A three-axis gimbal camera device

Abstract

This invention discloses a three-axis gimbal camera device, including a camera module and a gimbal module. The camera module includes a lens barrel and a lens module installed inside the lens barrel. The gimbal module includes: a support arm mechanism, including a base and a support arm located above the base to support the camera module; a yaw axis motor, installed inside the base, with its rotor extending out of the base and connected to the support arm to drive the support arm to rotate; a pitch axis motor, installed at the upper end of the support arm, with its rotor connected to the middle of the side wall of the lens barrel to drive the lens barrel to rotate; and a roll axis motor, installed at one end inside the lens barrel, with its rotor connected to the lens module to drive the lens module to rotate. In this invention, the three axes are designed in the order of YAW (yaw axis) - PITCH (pitch axis) - ROLL (roll axis) from bottom to top, resulting in a smaller overall size and a wider shooting range after switching between horizontal and vertical shooting.

Description

Technical Field

[0001] This invention relates to the field of camera equipment technology, and more particularly to a three-axis gimbal camera device. Background Technology

[0002] A gimbal camera is a camera equipped with a gimbal. Most existing three-axis gimbal camera products use a gimbal as disclosed in invention patent application number CN2020101220413. This gimbal includes a first rotating bracket for controlling movement around the translation / yaw axis, a second rotating bracket rotatably connected to the first rotating bracket for controlling movement around the roll axis, and a third rotating bracket rotatably connected to the second rotating bracket for controlling movement around the pitch axis. The three axes, from bottom to top, are YAW (yaw axis) - ROLL (roll axis) - PITCH (pitch axis). The second drive device in the second rotating bracket for controlling the roll axis movement is connected to the third rotating bracket... The second support, roughly Y-shaped, is connected to the camera, while the third drive unit, used to control movement around the pitch axis, is connected to one side of the second support. The other side of the second support supports the camera, and the camera lens is independent of the drive unit. This makes the entire camera module quite large, which will become increasingly uncompetitive in the current trend of product miniaturization. Furthermore, with this three-axis setup, after the second drive unit controls the camera to switch between horizontal and vertical shooting modes, the third drive unit cannot move the camera in the pitch direction, but can only rotate it in the horizontal direction. The three-axis gimbal directly becomes a single-axis gimbal, lacking multi-axis variation effects, resulting in functional deficiencies, affecting the user experience, and causing the product to lose some of its competitiveness. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a three-axis gimbal camera device with a small overall size and good shooting effect.

[0004] To address the aforementioned technical problems, this invention provides a three-axis gimbal camera device, comprising a camera module and a gimbal module, wherein...

[0005] The camera module includes a lens barrel and a lens module installed inside the lens barrel;

[0006] The gimbal module includes:

[0007] A support arm mechanism includes a base and a support arm located above the base to support the camera module;

[0008] A yaw axis motor is installed inside the base, with its rotor extending out of the base and connected to the support arm to drive the support arm to rotate;

[0009] A pitch axis motor is installed at the upper end of the support arm, and its rotor is connected to the middle of the side wall of the lens barrel to drive the lens barrel to rotate.

[0010] A roll shaft motor is installed at one end inside the lens barrel, and its rotor is connected to the lens module to drive the lens module to rotate.

[0011] The beneficial technical effects of this invention are as follows: Compared with the prior art, in the three-axis gimbal camera device of this invention, the rotor of the pitch axis motor installed at the upper end of the support arm is connected to the middle of the side wall of the lens barrel to drive the lens barrel to rotate. The roll axis motor is installed inside one end of the lens barrel, meaning the roll axis motor is integrated into the lens barrel. The lens barrel can simultaneously protect the lens and the roll axis motor. The rotor of the roll axis motor is connected to the lens module inside the lens barrel, driving the lens module to rotate. Therefore, in this invention, the three axes from bottom to top are YAW (yaw axis) - With the PITCH (tilt axis) - ROLL (roll axis) design sequence, the camera module and support arm can form a cantilever structure. Compared to traditional gimbal cameras, this reduces the size in the camera's optical axis direction, which is sensitive to the product. At the same time, there is no need to set up connecting mechanisms on both sides of the camera module, resulting in a smaller overall size that is easy to carry and store. Furthermore, after the roll axis motor drives the lens module to switch between horizontal and vertical shooting modes, the pitch axis motor still has a pitch function. Together with the normally operating yaw axis motor, a wider shooting range and better tracking shooting effect can be obtained. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of a specific embodiment of the three-axis gimbal camera device of the present invention;

[0013] Figure 2 yes Figure 1 The exploded view of the three-axis gimbal camera device shown.

[0014] Figure 3 This is an exploded view of the lens barrel equipped with a lens module, roll axis motor, and pitch axis motor.

[0015] Figure 4 This is a schematic diagram of the lens tube's specific structure;

[0016] Figure 5 This is a schematic diagram of the specific structure of the second cable constraint component;

[0017] Figure 6 This is a schematic diagram of the assembly of the heat dissipation components, the mainboard control board, and the yaw axis motor in the three-axis gimbal camera device of the present invention.

[0018] Figure 7 This is a schematic diagram showing the cooperation between the heat dissipation component, the mainboard control board group, and the power control board group in the three-axis gimbal camera device of the present invention.

[0019] Figure 8 This is a schematic diagram of the installation of the connecting plate and the bottom cover in the three-axis gimbal camera device of the present invention;

[0020] Figure 9 This is a schematic diagram of the three-axis gimbal camera device of the present invention in vertical / horizontal shooting states. Detailed Implementation

[0021] To better understand the technical content of this invention, the technical solution of this invention will be further introduced and explained below with reference to the schematic diagram, but it is not limited thereto.

[0022] Reference Figures 1 to 8 , Figures 1 to 8 A specific embodiment of the three-axis gimbal camera device 100 of the present invention is shown. In the embodiment shown in the figures, the three-axis gimbal camera device 100 includes a camera module 10 and a gimbal module 20. The camera module 10 includes a lens barrel 11 and a lens module 12 installed inside the lens barrel 11. The gimbal module 20 includes a support arm mechanism 21, a yaw axis motor 22, a pitch axis motor 24, and a roll axis motor 23. The support arm mechanism 21 includes a base 210 and a support arm 211 located above the base 210 to support the camera module 10. The yaw axis motor 22 is installed inside the base 210, and its rotor... The base 210 extends out and connects to the support arm 211 to drive the support arm 211 to rotate and achieve yaw control of the camera module 10; the pitch axis motor 24 is installed at the upper end of the support arm 211, and its rotor is connected to the middle of the side wall of the lens barrel 11 to drive the lens barrel 11 to rotate and achieve pitch control of the camera module 10; the roll axis motor 23 is installed inside one end of the lens barrel 11, and its rotor 231 is connected to the lens module 12 to drive the lens module 12 to rotate and achieve roll control of the camera module 10. Based on the above design, the three axes of the three-axis gimbal camera device 100 of the present invention are arranged in the following order from bottom to top: YAW (yaw axis) - PITCH (pitch axis) - ROLL (roll axis). The camera module 10 and the support arm 211 can form a cantilever structure, and the roll axis motor 23 is integrated into the lens barrel 11. The lens barrel 11 can protect the lens module 12 and the roll axis motor 23. Compared with traditional gimbal cameras, the size in the optical axis direction of the camera is reduced, and there is no need to set up connecting mechanisms on both sides of the camera module 10, resulting in a smaller overall size. Furthermore, after the roll axis motor 23 drives the lens module 12 to switch between horizontal and vertical shooting modes (from horizontal shooting mode to vertical shooting mode or from vertical shooting mode to horizontal shooting mode, such as...), Figure 9 As shown, Figure 9 The dashed arrow indicates the state of the roll axis motor 23 when the lens module 12 is in horizontal shooting mode, and the solid arrow indicates the state after the roll axis motor 23 drives the lens module 12 to switch to vertical shooting mode. The pitch axis motor 24 still has a pitch function. Together with the normally operating yaw axis motor 22, the shooting range is wider and better tracking shooting effect can be obtained.

[0023] In some embodiments, such as Figure 2 As shown, the support arm 211 includes a support base 2111 and a support arm 2112 extending upward from the side of the top plate of the support base 2111. The upper part of the support arm 2112 is connected to a pitch axis motor mount 2113 for mounting the pitch axis motor 24, and the pitch axis motor mount 2113 is connected to the support arm 2112 and the support base 2111. Preferably, the gimbal module 20 also includes a control component. The control component is installed on the base 210. The main coaxial line is led out from the lens module 12, passes through the roll axis motor 23, and is then attached to the inner side wall of the lens barrel 11 to be introduced into the pitch axis motor 24. It then passes through the pitch axis motor mount 2113, the support arm 2112, the support base 2111, and the yaw axis motor 22 in sequence before entering the base 210 and connecting with the control component, so that the control component is electrically connected to the lens module 12.

[0024] In some embodiments, the lens module 12 includes a lens assembly 124, a lens drive and control board assembly 121, and an image sensor and angle acquisition board assembly 122. The lens drive and control board assembly 121 is mounted on the side of the lens assembly 124 and electrically connected to the lens assembly 124 and the roll axis motor 23. It is used to drive the lens motor of the lens assembly 124 to control the lens 1241 to focus, zoom, and drive the roll axis motor 23. That is, in this embodiment, to save space, the control of the roll axis motor 23 and the drive of the lens assembly 124 are integrated into the lens drive and control board assembly 121, which can be implemented by the same MCU (model HC32F420KATB) on the lens drive and control board assembly 121. The image sensor and angle acquisition board assembly 122 is mounted on the lens... The rear end of component 124 is electrically connected to the control component via a main coaxial cable and to the lens drive and control board assembly 121 via a connecting cable (e.g., an FPC cable). This connection is used to sense the attitude information of the roll axis, yaw axis, and pitch axis of the lens component 124, as well as the angular position change of the roll axis motor 23, and to store the calibration data of the lens 1241. In this embodiment, the image sensor and angle acquisition board assembly 122 is equipped with a CMOS sensor, an IMU gyroscope, a magnetic encoder IC, and an EEPROM memory. The IMU gyroscope senses the attitude information of the three degrees of freedom (roll axis, yaw axis, and pitch axis) of the lens component 124, and the magnetic encoder IC senses the angular position change of the roll axis motor 23. The EEPROM memory can be used to store the calibration data of the lens 1241, etc. It is understood that the integration location of the angle acquisition control function is not unique. In this embodiment, it is integrated into the image sensor to form the image sensor and angle acquisition board assembly 122, while in some other embodiments, it can also be integrated onto the lens drive and control board 121.

[0025] Furthermore, the three-axis gimbal camera device 100 also includes a battery 50 that powers the three-axis gimbal camera device 100. The battery 50 is located within the base 210. The control assembly includes, from top to bottom, a Wi-Fi board group 251, a main control board group 252, and a power control board group 253 for charging control and power supply of the battery 50. The power control board group 253 is electrically connected to the main control board group 252 via an onboard connector. The main control board group 252 is electrically connected to the Wi-Fi board group 251. Specifically, the Wi-Fi board group 251 leads to... A second coaxial cable passes through the yaw axis motor 22 and enters the base 210, connecting to the main control board assembly 252. The Wi-Fi board assembly 251 is electrically connected to the yaw axis motor 22 and the pitch axis motor 24 to control the yaw axis motor 22 and the pitch axis motor 24. The Wi-Fi board assembly 251 also communicates with the lens drive and control board assembly 121 via a serial port to control the roll axis motor 23. The main control board assembly 252 is electrically connected to the main coaxial cable leading out from the lens module 12 to control the operation of the lens module 12. In this invention, the main control board 252 is used to control the operation of the lens module 12, the yaw axis motor 22, and the pitch axis motor 24. The Wi-Fi board 251 can be used as a relay for external information streaming or transmission and reception, including both 2.4G and 5G frequency bands, and is controlled by the main control board 252. It is also used to receive information from the main control board 252 to control the gimbal module 20. It is directly connected to the ESC board 242 of the yaw axis motor 22 and the pitch axis motor 24 to control the yaw axis motor 22 and the pitch axis motor 24. It also communicates with the lens drive and control board 121 via a serial port to control the roll axis motor 23. It can be understood that the lens drive and control board 121 can also be controlled by the main control board 252. The control board 252 controls the operation of the lens assembly 124. It drives the lens motor of the lens assembly 124 to achieve focusing and zooming of the lens 1241, and is electrically connected to the image sensor and angle acquisition board 122 to convert optical images into signals and send them to the main control board 252 via the main coaxial cable. The power control board 253 is specifically responsible for the charging management of the battery 50, the management of multiple input power sources, and the power control and wake-up function of the camera module 10. This power control board 253 can be equipped with a POE step-down circuit to directly charge the battery 50, or it can be equipped with a PD protocol chip, working with a TYPE-C 3.0 interface to support PD protocol fast charging. Based on the above design, the three-axis gimbal camera device 100 of this invention separates power control and camera control (including gimbal control and lens module 12 control), resulting in a clear hardware design and well-defined responsibilities for each board. This allows for rapid identification of fault points during subsequent debugging and use.

[0026] In some embodiments, the bottom of the base 210 is covered with a bottom cover 212 made of metal material, and the support base 2111 is connected to the top of the base 210 via the pitch axis motor 24. Further, the gimbal module 20 also includes an expansion interface assembly, which includes a connecting plate 255. The bottom cover 212 has a first slot 2120, and the connecting plate 255 is provided with a plurality of PIN pins 2551 electrically connected to the power control board assembly 251 (e.g., ...). Figure 8 As shown, the connecting plate 255 is fixed in the first slot 2120 and to the bottom cover 212 made of metal material to achieve electrostatic protection. The end of the PIN pin 2551 protrudes outside the first slot 2120. In this invention, the PIN pin 2551 can serve as an external expansion interface for the three-axis gimbal camera device 100. The three-axis gimbal camera device 100 can be charged through the PIN pin 2551 contacts, and bidirectional serial communication can also be performed.

[0027] In some embodiments, the expansion interface assembly further includes a magnet 60, and the bottom cover 212 is provided with at least one second slot 2121, the magnet 60 being fixed in the second slot 2121 so that the three-axis gimbal camera device 100 is magnetically connected to the other expansion products. Further, as... Figure 7 and Figure 8 As shown, there are three magnets 60, and the bottom cover 212 has three second slots 2121. Each magnet 60 is fixed in one of the second slots 2121, so that the three-axis camera device 100 can be magnetically connected to the other extension products. Understandably, the shapes of the three second slots 2121 may not be the same, and they can be adjusted according to the specific shape of the magnet 60. In this invention, the magnets 60 can be magnetized along the thickness / radial direction, or they can be directionally magnetized as needed to strengthen the magnetism in a specified direction. Furthermore, magnetic conductive sheets can be placed on the poles of the magnets 60 after magnetization to increase the magnetic force, making the bottom cover 212 have a stronger magnetic attraction, allowing it to be magnetically connected to the external extension products for cooperative operation.

[0028] Continue to refer to Figure 2 , Figure 6 and Figure 7In some embodiments, the three-axis gimbal camera device 100 further includes a heat dissipation assembly, which includes a fan 31 and a heat sink 33. The fan 31 is disposed between the main control board assembly 252 and the power control board assembly 253. The base 210 has an air vent 2101 corresponding to the fan 31. The fan 31 is a centrifugal fan or an axial side-blowing fan. The fan 31 is fixedly connected to the heat sink 33, and the lower surface of the heat sink 33 extends along the air outlet of the fan 31 to the base. Multiple fins 331 are arranged in the direction of the opening 2101. Preferably, the multiple fins 331 are evenly distributed at intervals on the lower surface of the radiator 33, and a cover plate 34 is provided under the radiator 33 to form a sealed heat dissipation channel 35 with the radiator 33 and the multiple fins 331. That is, a sealed heat dissipation channel 35 is formed between each pair of adjacent fins 331, the radiator 33 located at the top and bottom of the fins 331 and the cover plate 34. The cover plate 34 can restrict the airflow to blow out only along the direction of the fins 331 from the gap between adjacent fins 331.

[0029] Furthermore, the heat dissipation assembly also includes a heat-conducting component 32. The yaw axis motor 22 is located between the Wi-Fi board assembly 251 and the main control board assembly 252. Both ends of the heat-conducting component 32 are bent outward to form heat-conducting plates 321, and the two heat-conducting plates 321 are respectively connected to the main control board assembly 252 and the yaw axis motor 22. Preferably, in this embodiment, the heat-conducting component 32 can be a metal component, and a heat-conducting material 36 can be adhered between the heat-conducting component 32 and the main control board assembly 252, as well as between the heat-conducting component 32 and the yaw axis motor 22. The heat-conducting material 36 can be thermally conductive solder paste, thermally conductive silicone grease, graphene material, etc. As shown in the figure, the heat conductor 32 is preferably located on one side of the main control board 252 and the yaw axis motor 22. The heat conductor 32 can conduct the heat generated by the main control board 252 during operation to the end cover and other parts of the yaw axis motor 22. In this embodiment, the battery 50 is installed between the yaw axis motor 22 and the main control board 252. A heat insulation material can be provided between the battery 50 and the heat conductor 32 to avoid the battery 50 being affected by the heat generated by the main control board 252 during operation. In order to accelerate heat dissipation, the cover plate 34 also contacts the bottom cover 212 of the base 210 through the heat conductor 36. Based on the above design, the various boards in the control assembly are stacked and interspersed between the mechanical structures. While achieving functionality, this further saves space and reduces product size. The main control board 252 experiences the highest temperature rise when the three-axis gimbal camera device 100 is operating. The heat generated by this main control board 252 can be transferred to the heat sink 33 through the thermally conductive material 36. Multiple sealed heat dissipation channels 35 are formed between the heat sink 33, the cover plate 34, and the fins 331. When the fan 31 operates, it blows some of the heat out along the sealed heat dissipation channels 35 (e.g., ...). Figure 7As shown (the arrow indicates the direction of airflow), another portion of the heat transferred to the radiator 33 will be transferred to the cover plate 34. The cover plate 34 and the bottom cover 212 are in contact through the thermally conductive material 36. This portion of the heat will be transferred to the bottom cover 212 through the thermally conductive material 36, and then dissipated outward through the bottom cover 212. In addition, the heat generated by the main control board assembly 252 can also be transferred to the yaw axis motor 22 through the thermally conductive component 32. Thermally conductive material 36 is attached between the main control board assembly 252 and the thermally conductive component 32, as well as between the thermally conductive component 32 and the yaw axis motor 22, which can accelerate heat transfer and thus accelerate heat dissipation.

[0030] Continue to refer to Figures 3 to 5 Specifically, the lens barrel 11 includes a cylindrical housing 114 and an end cap 115 disposed at the rear end of the cylindrical housing 114. The lens 1241 of the lens assembly 124 is mounted on the front end of the cylindrical housing 114. In this embodiment, a motor connection position 110 is formed in the middle of the side wall of the cylindrical housing 114. The rotor 241 of the pitch axis motor 24 is located at the motor connection position 110 and connected to the cylindrical housing 114. A motor mounting position 111 is formed inside the rear end of the cylindrical housing 114. The roll axis motor 23 is disposed at the motor mounting position 111. Specifically, the lens assembly 124 is mounted by a carrier 123. The lens motor of the lens assembly 124 is located inside the support member 123, and the lens 1241 is mounted at the front end of the support member 123. The image sensor and angle acquisition plate assembly 122 are mounted at the rear end of the support member 123, facing the roll axis motor 23. The rotor 231 of the roll axis motor 23 is connected to the image sensor and angle acquisition plate assembly 122 through a screw. A first cable constraint member 112 is formed on the inner side wall of the cylindrical housing 114 near the motor mounting position 111. A second cable constraint member 113 is provided on the end face of the pitch axis motor 24 facing the inside of the cylindrical housing 114 and is exposed inside the cylindrical housing 114. Thus, by means of the first cable constraint 112 and the second cable constraint 113, the main coaxial line, after being led out from the image sensor and angle acquisition board assembly 122 of the lens module 12 and passing through the rotating shaft of the roll axis motor 23, can be constrained and positioned by the first cable constraint 112, and constrained and positioned by the second cable constraint 113 before being introduced into the pitch axis motor 24. This allows the two ends of the main coaxial line between the roll axis motor 23 and the pitch axis motor 24 to be fixed, so that this section of the main coaxial line can be stably attached to the inner wall of the cylindrical housing 114, and will not swing when the roll axis motor 23 rotates, avoiding any impact on the normally operating lens module 12 and ensuring the working stability of the three-axis gimbal camera device 100.

[0031] In the embodiment shown in the accompanying drawings, the second cable constraint 113 is disposed at the pitch axis motor 24. When setting the second cable constraint 113, the second cable constraint 113 can be first disposed at the end face of the pitch axis motor 24, and then the pitch axis motor 24 can be installed at the motor connection position 110, thereby realizing the setting of the second cable constraint 113. It can be understood that in some other embodiments, the second cable constraint 113 can also be disposed on the inner side wall of the cylindrical housing 114 near the edge of the motor connection position 110.

[0032] Preferably, the first cable constraint member 112 and the second cable constraint member 113 are located on the same generatrix direction of the inner wall of the cylindrical housing 114. In this way, the main coaxial line segment between the first cable constraint member 112 and the second cable constraint member 113 is attached to the inner wall of the cylindrical housing 114 along the generatrix, which can ensure that this main coaxial line segment is tightly attached to the inner wall of the cylindrical housing 114.

[0033] like Figure 4 and Figure 5 As shown, in this preferred embodiment, the first cable constraint member 112 is designed as an arc-shaped hook extending inward from the inner sidewall of the cylindrical housing 114, so that the main coaxial cable can be inserted into the arc-shaped hook and constrained and fixed by the first cable constraint member 112; while the second cable constraint member 113 is designed as an inverted U-shaped structure, including a top plate 1130, two side plates 1131 extending downward from the two ends of the top plate 1130, and two support plates 1132 extending outward from the lower edge of the side plates 1131. The two support plates 1132 are attached to the target position (for example, the end face of the pitch axis motor 24 facing the inside of the cylindrical housing 114, or the edge of the inner sidewall of the cylindrical housing 114 near the motor connection position 110), and can be fastened with screws, thereby realizing the installation of the second cable constraint member 113. In this way, the main coaxial cable can be passed through the second cable constraint member 113 and constrained and fixed by the second cable constraint member 113.

[0034] Continue to refer to Figure 3 and Figure 4 In this preferred embodiment, the motor connection position 110 includes a connection position opening 1100 formed on the side wall of the cylindrical housing 114, a connection position enclosure 1101 extending outward around the connection position opening 1100, and an annular connecting plate 1102 disposed at the inner end face of the connection position enclosure 1101. The rotor 241 of the pitch axis motor 24 is connected to the annular connecting plate 1102 to drive the lens barrel 11 to rotate, thereby realizing the pitch operation of the lens module 12 installed inside the lens barrel 11.

[0035] In some embodiments, the motor mounting position 111 includes a plurality of mounting support plates 1110 spaced apart around the rear inner sidewall of the cylindrical housing 114, each mounting support plate 1110 having a through hole 1111. Thus, the motor mounting plate 232, fixed to the roll motor 23, is supported by the plurality of mounting support plates 1110, and screws are passed through the motor mounting plate 232 and screwed onto the mounting support plates 1110, thereby enabling the roll motor 23 to be mounted within the cylindrical housing 114.

[0036] Continue to refer to Figure 2 In some embodiments, the three-axis gimbal camera device 100 may further include an electrostatic discharge (ESD) protection component. The ESD protection component includes a first conductive post 41 and an onboard connector 42. The first conductive post 41 may be a conductive copper post, a conductive iron post, or a conductive aluminum post, etc. The power control board assembly 253 contacts the bottom cover 212 on the base 210 through the first conductive post 41 to achieve ESD protection. The onboard connector 42 includes an onboard connector male socket 421 and an onboard connector female socket 422. The onboard connector male socket 421 is disposed on the lower surface of the main control board assembly 252, and the onboard connector female socket 422 is correspondingly disposed on the upper surface of the power control board assembly 253 to cooperate with the onboard connector male socket 421 to realize the connection between the main control board assembly 252 and the power control board assembly 253. In some other embodiments, the main control board assembly 252 may also be connected to the power control board assembly 253 via a second conductive pillar (e.g., a conductive copper pillar, a conductive iron pillar, or a conductive aluminum pillar).

[0037] Understandably, to enhance electrostatic protection, in some other embodiments, the electrostatic protection component may further include a first conductive material. The power control board assembly 253 may also contact the bottom cover 212 on the base 210 through the first conductive material. Furthermore, a second conductive material may be attached to the side interface of the main control board assembly 252. The second conductive material contacts the power control board assembly 253 and / or the bottom cover 212 on the base 210. When the second conductive material contacts the bottom cover 212, a notch may be made on the power control board assembly 253 corresponding to the position of the second conductive material. The second conductive material passes through the notch and contacts the bottom cover 212 for electrostatic protection. In this embodiment, the first and second conductive materials may be conductive foam or conductive tape, etc.

[0038] Combination Figure 7In some embodiments, a baffle 254 is provided at the side interface of the main control board assembly 252. The upper part of the baffle 254 is connected to the base 210, and the lower part of the baffle 254 is connected to the bottom cover 212. The baffle 254 has a first through hole 2541 corresponding to the side interface of the main control board assembly 252, and a second through hole 2542 corresponding to the side interface of the power control board assembly 251. Understandably, the shape and number of the first through hole 2541 and the second through hole 2542 are respectively set according to the shape and number of the side interfaces of the main control board assembly 252 and the power control board assembly 251. Based on the above design, the present invention provides a baffle 254 inside the base 210 to facilitate the assembly of the main control board assembly 252 and the power control board assembly 251.

[0039] Understandably, when the three-axis gimbal camera device 100 of the present invention is working, it can be charged and communicate bidirectionally via a serial port through the exposed pin 2551. After the pin signal is transmitted to the power control board 253, the power control board 253 processes the signal a second time and then transmits it to the main control board 252 through the onboard connector 42. The main control board 252 processes the signal separately and sends control commands to the Wi-Fi board 251. The Wi-Fi board 251 can directly control the rotation of the yaw axis motor 22. The rotor of the yaw axis motor 22 drives the support arm 211 to rotate, completing the yaw action of the gimbal. At the same time, it can also send commands to the ESC board 242 of the pitch axis motor 24 to control the pitch axis motor 24. The rotation of the rotor drives the cylindrical housing 114 to rotate, completing the pitch movement of the gimbal. It can also send control commands to the lens drive and control board 121, so that the lens drive and control board 121 controls the rotation of the rotor 231 of the roll axis motor 23. Since its rotor 231 is connected to the lens module 12, it can drive the lens module 12 and lens 1241 to rotate in conjunction with the support 123 to complete the pan-tilt movement. During shooting, the main control board 252 can also send control commands to the lens drive and control board 121, thereby driving the lens motor of the lens 1241 to achieve focusing of the lens 1241. At the same time, it can also control the image sensor and the CMOS sensor on the angle acquisition board 122 to work, thereby completing the shooting.

[0040] In summary, the three axes of the three-axis gimbal camera device of this invention are designed in the following order from bottom to top: YAW (yaw axis) - PITCH (pitch axis) - ROLL (roll axis). The camera module and support arm can form a cantilever structure, and the roll axis motor is integrated into the lens barrel. The lens barrel can protect the lens module and the roll axis motor. Compared with traditional gimbal cameras, the size in the optical axis direction of the camera is reduced, and there is no need to set up connecting mechanisms on both sides of the camera module. The overall size is smaller, and after the roll axis motor drives the lens module to complete the horizontal and vertical shooting mode switching, the pitch axis motor still has the pitch function, which works in conjunction with normal operation. The working yaw axis motor can achieve a wider shooting range and better tracking shooting effect; in addition, the present invention separates power control and camera control, with clear hardware design and clear division of labor for each board group. When a fault occurs during subsequent debugging and use, the fault point can be quickly located. Multiple boards are stacked and interspersed between mechanical structures, which can save space and reduce product size while realizing functions. At the same time, heat dissipation components and electrostatic protection components are also set up to quickly dissipate heat through the cooperation of cooling fans, heat sinks and heat conduction components in the heat dissipation components, and electrostatic protection is achieved through conductive pillars and conductive materials.

[0041] The above preferred embodiments should be regarded as illustrative examples of the implementation of the present invention. Any technical deductions, substitutions, improvements, etc. that are similar to or based on the present invention should be considered within the scope of protection of this patent.

Claims

1. A three-axis gimbal camera device, characterized in that, The three-axis gimbal camera device includes a camera module and a gimbal module, wherein... The camera module includes a lens barrel and a lens module installed inside the lens barrel; The gimbal module includes: A support arm mechanism includes a base and a support arm located above the base to support the camera module; A yaw axis motor is installed inside the base, with its rotor extending out of the base and connected to the support arm to drive the support arm to rotate; A pitch axis motor is installed at the upper end of the support arm, and its rotor is connected to the middle of the side wall of the lens barrel to drive the lens barrel to rotate. A roll shaft motor is installed at one end inside the lens barrel, and its rotor is connected to the lens module to drive the lens module to rotate.

2. The three-axis gimbal camera device as described in claim 1, characterized in that, The gimbal module also includes: The control component is mounted on the base. The main coaxial line is led out from the lens module, passes through the roll axis motor, is attached to the inner side wall of the lens barrel, and is introduced into the pitch axis motor. It then passes through the support arm, passes through the yaw axis motor, and enters the base to connect with the control component, so that the control component is electrically connected to the lens module.

3. The three-axis gimbal camera device as described in claim 2, characterized in that, The lens module includes: Lens assembly; A lens drive and control board assembly is mounted on the side of the lens assembly and electrically connected to the lens assembly and the roll axis motor. It is used to drive the lens motor of the lens assembly to control the lens focusing, zooming and drive the roll axis motor. An image sensor and angle acquisition board are installed at the rear end of the lens assembly. They are electrically connected to the control assembly via a main coaxial cable and to the lens drive and control board via a connecting cable. They are used to sense the attitude information of the roll axis, yaw axis, and pitch axis of the lens assembly, as well as the angular position change of the roll axis motor, and to store the lens calibration data.

4. The three-axis gimbal camera device as described in claim 3, characterized in that, The control components include, from top to bottom, a Wi-Fi board group, a main control board group, and a power control board group for charging control and power supply. The Wi-Fi board group has a second coaxial cable leading out, which passes through the yaw axis motor and enters the base to connect with the main control board group. The power control board group is electrically connected to the main control board group and the Wi-Fi board group. The Wi-Fi board group is electrically connected to the yaw axis motor and the pitch axis motor to control the yaw axis motor and the pitch axis motor through the Wi-Fi board group. The Wi-Fi board group communicates with the lens drive and control board group through a serial port to control the roll axis motor. The main control board group is connected to the main coaxial cable leading out from the lens module to control the operation of the lens module.

5. The three-axis gimbal camera device as described in claim 4, characterized in that, The three-axis gimbal camera device also includes a heat dissipation component, which includes a fan. The fan is located between the main control board group and the power control board group, and the base has an air vent corresponding to the fan.

6. The three-axis gimbal camera device as described in claim 5, characterized in that, The heat dissipation assembly also includes a radiator, the fan is fixedly connected to the radiator, and the lower surface of the radiator is provided with multiple fins along the direction from the air outlet of the fan to the air outlet of the base. A cover plate is provided under the radiator to form a sealed heat dissipation channel with the radiator and the multiple fins.

7. The three-axis gimbal camera device as described in claim 6, characterized in that, The cover plate is in contact with the bottom of the base through a thermally conductive material.

8. The three-axis gimbal camera device as described in claim 5, characterized in that, The yaw axis motor is located between the Wi-Fi board assembly and the main control board assembly. The heat dissipation assembly also includes a heat-conducting component, which connects the main control board assembly and the yaw axis motor.

9. The three-axis gimbal camera device as described in claim 8, characterized in that, Thermally conductive material is adhered between the heat-conducting component, the main control board assembly, and the yaw axis motor.

10. The three-axis gimbal camera device as described in claim 4, characterized in that, The gimbal module also includes an electrostatic discharge (ESD) protection component. The bottom of the base is covered with a bottom cover. The ESD protection component includes a first conductive column and / or a first conductive material. The power control board assembly contacts the bottom cover through the first conductive column and / or the first conductive material.

11. The three-axis gimbal camera device as described in claim 10, characterized in that, The electrostatic discharge protection assembly also includes an onboard connector and / or a second conductive post, and the main control board assembly and the power control board assembly are connected through the onboard connector and / or the second conductive post.

12. The three-axis gimbal camera device as described in claim 10 or 11, characterized in that, A second conductive material is attached to the side interface of the main control board assembly, and the second conductive material is in contact with the power control board assembly and / or the base.

13. The three-axis gimbal camera device as described in claim 12, characterized in that, A baffle is provided at the side interface of the main control board assembly. The upper part of the baffle is connected to the base, and the lower part of the baffle is connected to the bottom cover. The baffle has a first through hole corresponding to the side interface of the main control board assembly, and a second through hole corresponding to the side interface of the power control board assembly.

14. The three-axis gimbal camera device as described in claim 10, characterized in that, The gimbal module also includes an expansion interface assembly, which includes a connecting plate and a magnet. The connecting plate is provided with at least one PIN pin that is electrically connected to the power control board assembly. A first slot is provided on the bottom cover, the connecting plate is placed in the first slot and fixed to the bottom cover, and the PIN pin extends out of the first slot. At least one second slot is also provided on the bottom cover, and the magnet is fixed in the second slot so that the three-axis camera device can be magnetically connected to other expansion products.

15. The three-axis gimbal camera device as described in claim 4, characterized in that, The three-axis gimbal camera device also includes a battery that powers the camera module and the gimbal module. The battery is located above the main control board and below the yaw axis motor.

16. The three-axis gimbal camera device as described in claim 2, characterized in that, The lens tube includes: Cylindrical shell; An end cap is provided at the rear end of the cylindrical shell; A motor mounting position is formed inside the rear end of the cylindrical housing, the roll shaft motor is disposed in the motor mounting position, and its rotor is connected to the lens module; A motor connection position is formed in the middle of the side wall of the cylindrical housing, and the rotor of the pitch axis motor is located at the motor connection position and connected to the cylindrical housing; A first cable constraint is formed on the inner wall of the cylindrical housing near the motor mounting position; The second cable constraint is provided on the end face of the pitch axis motor facing the inside of the cylindrical housing and exposed inside the cylindrical housing, or it is provided on the inner side wall of the cylindrical housing near the edge of the motor connection position; The main coaxial cable extends from the lens module and passes through the roll axis motor. It is then constrained and positioned by the first cable constraint member, attaches to the inner wall of the cylindrical housing, extends to the second cable constraint member, and is constrained and positioned by the second cable constraint member before being introduced into the pitch axis motor.

17. The three-axis gimbal camera device as described in claim 16, characterized in that, The first cable constraint member and the second cable constraint member are located on the same generatrix direction of the inner sidewall of the cylindrical shell. The first cable constraint member is an arc-shaped hook member that extends inward from the inner sidewall of the cylindrical shell. The second cable constraint member is an inverted U-shaped structure, including a top plate, two side plates that extend downward from the two ends of the top plate, and two support plates that extend outward from the lower edge of the side plates.

18. The three-axis gimbal camera device as described in claim 16, characterized in that, The motor connection position includes a connection position opening formed on the side wall of the cylindrical housing, a connection position enclosure extending outward around the connection position opening, and an annular connection plate disposed at the inner end face of the connection position enclosure.

19. The three-axis gimbal camera device as described in claim 16, characterized in that, The motor mounting position includes a plurality of mounting bearing plates spaced apart around the inner rear wall of the cylindrical housing, and a through hole is formed on each mounting bearing plate.

20. The three-axis gimbal camera device as described in claim 2, characterized in that, The support arm includes a support base and a support arm extending upward from the side of the top plate of the support base. A pitch axis motor mount is connected to the upper part of the support arm. The pitch axis motor is installed in the pitch axis motor mount, and its rotor is connected to the mirror barrel. The pitch axis motor mount is connected to the support arm and the support base, so that the main coaxial line is introduced into the pitch axis motor and then passes through the pitch axis motor mount, the support arm, the support base and the base in sequence to connect with the control component.

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