 within the effective conductive length.

[0033] Specifically, such as Figure 5As shown, the control unit 4 includes a control board 41, an impedance detection circuit 42, and a grounding terminal 43. The control board 41 can be a printed circuit board, a flexible circuit board, etc. The control board 41 integrates the impedance detection circuit 42 and the grounding terminal 43. The control board 41 is fixed to the stator assembly 1 by bolts, clips, etc.

[0034] like Figure 5 As shown, the conductive ring 31 has an opening, one end of which is electrically connected to the ground terminal 43, and the other end is electrically connected to the input terminal of the impedance detection circuit 42. The other end of the impedance detection circuit 42 is electrically connected to the ground terminal.

[0035] During the rotation of the rotor assembly 2 relative to the stator assembly 1, the conductive protrusion 32 rotates with the rotor assembly 2. Since the conductive ring 31 is fixed on the control plate 41, and the control plate 41 is fixed on the stator assembly 1, the contact point of the conductive protrusion 32 will slide on the conductive ring 31, causing the contact position between the conductive protrusion 32 and the conductive ring 31 to change. This causes the effective conductive length of the conductive ring 31 connected to the impedance detection circuit 42 to change. The impedance detection circuit 42 can determine the magnitude of the impedance value of the conductive ring 31 at the effective conductive length by calculating the voltage difference between the conductive protrusion 32 and the conductive ring 31.

[0036] In one embodiment, such as Figure 7 As shown, the impedance detection circuit may include a constant current device, a differential amplifier circuit, a secondary amplifier circuit, and a low-pass filter. The constant current device is used to convert the impedance value into a voltage value. The current value in the impedance detection circuit path is: The resistance values ​​of R01 and R02 need to be 1000 times greater than the resistance value of Ri, so that the current flowing into R01 and R02 is negligible. The differential amplifier circuit is used to amplify current signals. The two ends of Ri are connected to the non-inverting and inverting inputs of the operational amplifier through resistors R1 and R2, respectively. A resistor Rp is connected to ground at the non-inverting input of the operational amplifier. The feedback resistor Rf ensures that the operational amplifier operates in the linear region. The output formula of the differential amplifier is: The secondary amplifier circuit amplifies the signal, enabling it to reach the detection level of control unit 4. The voltage amplification factor of the secondary amplifier circuit is: A low-pass filter is used to remove high-frequency components from a signal, thereby allowing for better extraction and processing of useful information. Assuming the voltage amplification factor of the low-pass filter is A2, the impedance value R can be calculated using the impedance detection circuit described above: .

[0037] In one embodiment, the conductive ring 31 can be made of a high-resistivity conductive material. Since the high-resistivity conductive ring 31 can effectively limit the current, the signal has a higher gain effect. In this case, there is no need to set up additional differential amplifier circuits and secondary amplifier circuits, and the current-carrying device can be replaced with, for example... Figure 8 The transimpedance amplifier (TIA) shown converts an input current signal into a voltage. The feedback device is a feedback resistor Rf, and the input current is a constant current source Ip. The transimpedance amplifier sets the gain through the feedback resistor (Rf), ensuring input current stability and maintaining consistency of the current source (Ip). This improves measurement accuracy, simplifies design, and makes the system more efficient.

[0038] In practical applications, before the gimbal motor leaves the factory, a linear function relationship between impedance and voltage is pre-established, dividing the impedance into six distinct intervals. These intervals correspond to the six commutation stages in the gimbal motor, with each commutation step corresponding to a different rotation angle of the rotor assembly 2 within a cycle. By determining which interval the impedance value detected by the impedance detection circuit 42 falls within, the specific state of the rotor assembly 2 during the six commutation stages can be determined. Thus, the impedance value detected by the impedance detection circuit 42 allows for precise identification of the commutation state of the rotor assembly 2, thereby achieving accurate control of the gimbal motor's operating state. This method not only avoids errors caused by magnetic field interference in traditional Hall sensors but also improves the stability and reliability of the detection through the linear characteristics of the impedance signal. Furthermore, due to the high design flexibility of the impedance detection circuit 42, the feedback resistance or amplification factor can be adjusted according to actual needs to further optimize the signal processing effect.

[0039] Optionally, the conductive ring 31 is a deformable conductive ring 31.

[0040] Specifically, the conductive ring 31 can be made of a conductive material with high resistivity and easy deformation, so that the conductive ring 31 can have a certain elasticity, that is, the conductive ring 31 is a deformable conductive ring 31.

[0041] In practical applications, by making the conductive ring 31 a deformable conductive ring 31, when the conductive protrusion 32 rotates and comes into contact with the conductive ring 31, the conductive ring 31 can deform, which can buffer structural stress, reduce mechanical wear of the conductive protrusion 32 and the conductive ring 31, extend the service life of the detection element 3, and thus extend the service life of the gimbal motor.

[0042] Optionally, the rotor assembly 2 includes a rotor housing 21; the gimbal motor also includes a bracket 102, a guide shaft 5, a locking ring 6, and a bearing 7; the stator assembly 1 and at least a portion of the bracket 102 are disposed within the rotor housing 21, and the stator assembly 1 is fitted onto the bracket 102; the control unit 4 is fixedly connected to the bracket 102; the bracket 102 is provided with a mounting through hole 1021, and the control unit 4 is provided with a through hole 411 corresponding to the position of the mounting through hole 1021; the guide shaft 5 is fixedly connected to the rotor housing 21, and a portion of the guide shaft 5 passes through the mounting through hole 1021 and the through hole 411, while another portion extends out of the through hole 411; the bearing 7 is disposed within the mounting through hole 1021 and connected between the bracket 102 and the guide shaft 5; the locking ring 6 is fitted onto the portion of the guide shaft 5 located outside the through hole 411 and abuts against the control unit 4; wherein, the conductive protrusion 32 is fixedly connected to the locking ring 6, and the conductive ring 31 is disposed around the locking ring 6.

[0043] Specifically, such as Figure 1 and Figure 2 As shown, the rotor assembly 2 also includes a rotor core 22, which is fixedly disposed on the inner wall of the rotor housing 21. The rotor core 22 can form electromagnetic coupling with the electromagnetic field generated by the stator assembly 1, driving the rotor housing 21 to rotate. The stator assembly 1 can be disposed inside the rotor housing 21, which can protect the internal components from the influence of the external environment and provide installation space for each component. In some embodiments, the gimbal motor also includes a housing 100, which covers the stator assembly 1, locking ring 6, bracket 102, guide spool 5, and control unit 4. The housing 100 can protect each component from the intrusion of dust and moisture, while also improving the appearance and enhancing the overall durability.

[0044] like Figure 1 and Figure 2 As shown, the stator assembly 1 may include a stator core 14, a winding bracket 13, and a coil 12. The coil 12 is wound on the winding bracket 13, and the coil 12 and the winding bracket 13 are embedded in the stator core 14. The stator core 14 serves as the magnetic core material and provides a carrier support for the current flow in the coil 12, reducing magnetic field loss and improving the electromagnetic conversion efficiency and motor performance of the gimbal motor. The winding bracket 13 serves as the mounting carrier for the coil 12, constraining the winding shape of the coil 12 and preventing problems such as displacement and entanglement of the coil 12. It also achieves insulation isolation between the coil 12 and the stator core 14, preventing the risk of short circuits. The coil 12, as the electromagnetic field generating component, can generate a directional changing electromagnetic field after being energized. This field interacts with the magnetic field of the rotor core 22, thereby driving the rotor assembly 2 to rotate relative to the stator assembly 1.

[0045] like Figure 2As shown, the stator assembly 1 is mounted on the bracket 102. The control unit 4 is fixedly connected to the bracket 102. The bracket 102 can support and fix the circuit board, improving the reliability and stability of the electrical connection.

[0046] The mounting through hole 1021 on the bracket 102 and the corresponding through hole 411 on the control unit 4 provide a channel for the installation of the wire guide 5. The wire guide 5 is fixed on the rotor housing 21, with part of it passing through the mounting through hole 1021 and the through hole 411, and the other part extending out of the through hole 411, so that the wire guide 5 can rotate together with the rotor housing 21.

[0047] One end of the wire is connected to the coil 12, and the other end can pass through the inside of the bobbin 5 and be electrically connected to the control unit 4. The bobbin 5 allows the wire to pass through to conduct signals.

[0048] Bearing 7 is disposed within mounting hole 1021. The outer ring of bearing 7 is fixedly connected to bracket 102, and the inner ring of bearing 7 is sleeved on guide shaft 5. Bearing 7 serves to connect bracket 102 and guide shaft 5. When rotor housing 21 rotates, guide shaft 5 can rotate flexibly relative to bracket 102 through bearing 7, which can improve the stability of rotor assembly 2 during rotation. There can be two, three, etc. bearings 7, and this embodiment does not specifically limit this.

[0049] The locking ring 6 is fitted onto the portion of the guide shaft 5 located outside the through hole 411 and abuts against the control unit 4. The locking ring 6 can restrict the axial movement of the guide shaft 5, preventing the guide shaft 5 from disengaging from the bearing 7 and improving the stability of the entire gimbal motor. In some embodiments, the gimbal motor also includes a locking arm 101, which can be fixedly connected to the bracket 102 and abuts against the control unit 4. Through the cooperation of the locking arm 101 and the locking ring 6, the stability of the entire gimbal motor can be further improved, allowing the gimbal motor to remain stationary after power-off.

[0050] Since the locking ring 6, the guide shaft 5, and the rotor housing 21 are interconnected, they can rotate relative to the stator assembly 1 and the bracket 102 via the bearing 7. The conductive protrusion 32 can be connected to the locking ring 6 by welding or integral molding. The conductive ring 31 is arranged around the locking ring 6. When the rotor housing 21 rotates, the locking ring 6 rotates accordingly, which in turn drives the conductive protrusion 32 to rotate. The conductive protrusion 32 slides on the conductive ring 31, realizing the generation of impedance signal, which provides a basis for the control unit 4 to determine the rotation angle of the rotor assembly 2. In this way, the rotor assembly 2 can rotate flexibly relative to the stator assembly 1, and the rotation angle of the rotor assembly 2 can be accurately detected. This avoids the problems of Hall sensors, such as susceptibility to magnetic field interference, nonlinear output, high hardware complexity, and high installation accuracy requirements, and further improves the feedback efficiency and motion control capability of the gimbal motor.

[0051] Optionally, the control unit 4 includes a control plate 41, a through hole 411 is provided on the control plate 41, the control plate 41 is fixedly connected to the bracket 102, one of the control plate 41 and the bracket 102 is provided with a positioning hole 412, and the other is provided with a first positioning protrusion 1024, which is provided in the positioning hole 412.

[0052] Specifically, such as Figure 2 As shown, the control plate 41 is provided with a positioning hole 412, and the bracket 102 is provided with a first positioning protrusion 1024. Alternatively, the bracket 102 is provided with a positioning hole 412, and the control plate 41 is provided with a first positioning protrusion 1024. The shape of the first positioning protrusion 1024 is the same as the shape of the positioning hole 412, and the size of the first positioning protrusion 1024 is smaller than the size of the positioning hole 412, so that the first positioning protrusion 1024 can be inserted into the positioning hole 412.

[0053] In practical applications, one of the control board 41 and the bracket 102 is provided with a positioning hole 412, and the other is provided with a first positioning protrusion 1024, so that the first positioning protrusion 1024 passes through the positioning hole 412. During the installation process, the cooperation between the first positioning protrusion 1024 and the positioning hole 412 can improve the accuracy of the relative position between the control board 41 and the bracket 102, thereby improving the consistency of all gimbal motors.

[0054] In some embodiments, the number of positioning holes 412 and first positioning protrusions 1024 can be multiple, for example, two, two, three, etc., which can further improve the accuracy of the relative position between the control board 41 and the stator assembly 1.

[0055] Optionally, the detection element 3 is a gyroscope 33; the control unit 4 is fixedly connected to the rotor assembly 2; the gyroscope 33 is fixedly connected to the rotor assembly 2 or the control unit 4; the gyroscope 33 is used to follow the rotation of the rotor assembly 2 and generate an acceleration signal to characterize the rotation of the rotor assembly 2 relative to the stator assembly 1; the control unit 4 is used to determine the rotation angle of the rotor assembly 2 based on the acceleration signal.

[0056] Specifically, such as Figure 9 As shown, the control unit 4 is fixedly connected to the rotor assembly 2 by welding, bonding or other methods.

[0057] The gyroscope 33 can be fixedly connected to the rotor assembly 2 by means of welding, bonding or other methods. When the rotor assembly 2 rotates relative to the stator assembly 1, the gyroscope 33 rotates with the rotor assembly 2 and generates an acceleration signal.

[0058] Control unit 4 is electrically connected to gyroscope 33. Control unit 4 can receive acceleration signals from gyroscope 33 and calculate the rotation angle of rotor assembly 2 by integrating the angular velocity data acquired over a period of time. That is, the rotation angle of rotor assembly 2 is equal to the sum of angular velocity multiplied by the time interval. .

[0059] In this embodiment, by using a gyroscope 33 as the detection element 3, since the detection principle of the gyroscope 33 is not based on magnetic field induction, changes in the external magnetic field will not interfere with the generation and detection of the impedance signal, thus improving the accuracy of position detection. Moreover, using a gyroscope 33 for detection simplifies the structure and further reduces the hardware complexity and production cost of the gimbal motor.

[0060] Optionally, the gimbal motor also includes multiple limiting components 8, and the control unit 4 is fixedly connected to the rotor assembly 2 through the multiple limiting components 8.

[0061] Specifically, such as Figure 9 As shown, the limiting member 8 can be 2, 3, 4, etc., but this application embodiment does not make a specific setting for this.

[0062] The limiting component 8 can be a limiting block, a limiting post, etc. One end of the limiting component 8 is fixedly connected to the control unit 4, and the other end is fixedly connected to the rotor assembly 2. For example, the limiting component 8 can be connected to the control unit 4 and the rotor assembly 2 respectively by welding, bolt connection, etc.

[0063] In practical applications, by fixing the control unit 4 to the rotor assembly 2 with multiple limiting parts 8, the stability of the control board 41 installation can be improved, and the connection between the control unit 4 and the rotor assembly 2 can be prevented from becoming loose due to vibration, shaking and other factors during the operation of the gimbal motor.

[0064] Optionally, the rotor assembly 2 includes a rotor housing 21, and the gimbal motor further includes a bracket 102, a guide shaft 5, a locking ring 6, and a bearing 7; the stator assembly 1 and at least a portion of the bracket 102 are disposed within the rotor housing 21, and the stator assembly 1 is fitted onto the bracket 102; the bracket 102 is provided with a mounting through hole 1021, and the control unit 4 is provided with a through hole 411 corresponding to the position of the mounting through hole 1021; the guide shaft 5 is fixedly connected to the rotor housing 21, and a portion of the guide shaft 5 passes through the mounting through hole 1021 and the through hole 411, while the other portion extends out of the through hole 411; the bearing 7 is disposed within the mounting through hole 1021 and is connected between the bracket 102 and the guide shaft 5; the locking ring 6 is fitted onto the portion of the guide shaft 5 located outside the through hole 411 and abuts against the bracket 102; wherein, the control unit 4 is fixedly connected to the rotor housing 21, and the gyroscope 33 is fixedly connected to the rotor housing 21 or the control unit 4.

[0065] Specifically, the details of rotor assembly 2, stator assembly 1, bracket 102, guide shaft 5, locking ring 6 and bearing 7 can be referred to the foregoing discussion and will not be repeated here.

[0066] like Figure 9 As shown, the control unit 4 can be fixedly connected to the rotor housing 21 by multiple limiting members 8, and the gyroscope 33 can be fixedly connected to the rotor housing 21, or the gyroscope 33 can be fixedly connected to the control unit 4. The fixing connection methods include, but are not limited to, welding and bonding.

[0067] When the rotor assembly 2 rotates relative to the stator assembly 1, the gyroscope 33 can rotate with the rotor housing 21, thereby generating an acceleration signal to characterize the rotation of the rotor assembly 2 relative to the stator assembly 1.

[0068] In practical applications, by connecting the control unit 4 to the rotor housing 21 and fixing the gyroscope 33 to either the rotor housing 21 or the control unit 4, the detection element 3 and the control unit 4 can rotate with the rotor housing 21, promptly capturing the rotational changes of the rotor assembly 2 and improving the accuracy of acceleration signal acquisition. Furthermore, this installation method makes the electrical connection between the detection element 3 and the control unit 4 more stable and reliable, reducing interference and loss during signal transmission, and further improving the accuracy and stability of the gimbal motor position detection.

[0069] Optionally, one of the stator assembly 1 and the bracket 102 is provided with a second positioning protrusion 11, and the other is provided with a first positioning groove 1022, with the second positioning protrusion 11 embedded in the first positioning groove 1022; one of the bracket 102 and the bearing 7 is provided with a third positioning protrusion 1023, and the other is provided with a second positioning groove 71, with the third positioning protrusion 1023 embedded in the second positioning groove 71; one of the locking ring 6 and the guide shaft 5 is provided with a fourth positioning protrusion 61, and the other is provided with a third positioning groove 51, with the fourth positioning protrusion 61 embedded in the third positioning groove 51.

[0070] Specifically, such as Figure 2 As shown, the stator core 14 of the stator assembly 1 is provided with a second positioning protrusion 11, and the bracket 102 is provided with a first positioning groove 1022. Alternatively, the bracket 102 is provided with a second positioning protrusion 11, and the stator core 14 of the stator assembly 1 is provided with a first positioning groove 1022. The shape of the second positioning protrusion 11 is the same as the shape of the first positioning groove 1022, and the size of the second positioning protrusion 11 is smaller than the size of the first positioning groove 1022, so that the second positioning protrusion 11 can pass through the first positioning groove 1022.

[0071] like Figure 2As shown, the bracket 102 is provided with a third positioning protrusion 1023, and the bearing 7 is provided with a second positioning groove 71. Alternatively, the bearing 7 is provided with a third positioning protrusion 1023, and the bracket 102 is provided with a second positioning groove 71. The shape of the third positioning protrusion 1023 is the same as the shape of the second positioning groove 71, and the size of the third positioning protrusion 1023 is smaller than the size of the second positioning groove 71, so that the third positioning protrusion 1023 can pass through the second positioning groove 71.

[0072] like Figure 4 As shown, a fourth positioning protrusion 61 is provided on the thread guide 5, and a third positioning groove 51 is provided on the locking ring 6. Alternatively, a fourth positioning protrusion 61 is provided on the locking ring 6, and a third positioning groove 51 is provided on the thread guide 5. The shape of the fourth positioning protrusion 61 is the same as the shape of the third positioning groove 51, and the size of the fourth positioning protrusion 61 is smaller than the size of the second positioning groove 71, so that the fourth positioning protrusion 61 can pass through the third positioning groove 51.

[0073] In practical applications, one of the stator assembly 1 and the bracket 102 is provided with a second positioning protrusion 11, and the other is provided with a first positioning groove 1022, with the second positioning protrusion 11 embedded in the first positioning groove 1022; one of the bracket 102 and the bearing 7 is provided with a third positioning protrusion 1023, and the other is provided with a second positioning groove 71, with the third positioning protrusion 1023 embedded in the second positioning groove 71; one of the locking ring 6 and the guide shaft 5 is provided with a fourth positioning protrusion 61, and the other is provided with a third positioning groove 51, with the fourth positioning protrusion 61 embedded in the third positioning groove 51. During installation, the cooperation between the positioning protrusion and the corresponding positioning groove can improve the accuracy of the relative positions between the stator assembly 1 and the bracket 102, between the bracket 102 and the bearing 7, and between the locking ring 6 and the guide shaft 5, thereby further improving the consistency of all gimbal motors.

[0074] Optionally, the gimbal motor also includes an insulating component 9, which is disposed between the guide shaft 5 and the locking ring 6.

[0075] Specifically, such as Figure 6 As shown, the insulating component 9 can be made of insulating materials such as rubber or silicone. The insulating component 9 has a ring-shaped structure. The inner diameter of the insulating component 9 is adapted to the outer diameter of the guide spool 5, and the outer diameter of the insulating component 9 is adapted to the inner diameter of the locking ring 6, so that the insulating component 9 can be placed between the guide spool 5 and the locking ring 6 to play a good insulating role.

[0076] In practical applications, by setting an insulating component 9 between the guide spool 5 and the locking ring 6, the insulating component 9 can achieve insulation between the guide spool 5 and the locking ring 6, block unnecessary current flow paths, reduce interference to the control unit 4, and thus further improve the accuracy of gimbal motor position detection and the precision of control.

[0077] In summary, the gimbal motor of this application embodiment may include at least the following advantages: In this embodiment, by setting up detection elements, at least a portion of the detection elements are connected to the rotor assembly. The at least a portion of the detection elements can generate an angle signal representing the rotation of the rotor assembly relative to the stator assembly based on the rotation of the rotor assembly relative to the stator assembly. The control unit can determine the rotation angle of the rotor assembly based on the angle signal. The electrical angle of the gimbal motor can be determined through the rotation angle, providing accurate position information for the gimbal motor. This eliminates the need for Hall sensors, reduces magnetic field interference, nonlinear output, and other problems, thereby improving the feedback efficiency and motion control capability of the gimbal motor.

[0078] This application also provides an electronic device, which includes: a gimbal motor and a camera as described in any of the above embodiments, wherein the gimbal motor is connected to the camera.

[0079] Specifically, electronic devices can include gimbal motors, monitoring equipment, drones, etc. The gimbal motor is connected to the camera. The gimbal motor can adjust the camera's angle and direction. By controlling the pitch, yaw, and roll axes, the camera can output stable and smooth footage in various dynamic scenarios. This effectively counteracts shake caused by human operation, ensuring the target is always in sharp, centered focus. This not only improves the shooting quality and ease of operation of the electronic device but also enhances its flexibility. It should be noted that in this embodiment, the structure of the gimbal motor is the same as that of the gimbal motor in any of the above embodiments, and its beneficial effects are similar, so it will not be described in detail here.

[0080] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0081] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A gimbal motor, characterized in that, The gimbal motor includes: Stator assembly (1); Rotor assembly (2), which is rotatable relative to stator assembly (1); The detection element (3) is at least partially connected to the rotor assembly (2), and at least partially rotates with the rotor assembly (2) relative to the stator assembly (1) and forms an angle signal characterizing the rotation of the rotor assembly (2) relative to the stator assembly (1); and control unit (4), which is electrically connected to the detection element (3), and the control unit (4) is used to determine the rotation angle of the rotor assembly (2) based on the angle signal.

2. The gimbal motor according to claim 1, characterized in that, The detection element (3) includes a conductive ring (31) and a conductive protrusion (32); The control unit (4) is fixedly connected to the stator assembly (1). The conductive ring (31) is disposed on the control unit (4) and is electrically connected to the control unit (4); The conductive protrusion (32) is fixedly connected to the rotor assembly (2); The conductive ring (31) and the conductive protrusion (32) abut against each other; The conductive protrusion (32) rotates with the rotor assembly (2) and forms an impedance signal of the rotor assembly (2) rotating relative to the stator assembly (1). The control unit (4) is used to determine the rotation angle of the rotor assembly (2) based on the impedance signal.

3. The gimbal motor according to claim 2, characterized in that, The control unit (4) includes a control board (41) and an impedance detection circuit (42) and a grounding terminal (43) disposed on the control board (41). The control board (41) is fixedly connected to the stator assembly (1); The conductive protrusion (32) is electrically connected to the grounding terminal (43); The conductive ring (31) is disposed on the control board (41), one end of the conductive ring (31) is electrically connected to the ground terminal (43), and the other end of the conductive ring (31) is electrically connected to one end of the impedance detection circuit (42); The other end of the impedance detection circuit (42) is electrically connected to the ground terminal (43); The conductive protrusion (32) rotates with the rotor assembly (2) to change the effective conductive length of the conductive ring (31) connected to the impedance detection circuit (42), which is used to detect the impedance of the conductive ring (32) at the effective conductive length.

4. The gimbal motor according to claim 2, characterized in that, The rotor assembly (2) includes a rotor housing (21); the gimbal motor also includes a bracket (102), a guide shaft (5), a locking ring (6), and a bearing (7); The stator assembly (1) and at least part of the bracket (102) are disposed within the rotor housing (21), and the stator assembly (1) is sleeved on the bracket (102). The control unit (4) is fixedly connected to the bracket (102). The bracket (102) is provided with a mounting through hole (1021), and the control unit (4) is provided with a through hole (411) corresponding to the mounting through hole (1021). The wire guide shaft (5) is fixedly connected to the rotor housing (21), and a part of the wire guide shaft (5) passes through the mounting through hole (1021) and the through hole (411), while the other part extends out of the through hole (411). The bearing (7) is disposed in the mounting hole (1021) and connected between the bracket (102) and the guide shaft (5); The locking ring (6) is sleeved on the part of the wire guide (5) located outside the through hole (411) and abuts against the control unit (4); The conductive protrusion (32) is fixedly connected to the locking ring (6), and the conductive ring (31) is arranged around the locking ring (6).

5. The gimbal motor according to claim 4, characterized in that, The control unit (4) includes a control plate (41), and the through hole (411) is provided on the control plate (41); the control plate (41) is fixedly connected to the bracket (102), one of the control plate (41) and the bracket (102) is provided with a positioning hole (412), and the other is provided with a first positioning protrusion (1024), which is provided in the positioning hole (412).

6. The gimbal motor according to claim 1, characterized in that, The detection component (3) is a gyroscope (33); The control unit (4) is fixedly connected to the rotor assembly (2); The gyroscope (33) is fixedly connected to the rotor assembly (2) or the control unit (4). The gyroscope (33) is used to follow the rotation of the rotor assembly (2) and generate an acceleration signal to characterize the rotation of the rotor assembly (2) relative to the stator assembly (1). The control unit (4) is used to determine the rotation angle of the rotor assembly (2) based on the acceleration signal.

7. The gimbal motor according to claim 6, characterized in that, The gimbal motor also includes multiple limiting components (8); The control unit (4) is fixedly connected to the rotor assembly (2) by a plurality of the limiting members (8).

8. The gimbal motor according to claim 6, characterized in that, The rotor assembly (2) includes a rotor housing (21), and the gimbal motor also includes a bracket (102), a guide shaft (5), a locking ring (6), and a bearing (7). The stator assembly (1) and at least part of the bracket (102) are disposed within the rotor housing (21), and the stator assembly (1) is sleeved on the bracket (102). The bracket (102) is provided with a mounting through hole (1021), and the control unit (4) is provided with a through hole (411) corresponding to the mounting through hole (1021). The wire guide shaft (5) is fixedly connected to the rotor housing (21), and a part of the wire guide shaft (5) passes through the mounting through hole (1021) and the through hole (41), while the other part extends out of the through hole (41). The bearing (7) is disposed in the mounting hole (1021) and connected between the bracket (102) and the guide shaft (5); The locking ring (6) is sleeved on the portion of the thread guide (5) located outside the through hole (41) and abuts against the bracket (102); The control unit (4) is fixedly connected to the rotor housing (21), and the gyroscope (33) is fixedly connected to the rotor housing (21) or the control unit (4).

9. The gimbal motor according to claim 4 or 8, characterized in that, One of the stator assembly (1) and the bracket (102) is provided with a second positioning protrusion (11), and the other is provided with a first positioning groove (1022). The second positioning protrusion (11) is embedded in the first positioning groove (1022). One of the bracket (102) and the bearing (7) is provided with a third positioning protrusion (1023), and the other is provided with a second positioning groove (71). The third positioning protrusion (1023) is embedded in the second positioning groove (71). One of the locking ring (6) and the thread guide (5) is provided with a fourth positioning protrusion (61), and the other is provided with a third positioning groove (51). The fourth positioning protrusion (61) is embedded in the third positioning groove (51).

10. The gimbal motor according to claim 4 or 8, characterized in that, The gimbal motor also includes an insulating component (9), which is disposed between the guide shaft (5) and the locking ring (6).

11. A gimbal camera, characterized in that, The gimbal camera includes a gimbal motor and a camera as described in any one of claims 1-10, wherein the gimbal motor is connected to the camera.

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