Limiting and buffering device of holder
By using an electromagnet for attraction in the gimbal limiting device, the problem of damage caused by impact of the limiting rod is solved, the stability of the gimbal structure and the accuracy of the rotation center are achieved, and the service life of the gimbal is extended.
Patent Information
- Application Number
- CN202423301482.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-28
- Publication Date
- 2025-11-14
- Estimated Expiration
- 2034-12-28
AI Technical Summary
Existing gimbal limiting devices are prone to damage after long-term use, and the impact of the limiting rod on the limiting device can cause gimbal structural deformation or a change in the rotation center.
The limiting mechanism uses an electromagnet to attract and retain objects, and the limiting unit identifies the preset position and controls the energization and de-energization of the electromagnet to avoid impact on the limiting rod and reduce mechanical shock.
It reduces damage to the limiting device, maintains the stability of the gimbal structure and the accuracy of the rotation center, and extends the service life of the gimbal.
Smart Images
Figure CN223550177U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of gimbal technology, and in particular to a gimbal limiting buffer device. Background Technology
[0002] A pan-tilt unit (PTZ) is used to adjust the horizontal and vertical angles of different cameras or LiDAR sensors, increasing the monitoring range of various loads. To ensure the safe operation of the PTZ and the load, the rotation angle of the PTZ is limited. Most existing PTZ limiting methods use mechanical or electrical limits. When the PTZ moves at high speed with its maximum rotation angle, the limiting device is subjected to significant impact due to inertia. With mechanical limits, such long-term operation can cause parts to loosen; with electrical limits, contact sensors are prone to damage after prolonged impact, affecting the continuity of PTZ operation. Furthermore, existing PTZ limiting devices have a protruding limiting rod on its rotatable structural part. When the limiting rod rotates to the mechanical or electrical limit switch, it impacts the switch, causing the PTZ to rotate in the opposite direction. This protruding design of the limiting rod may cause deformation of the limiting device or a change in the rotation center of the rotatable structure during long-term use.
[0003] Therefore, overcoming the shortcomings of the existing technology is an urgent problem to be solved in this technical field. Utility Model Content
[0004] The technical problem this invention aims to solve is that existing gimbal limiting devices, which use a limiting rod to strike the limiting device for limiting, are prone to damage after long-term use, which is detrimental to the long-term use of the gimbal.
[0005] The present invention adopts the following technical solution:
[0006] A gimbal limiting and buffering device includes: a motor 1, a transmission shaft 2, a first mounting plate 3, and multiple limiting units 4; the first mounting plate 3 is fixedly connected to the end face of the motor shaft of the motor 1, the limiting units 4 are fixedly mounted on the first mounting plate 3, the motor shaft of the motor 1 is fixedly connected to the transmission shaft 2, and the transmission shaft 2 is rotatably connected to the first mounting plate 3.
[0007] The upper end of the drive shaft 2 is provided with a second mounting plate 20, and the first mounting plate 3 is provided with a plurality of electromagnets 30. The electromagnets 30 are used to attract the second mounting plate 20 by energizing according to the limiting signal of the limiting unit 4, thereby limiting the rotation angle of the second mounting plate 20.
[0008] Preferably, a fixing plate 10 is provided on the end face of the motor shaft of the motor 1, the fixing plate 10 is fixedly connected to the motor 1, and the first mounting plate 3 is fixedly connected to the fixing plate 10.
[0009] Preferably, the first mounting plate 3 and the fixing plate 10 are fixedly connected by bolts.
[0010] Preferably, the lower surface of the second mounting plate 20 is provided with an iron sheet 200, which is fixedly connected to the second mounting plate 20.
[0011] Preferably, the iron sheet 200 is fixedly connected to the second mounting plate 20 by means of bolts or adhesive.
[0012] Preferably, the distance between the electromagnet 30 and the iron sheet 200 is 1mm-3mm.
[0013] Preferably, the limiting unit 4 is an infrared detector, and the lower surface of the iron sheet 200 is provided with a groove 201. When the infrared detector detects the position of the groove 201, the motor 1 drives the second mounting plate 20 to rotate in the opposite direction, or the motor 1 stops driving the second mounting plate 20 to rotate.
[0014] Preferably, there are two limiting units 4, and the two limiting units 4 are located on the same diameter line of the second mounting plate 20, and the initial position of the groove 201 is set on the vertical line of the diameter line.
[0015] Preferably, there are three limiting units 4, including a first limiting device 40, a second limiting device 41 and a third limiting device 42. With the center of the second mounting plate 20 as a reference point, the first limiting device 40 and the second limiting device 41 are distributed at a 90-degree interval, and the third limiting device 42 is distributed at a 135-degree distance from the first limiting device 40 and the second limiting device 41. The initial position of the groove 201 is set directly above the third limiting device 42.
[0016] Preferably, the number of electromagnets 30 is at least four.
[0017] Compared with the prior art, the beneficial effects of this utility model are as follows: By setting an electromagnet 30 on the first mounting plate 3, when the transmission shaft 2 drives the second mounting plate 20 to rotate to the preset position, the limiting unit 4 identifies the position of the second mounting plate 20, so that the electromagnet 30 can be energized and de-energized according to the limiting signal of the limiting unit 4. After one energization operation, the motor 1 rotates in the reverse direction or stops rotating. Compared with the existing limiting device that uses the limiting rod to hit the limiting device, using the electromagnet 30 to limit the second mounting plate 20 minimizes the damage to the limiting buffer device, and there is no structure protruding from the device body. During the long-term use of the gimbal, the rotation center of the second mounting plate 20 and the transmission shaft 2 will not be affected. Attached Figure Description
[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments of this utility model will be briefly described below. Obviously, the drawings described below are merely some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.
[0019] Figure 1 This is a schematic diagram of the overall structure of a gimbal limiting buffer device provided in an embodiment of this utility model;
[0020] Figure 2 This is a schematic diagram of an electromagnet for a gimbal limiting buffer device provided in an embodiment of this utility model;
[0021] Figure 3 This is a schematic diagram of the iron sheet of a gimbal limiting buffer device provided in an embodiment of this utility model;
[0022] Figure 4 This is a schematic diagram of the groove of a limiting buffer device for a gimbal provided in an embodiment of this utility model;
[0023] Figure 5 This is a schematic diagram of a gimbal limiting buffer device provided in this embodiment of the present invention when the number of limiting units is 2;
[0024] Figure 6 This is a schematic diagram of a gimbal limiting buffer device provided in this embodiment of the present invention when the number of limiting units is 3.
[0025] The attached figures are labeled as follows:
[0026] 1-Motor, 10-Fixed plate, 2-Drive shaft, 20-Second mounting plate, 200-Iron sheet, 201-Groove, 3-First mounting plate, 30-Electromagnet, 4-Limit unit, 40-First limiter, 41-Second limiter, 42-Third limiter. Detailed Implementation
[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.
[0028] Unless the context otherwise requires, throughout the specification and claims, the term "comprising" is interpreted as openly inclusive, meaning "including, but not limited to." In the description of the specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this disclosure. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics mentioned may be included in any suitable manner in any one or more embodiments or examples; that is, although they may be incorporated into embodiments or examples using the above terms for reasons such as order and position, it does not limit them to be incorporated in combination by a single embodiment or example.
[0029] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.
[0030] In the description of this utility model, the terms "first" and "second" are used 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 with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more. Furthermore, for example, the description may use the prefix "A" or "B" to describe the same type of nouns as two independent entities. In this case, the features defined with "A" and "B" are used only to distinguish between similar entities and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.
[0031] In describing some embodiments, the terms "coupled," "coupled," and "connected," and their derivative expressions, may be used. For example, the term "connected" may be used in describing some embodiments to indicate that two or more components have direct physical or electrical contact with each other. Similarly, the term "coupled" may be used in describing some embodiments to indicate that two or more components have direct physical or electrical contact. However, the terms "connected" or "coupled" may also refer to two or more components that do not have direct contact with each other but still cooperate or interact with each other, such as "optical coupling" or "wireless connection." The embodiments disclosed herein are not necessarily limited to the scope of this invention.
[0032] In the description of this utility model, the expression "A and / or B" (where A and B are used to formally represent specific features) will be involved. The corresponding expression includes the following three combinations: only A, only B, and a combination of A and B.
[0033] As used in this invention, “about,” “approximately,” or “approximately” includes the stated value and the average value within an acceptable range of deviation from the specified value, wherein the acceptable range of deviation is determined by a person skilled in the art taking into account the measurement under discussion and the error associated with the measurement of the specified quantity (i.e., the limitations of the measurement system).
[0034] Furthermore, the technical features involved in the various embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.
[0035] Example 1:
[0036] Embodiment 1 of this utility model provides a limiting buffer device for a gimbal, such as... Figure 1 As shown, the system includes: a motor 1, a drive shaft 2, a first mounting plate 3, and multiple limiting units 4. The first mounting plate 3 is fixedly connected to the end face of the motor shaft of the motor 1. The limiting units 4 are fixedly mounted on the first mounting plate 3. The motor shaft of the motor 1 is fixedly connected to the drive shaft 2, and the drive shaft 2 is rotatably connected to the first mounting plate 3. A second mounting plate 20 is provided at the upper end of the drive shaft 2. Multiple electromagnets 30 are provided on the first mounting plate 3. The electromagnets 30 are used to attract the second mounting plate 20 by energizing it according to the limiting signal of the limiting unit 4, thereby limiting the rotation angle of the second mounting plate 20. Specifically, the number of electromagnets 30 is at least four. (See reference...) Figure 2 As shown in this embodiment of the invention, the number of electromagnets 30 is set to 6.
[0037] By setting an electromagnet 30 on the first mounting plate 3, when the drive shaft 2 drives the second mounting plate 20 to rotate to a preset position, the limiting unit 4 identifies the position of the second mounting plate 20, so that the electromagnet 30 can be energized and de-energized according to the limiting signal of the limiting unit 4. After one energization operation, the motor 1 rotates in the opposite direction or stops rotating. Compared with the existing limiting device that uses the limiting rod to hit the limiting device, using the electromagnet 30 to limit the second mounting plate 20 minimizes the damage to the limiting buffer device, and there is no structure protruding from the device body. During the long-term use of the gimbal, the rotation center of the second mounting plate 20 and the drive shaft 2 will not be affected.
[0038] Based on the solutions provided above, the structures mentioned in the solutions will be further elaborated below.
[0039] Since the first mounting plate 3 is equipped with a limit unit 4 and an electromagnet 30, in order to fix the first mounting plate 3 on the motor 1, refer to... Figure 1 As shown, a fixing plate 10 is provided on the end face of the motor shaft of the motor 1. The fixing plate 10 is fixedly connected to the motor 1, and the first mounting plate 3 is fixedly connected to the fixing plate 10. In one embodiment, the first mounting plate 3 and the fixing plate 10 are fixedly connected by bolts. That is, the fixing plate 10 is fixedly connected to the housing of the motor 1, and the first mounting plate 3 is fixedly connected to the fixing plate 10. The motor 1 drives the second mounting plate 20 to rotate.
[0040] The above scheme mentions that the electromagnet 30, based on the limiting signal of the limiting unit 4, is energized to attract the second mounting plate 20, thus limiting the rotation angle of the second mounting plate 20. In this embodiment, as... Figure 3 As shown, a metal sheet 200 is provided on the lower surface of the second mounting plate 20, and the metal sheet 200 is fixedly connected to the second mounting plate 20. The metal sheet 200 is fixed to the second mounting plate 20 by means of bolts or adhesive. Furthermore, to ensure that the electromagnet 30 can quickly attract the metal sheet 200 the moment it is energized, the distance between the electromagnet 30 and the metal sheet 200 is 1mm-3mm.
[0041] In order for the limiting unit 4 to identify the position of the second mounting plate 20 and issue a limiting signal, in one embodiment, the limiting unit 4 is an infrared detector, such as... Figure 3 and Figure 4As shown, the lower surface of the iron sheet 200 is provided with a groove 201. When the infrared detector detects the position of the groove 201, the motor 1 drives the second mounting plate 20 to rotate in the opposite direction, or the motor 1 stops driving the second mounting plate 20 to rotate. A control unit is installed in the gimbal. Motor 1, electromagnet 30, and infrared detector are all connected to the control unit. The lower surface of the iron plate 200 is a smooth and flat plane. When the infrared detector is performing detection, the light signal emitted on the flat part of the lower surface of the iron plate 200 returns in equal time. When the groove 201 rotates above the infrared detector, the light signal returns in a longer time. This longer return time is the limit signal of the infrared detector. After receiving the limit signal, the control unit controls the motor 1 to stop rotating and the electromagnet 30 to be energized. The electromagnet 30 attracts the iron plate 200, causing the second mounting plate 20, which is fixedly connected to the iron plate 200, to stop rotating. At the instant the electromagnet 30 is energized, the second mounting plate 20 may continue to rotate forward a small distance due to rotational inertia, but this does not affect the use of the limit buffer device and the gimbal as a whole.
[0042] In practical applications, when a lidar is installed on a pan-tilt unit, if the lidar is wall-mounted, it only needs to monitor a horizontal 180-degree range. Based on this situation, such as... Figure 5 As shown, there are two limiting units 4, located on the same diameter line of the second mounting plate 20. The initial position of the groove 201 is set on the perpendicular bisector of the diameter line. Taking the orientation shown in the figure as an example, when the second mounting plate 20 rotates to the left, the left limiting unit 4 detects the groove 201, and the electromagnet 30 is energized to attract the iron piece 200. Then, the motor 1 drives the second mounting plate 20 to rotate to the right, and the right limiting unit 4 detects the groove 201, and the electromagnet 30 is energized to attract the iron piece 200. Then, the motor 1 drives the second mounting plate 20 to rotate to the left, and so on.
[0043] In another application scenario, if the lidar is an angle-mounted lidar, then the lidar only needs to monitor a 270-degree range excluding the angle-mounted portion. Based on this situation, such as Figure 6As shown, there are three limiting units 4, including a first limiting device 40, a second limiting device 41, and a third limiting device 42. With the center of the second mounting plate 20 as a reference point, the first limiting device 40 and the second limiting device 41 are spaced 90 degrees apart, and the third limiting device 42 is spaced 135 degrees apart from both the first limiting device 40 and the second limiting device 41. The initial position of the groove 201 is directly above the third limiting device 42. Taking the orientation shown in the figure as an example, when the monitoring range of the laser radar is 270 degrees, the third limiting device 42 is closed, the second mounting plate 20 rotates to the left, and after the first limiting device 40 detects the groove 201, the electromagnet 30 is energized to attract the iron piece 200. Subsequently, the motor 1 drives the second mounting plate 20 to rotate to the right, and after the second limiting device 41 detects the groove 201, the electromagnet 30 is energized to attract the iron piece 200. Subsequently, the motor 1 drives the second mounting plate 20 to rotate to the left, and this cycle repeats. Similarly, if the monitoring range of the lidar is smaller, such as 135 degrees, the first limiter 40 or the second limiter 41 can be closed, and the other two limiters can be used to identify the groove 201.
[0044] Based on the two scenarios described above, if 360-degree monitoring by the LiDAR is required, all limit units 4 can be turned off, eliminating the need to limit the rotation angle of the gimbal, thus achieving 360-degree monitoring by the LiDAR. In practical applications, the number of limit units can be set according to actual needs. The number described in this embodiment is merely an example and should not be the only possible setting.
[0045] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A limiting buffer device for a gimbal, characterized in that, include: The motor (1), transmission shaft (2), first mounting plate (3) and multiple limiting units (4) are fixedly connected to the end face of the motor shaft of the motor (1), the limiting units (4) are fixedly installed on the first mounting plate (3), the motor shaft of the motor (1) is fixedly connected to the transmission shaft (2), and the transmission shaft (2) is rotatably connected to the first mounting plate (3). The upper end of the drive shaft (2) is provided with a second mounting plate (20), and the first mounting plate (3) is provided with a plurality of electromagnets (30). The electromagnets (30) are used to attract the second mounting plate (20) by energizing according to the limiting signal of the limiting unit (4), thereby limiting the rotation angle of the second mounting plate (20).
2. The limiting buffer device for the gimbal according to claim 1, characterized in that, A fixing plate (10) is provided on the end face of the motor shaft of the motor (1), the fixing plate (10) is fixedly connected to the motor (1), and the first mounting plate (3) is fixedly connected to the fixing plate (10).
3. The limiting buffer device for the gimbal according to claim 2, characterized in that, The first mounting plate (3) and the fixing plate (10) are fixedly connected by bolts.
4. The limiting buffer device for the gimbal according to claim 1, characterized in that, The lower surface of the second mounting plate (20) is provided with an iron sheet (200), which is fixedly connected to the second mounting plate (20).
5. The limiting buffer device for the gimbal according to claim 4, characterized in that, The iron sheet (200) is fixedly connected to the second mounting plate (20) by means of bolts or adhesive.
6. The limiting buffer device for the gimbal according to claim 4, characterized in that, The distance between the electromagnet (30) and the iron sheet (200) is 1mm-3mm.
7. The limiting buffer device for the gimbal according to claim 4, characterized in that, The limiting unit (4) is an infrared detector. The lower surface of the iron sheet (200) is provided with a groove (201). When the infrared detector detects the position of the groove (201), the motor (1) drives the second mounting plate (20) to rotate in the opposite direction, or the motor (1) stops driving the second mounting plate (20) to rotate.
8. The limiting buffer device for the gimbal according to claim 7, characterized in that, The number of the limiting units (4) is two, and the two limiting units (4) are located on the same diameter line of the second mounting plate (20). The initial position of the groove (201) is set on the vertical line of the diameter line.
9. The limiting buffer device for the gimbal according to claim 7, characterized in that, The number of limiting units (4) is three, including a first limiting device (40), a second limiting device (41) and a third limiting device (42). With the center of the second mounting plate (20) as the reference point, the first limiting device (40) and the second limiting device (41) are distributed at a 90-degree interval, and the third limiting device (42) is distributed at a 135-degree distance from the first limiting device (40) and the second limiting device (41). The initial position of the groove (201) is set directly above the third limiting device (42).
10. The limiting buffer device for a gimbal according to any one of claims 1-9, characterized in that, The number of electromagnets (30) is at least 4.