Rotary module, gimbal and projection device

Abstract

The application relates to the technical field of driving, and provides a rotating module, a cloud platform and a projection device. The rotating module comprises a first shell, a first driving mechanism, a first damping mechanism and a second damping mechanism. The first driving mechanism comprises a first motor, a first transmission assembly, a first rotating shaft and a first output piece. The first transmission assembly comprises a first transmission piece. The first motor is connected with the first transmission piece. The first rotating shaft is arranged in the first shell. One end of the first rotating shaft is connected with the first transmission piece. The other end of the first rotating shaft extends to the outside of the first shell and is rotationally connected with the first output piece. The first damping mechanism comprises a first damping piece arranged between the first transmission piece and the first shell. The second damping mechanism comprises a second damping piece arranged between the first rotating shaft and the first output piece. The damping torque of the second damping piece is smaller than that of the first damping piece. The application can realize automatic and manual adjustment and meet different use requirements of users.

Description

Technical Field

[0001] This application relates to the field of drive technology, and in particular to a rotating module, a gimbal, and a projection device. Background Technology

[0002] A rotating module is a mechanism that can drive the rotation of loads such as projection devices. However, existing rotating modules typically use a motor to drive the load to rotate, achieving automatic adjustment, but cannot achieve manual rotation adjustment, making it difficult to meet user needs. Utility Model Content

[0003] The purpose of this application is to provide a rotating module, a gimbal, and a projection device, which aims to solve the problem that existing rotating modules can only be automatically adjusted and cannot be manually operated.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0005] In a first aspect, embodiments of this application provide a rotating module, including:

[0006] First shell;

[0007] The first drive mechanism includes a first motor, a first transmission assembly, a first rotating shaft, and a first output component. The first motor is disposed on the first housing. The first transmission assembly includes a first transmission component disposed inside the first housing. The first motor is connected to the first transmission component. The first rotating shaft passes through the first housing. One end of the first rotating shaft is connected to the first transmission component, and the other end of the first rotating shaft extends outside the first housing and is rotatably connected to the first output component.

[0008] The first damping mechanism includes a first damping element, which is disposed between the first transmission element and the first housing.

[0009] The second damping mechanism includes a second damping element, which is disposed between the first rotating shaft and the first output element, and the damping torque of the second damping element is less than the damping torque of the first damping element.

[0010] The rotating module provided in this application embodiment can achieve automatic and manual adjustment by introducing a dual-damping mechanism with different damping values, thereby meeting different user needs.

[0011] In some embodiments, the first transmission member is sleeved on one end of the first rotating shaft, and the first damping mechanism further includes a first adjusting bolt and a first elastic member. The first adjusting bolt is coaxially threaded to one end of the first rotating shaft, and the first elastic member is disposed between the head of the first adjusting bolt and the first transmission member.

[0012] In some embodiments, the first output component is sleeved on the other end of the first rotating shaft, and the second damping mechanism further includes a second adjusting bolt and a second elastic element. The second adjusting bolt is coaxially threaded to the other end of the first rotating shaft, and the second elastic element is disposed between the head of the second adjusting bolt and the first output component.

[0013] In some embodiments, the first damping member includes a first friction plate and a second friction plate sequentially sleeved on the first rotating shaft, wherein the first friction plate is fixed on the first rotating shaft and the second friction plate is fixed on the first housing.

[0014] In some embodiments, the first transmission member is a first output gear, and the first transmission assembly further includes a first intermediate gear disposed in the first housing. The output shaft of the first motor is connected to a first worm gear, and the first worm gear is meshed with the first output gear through the first intermediate gear.

[0015] In some embodiments, at least one of the first output gear and the first intermediate gear is a backlash-free gear.

[0016] Secondly, this application also provides a gimbal, including: a support base, a rotation module, and the rotation module described in the above embodiment. The support base includes a chassis, a base, and a support arm. The base is disposed on the chassis, and the support arm is disposed on the base for supporting the projection host. The rotation module is disposed between the chassis and the base for driving the base to rotate relative to the chassis in a first direction. The rotation module is disposed inside the projection host, and the first output component is connected to the support arm for driving the projection host to rotate relative to the support arm in a second direction, wherein the second direction is perpendicular to the first direction.

[0017] The gimbal provided in this application embodiment can drive the projector to rotate in a first direction through a rotation module, and can also drive the projector to rotate in a second direction through a rotation module, thereby realizing dual-degree-of-freedom adjustment of the projector. This allows for precise adjustment of the projection position of the projector, ensuring projection effect and improving the user experience.

[0018] In some embodiments, the rotating module includes:

[0019] The second housing is fixedly connected to the base;

[0020] The second drive mechanism includes a second motor, a second transmission assembly, a second rotating shaft, a second connecting member, and a second output member. The second motor is mounted on the second housing. The second transmission assembly includes a second transmission member disposed within the second housing. The second motor is connected to the second transmission member. The second connecting member is fixed to the second transmission member and rotatably connected to the second rotating shaft. The second output member is fixedly connected to the second rotating shaft and fixedly connected to the chassis.

[0021] The third damping mechanism includes a third damping element disposed on the second rotating shaft, the third damping element being disposed between the second connecting member and the second output member.

[0022] In some embodiments, the damping torque of the second damping element is greater than the gravitational torque of the projection host.

[0023] Thirdly, this application also provides a projection device, including: a projection host and a pan-tilt unit as described in the above embodiments, wherein the projection host is rotatably mounted on the pan-tilt unit. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of the rotating module provided in the embodiments of this application;

[0026] Figure 2 This is an exploded view of the rotating module provided in the embodiments of this application;

[0027] Figure 3 This is one of the structural cross-sectional views of the rotating module provided in the embodiments of this application;

[0028] Figure 4 for Figure 1 A magnified view of part A;

[0029] Figure 5 This is a schematic diagram of the backlash of the transmission gear provided in an embodiment of this application;

[0030] Figure 6 An exploded view of the backlash-free gear provided in the embodiments of this application;

[0031] Figure 7 This is a schematic diagram of the structure of the projection device provided in the embodiments of this application;

[0032] Figure 8 An exploded view of the projection device provided in the embodiments of this application;

[0033] Figure 9 This is an exploded view of the bottom structure of the support base provided in the embodiments of this application;

[0034] Figure 10 This is a schematic diagram of the structure of the rotating module provided in the embodiments of this application;

[0035] Figure 11 This is an exploded view of the rotating module provided in the embodiments of this application;

[0036] Figure 12 This is a cross-sectional view of the rotating module provided in an embodiment of this application;

[0037] Figure 13 for Figure 10 A magnified view of section B;

[0038] Figure 14 This is a second structural cross-sectional view of the rotating module provided in the embodiments of this application.

[0039] The following are the labeling elements in the figure:

[0040] 100. Rotating module;

[0041] 101. First housing; 102. First motor; 103. First transmission assembly; 104. First rotating shaft; 105. First output component; 106. First transmission component; 107. First damping component;

[0042] 108. Second damping element; 109. First cover; 110. First shell; 111. First mounting hole;

[0043] 112. First bushing; 113. First flange; 114. First adjusting bolt; 115. First elastic element; 116. First clamping washer; 117. Second adjusting bolt; 118. Second elastic element;

[0044] 119. Second clamping gasket; 120. First friction plate; 121. Second friction plate;

[0045] 122. Snap-fit ​​protrusion; 123. Snap-fit ​​groove; 124. First intermediate gear; 125. First worm gear; 126. Second bushing; 127. First open retaining ring; 128. First groove structure;

[0046] 129. First pin; 130. Gear; 131. Screw; 132. Adapter;

[0047] 200. Gimbal;

[0048] 201. Support base; 202. Chassis; 203. Base; 204. Support arm; 205. Elastic foot pad; 206. Circular rib;

[0049] 300. Rotating module;

[0050] 301. Second housing; 302. Second motor; 303. Second transmission assembly; 304. Second rotating shaft;

[0051] 305. Second connecting component; 306. Second output component; 307. Second transmission component;

[0052] 308. Third damping component; 309. Second cover; 310. Second shell; 311. Second heat dissipation hole;

[0053] 312. Second mounting hole; 313. Second adjusting nut; 314. Third elastic element;

[0054] 315. Fourth damping component; 316. Third clamping washer; 317. Second intermediate gear;

[0055] 318. Second worm gear; 319. Third bushing; 320. Second open retaining ring;

[0056] 321. Second groove structure; 322. Second pin;

[0057] 400. Projector host. Detailed Implementation

[0058] The embodiments of this application are described in detail below. Examples of these embodiments are shown 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 intended to explain this application, and should not be construed as limiting this application.

[0059] In the description of the embodiments of this application, it should be understood that the terms "upper", "lower", "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 the embodiments of this application 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 the embodiments of this application.

[0060] Furthermore, 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 technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0061] In the embodiments of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0062] In some embodiments, refer to Figures 1 to 3 As shown, this application provides a rotating module 100, including: a first housing 101, a first drive mechanism, a first damping mechanism, and a second damping mechanism. The first drive mechanism includes a first motor 102, a first transmission assembly 103, a first rotating shaft 104, and a first output component 105. The first motor 102 is mounted on the first housing 101. The first transmission assembly 103 includes a first transmission component 106 disposed within the first housing 101. The first motor 102 is connected to the first transmission component 106. The first rotating shaft 104 passes through the first housing 101. One end of the first rotating shaft 104 is connected to the first transmission component 106, and the other end of the first rotating shaft 104 extends outside the first housing 101 and is rotatably connected to the first output component 105. The first damping mechanism includes a first damping component 107 disposed between the first transmission component 106 and the first housing 101. The second damping mechanism includes a second damping component 108 disposed between the first rotating shaft 104 and the first output component 105. The damping torque of the second damping component 108 is less than the damping torque of the first damping component 107.

[0063] The first housing 101 serves as the outer shell of the entire rotating module 100, primarily supporting and protecting the internal components. The first housing 101 can be a split structure, comprising a first cover 109 and a first shell 110 that are joined together. The first cover 109 can be fastened to the first shell 110 using screws or other fasteners, thereby enclosing a space for accommodating the internal components. The detachable design of the first housing 101 facilitates the disassembly and maintenance of the internal components.

[0064] The first motor 102, serving as the drive source for the rotating module 100, can be located either outside or inside the first housing 101. Since the first motor 102 generates heat during use, its location outside the housing 101 facilitates direct heat dissipation. When located inside the housing 101, the first cover 109 and / or the first housing 110 can be made of a metal material with sufficient strength and heat dissipation properties, such as aluminum alloy or steel. Alternatively, first heat dissipation holes (not shown in the figure) can be provided on the first cover 109 and / or the first housing 110. This ensures structural strength while improving heat dissipation, thereby guaranteeing the normal operation of the first motor 102. The first transmission component 106 can be a gear, pulley, or similar material used to transmit power from the first motor 102. The bottom wall of the first housing 110 has a first mounting hole 111, and a first bushing 112 is provided inside the first mounting hole 111. The first rotating shaft 104 is installed inside the first bushing 112 and can rotate relative to the first bushing 112. The first bushing 112 can be made of POM (polyoxymethylene) material, which has excellent self-lubricating and wear-resistant properties, thereby reducing the rotational resistance of the first rotating shaft 104 and improving its rotational performance. One end of the first rotating shaft 104 is located inside the first housing 101 and is fixedly connected to the first transmission component 106. The other end of the first rotating shaft 104 is located outside the first housing 101 and is rotatably connected to the first output component 105, that is, the first output component 105 can rotate relative to the first rotating shaft 104. The first output component 105 is located outside the first housing 101 and is used to connect a load and drive it to rotate. The load can be various electronic devices, including but not limited to the projector host 400.

[0065] The first damping element 107 is disposed between the first transmission element 106 and the bottom wall of the first housing 110, and is used to provide damping torque. A first flange 113 may be disposed on the first rotating shaft 104, and a second damping element 108 is disposed between the first flange 113 and the first output element 105, and is used to provide damping torque. The specific types of the first damping element 107 and the second damping element 108 are not particularly limited in this application; for example, they can be friction plates, friction discs, rubber, or elastomer materials.

[0066] The working principle of the rotating module 100 provided in the embodiments of this application is described below, which generally includes an automatic adjustment mode (motor driven) and a manual adjustment mode (no motor driven).

[0067] Automatic adjustment mode: The first motor 102 starts running. The driving torque output by the first motor 102 is greater than the damping torque of the first damping element 107, thus overcoming the damping torque and causing the first transmission element 106 to start rotating. The rotation of the first transmission element 106 drives the first rotating shaft 104 to rotate synchronously. Due to the presence of the second damping element 108, when the first rotating shaft 104 rotates, it drives the first output element 105 to rotate through the damping element, thereby driving the load to rotate.

[0068] Manual adjustment mode: When the first motor 102 is not working (e.g., during a power outage), the user can directly rotate the first output component 105. When the rotational torque applied by the user is greater than the damping torque of the second damping component 108 to overcome the damping torque, the first output component 105 can rotate relative to the first rotating shaft 104, thereby driving the load to rotate. At this time, the user only needs a small manual rotational torque to rotate the first output component 105, making the operation convenient. It is understood that since the first rotating shaft 104 is fixedly connected to the first transmission component 106, and there is a first damping component 107 with a large damping torque between the first transmission component 106 and the bottom wall of the first housing 110, when the first output component 105 is manually adjusted, the first rotating shaft 104 will not be driven to rotate, and therefore will not drive the first transmission component 106 and the first motor 102 in the reverse direction, thus avoiding damage to the motor and transmission component.

[0069] Therefore, the rotary module 100 provided in this application embodiment can achieve automatic and manual adjustment by introducing a dual damping mechanism with different damping values, thereby meeting different user needs.

[0070] In some embodiments, refer to Figure 2 and Figure 3 As shown, the first transmission component 106 is sleeved on one end of the first rotating shaft 104. The first damping mechanism also includes a first adjusting bolt 114 and a first elastic component 115. The first adjusting bolt 114 is coaxially threaded to one end of the first rotating shaft 104, and the first elastic component 115 is disposed between the head of the first adjusting bolt 114 and the first transmission component 106.

[0071] The first transmission component 106 can be a gear, pulley, etc., and is sleeved on the first rotating shaft 104. The first damping component 107 can be a friction plate, friction disc, or other form of damping element, and is sleeved on the first rotating shaft 104 and located between the first transmission component 106 and the bottom wall of the first housing 110. The first adjusting bolt 114 is threadedly installed at the end of the first rotating shaft 104, and its extension length can be adjusted by turning the first adjusting bolt 114. The first elastic component 115 can be a disc washer, compression spring, wave spring, etc., and can be sleeved on the first rotating shaft 104 and located between the head of the first adjusting bolt 114 and the first transmission component 106, for transmitting the pressure applied by the first adjusting bolt 114 to the first transmission component 106, thereby pressing the first damping component 107. Furthermore, a first clamping washer 116 can also be provided between the head of the first adjusting bolt 114 and the first elastic component 115, which helps to improve the uniformity of the applied pressure. In addition, to improve the adjustment accuracy of the damping torque, it can be adjusted by turning a torque wrench or by setting a torque sensor for real-time detection.

[0072] When the first adjusting bolt 114 is tightened, the first elastic element 115 is compressed, increasing the pressure and thus increasing the damping torque of the first damping element 107. Conversely, when the first adjusting bolt 114 is loosened, the first elastic element 115 relaxes, decreasing the pressure and thus reducing the damping torque of the first damping element 107.

[0073] Therefore, by introducing the first adjusting bolt 114 and the first elastic element 115, the damping torque of the first damping element 107 is infinitely adjustable, thereby adapting to different load requirements and improving the adaptability of the rotating module 100.

[0074] In some embodiments, refer to Figure 2 and Figure 3 As shown, the first output component 105 is sleeved on the other end of the first rotating shaft 104. The second damping mechanism also includes a second adjusting bolt 117 and a second elastic element 118. The second adjusting bolt 117 is coaxially threaded to the other end of the first rotating shaft 104, and the second elastic element 118 is disposed between the head of the second adjusting bolt 117 and the first output component 105.

[0075] The first output component 105 can be a plate-like or disc-like structure, sleeved on the first rotating shaft 104, and directly connected to an external load. The second damping component 108 can be a friction plate, friction disc, or other form of damping element, sleeved on the first rotating shaft 104 and located between the first flange 113 of the first rotating shaft 104 and the first output component 105. The second adjusting bolt 117 is threadedly installed at the other end of the first rotating shaft 104, and its extension length can be adjusted by turning the second adjusting bolt 117. The second elastic component 118 can be a disc-shaped washer, compression spring, or wave spring, etc. The second elastic component 118 can be sleeved on the first rotating shaft 104 and located between the head of the second adjusting bolt 117 and the first output component 105, used to transmit the pressure applied by the second adjusting bolt 117 to the first output component 105, thereby pressing the second damping component 108. Furthermore, a second clamping washer 119 can also be provided between the head of the second adjusting bolt 117 and the second elastic component 118, which helps to improve the uniformity of the applied pressure. In addition, to improve the adjustment accuracy of the damping torque, it can be adjusted by turning a torque wrench or by setting a torque sensor for real-time detection.

[0076] When the second adjusting bolt 117 is tightened, the second elastic element 118 is compressed, increasing the pressure and thus increasing the damping torque of the second damping element 108. Conversely, when the second adjusting bolt 117 is loosened, the second elastic element 118 relaxes, decreasing the pressure and thus reducing the damping torque of the second damping element 108.

[0077] Therefore, the second damping mechanism in this embodiment adopts the same damping adjustment principle as the first damping mechanism. In this way, both the first and second damping mechanisms have the function of independently adjusting damping, thereby achieving the effect of dual adjustable damping and effectively enhancing the flexibility and adaptability of the rotating module 100.

[0078] In some embodiments, refer to Figure 2 and Figure 3 As shown, the first damping member 107 includes a first friction plate 120 and a second friction plate 121 sequentially sleeved on the first rotating shaft 104, with the first friction plate 120 fixed on the first rotating shaft 104 and the second friction plate 121 fixed on the first housing 101.

[0079] The first friction plate 120 is fixed to the first rotating shaft 104. When the first rotating shaft 104 rotates, the first friction plate 120 will also rotate. The second friction plate 121 has snap-fit ​​protrusions 122 on both sides, and a corresponding snap-fit ​​groove 123 can be provided on the bottom wall of the first housing 110. The snap-fit ​​protrusions 122 snap into the snap-fit ​​grooves 123, thereby fixing the second friction plate 121 to the bottom wall of the first housing 110. When the first rotating shaft 104 attempts to rotate, the friction between the contact surfaces of the first friction plate 120 and the second friction plate 121 generates a certain resistance torque, thus achieving a damping effect.

[0080] Specifically, when the first motor 102 drives the first rotating shaft 104 to rotate, the first friction plate 120 will rotate together with the first rotating shaft 104; the second friction plate 121 is fixed on the bottom wall of the first housing 110 and is stationary relative to the first housing 101; thus, friction is generated between the first friction plate 120 and the second friction plate 121, which forms a resistance torque against the rotation of the first rotating shaft 104, that is, the damping torque provided by the first damping element 107; by adjusting the first adjusting bolt 114, the pressure of the first elastic element 115 on the first friction plate 120 and the second friction plate 121 is changed, thereby adjusting the magnitude of the friction force, and finally achieving the purpose of adjusting the damping torque.

[0081] It is understandable that the friction plate is made of a different material than the first housing 110. If the friction plate rubs directly against the first housing 110, significant wear will occur. Therefore, in this embodiment, two friction plates made of the same wear-resistant material (such as copper-based, graphite, ceramic, etc.) can be used to rub against each other. This can reduce wear, extend the service life of the friction plates, and improve the smoothness of operation.

[0082] In some embodiments, refer to Figure 2 and Figure 3 As shown, the second damping element 108 includes a third friction plate, which is fixedly sleeved on the first rotating shaft 104 and can rotate together with the first rotating shaft 104.

[0083] When the user manually rotates the first output component 105, the third friction plate remains stationary with the first rotating shaft 104 (the first motor 102 is not running); relative sliding occurs between the first output component 105 and the third friction plate, forming frictional resistance. This frictional resistance is the damping torque provided by the second damping component 108. If the rotational torque applied by the user is greater than this damping torque, the first output component 105 can rotate relative to the first rotating shaft 104. Furthermore, by turning the second adjusting bolt 117, the pressure of the second elastic component 118 can be changed, thereby adjusting the pressure on the third friction plate, ultimately achieving stepless adjustment of the damping torque.

[0084] When the first motor 102 drives the first rotating shaft 104 to rotate, the third friction plate rotates accordingly, and drives the first output component 105 to rotate through friction transmission, and the first output component 105 drives the load to rotate.

[0085] In some embodiments, refer to Figure 2 As shown, the first transmission component 106 is the first output gear, and the first transmission assembly 103 also includes a first intermediate gear 124 disposed in the first housing 101. The output shaft of the first motor 102 is connected to the first worm gear 125, and the first worm gear 125 is meshed with the first output gear through the first intermediate gear 124.

[0086] The first motor 102 can be fixed to the outside of the side wall of the first housing 110 to provide driving force. The first worm gear 125 is located inside the first housing 101 and is mainly used to transmit the rotational motion of the first motor 102 to the subsequent gear transmission assembly and to achieve a self-locking function. Specifically, as follows... Figure 2 and Figure 4 As shown, one end of the first worm gear 125 can be press-fitted to the output shaft of the first motor 102 via an interference fit. A second bushing 126 is provided on the side wall of the first housing 110. The other end of the first worm gear 125 passes through the second bushing 126 and extends to the outside of the first housing 101. A first groove is provided on the outer peripheral wall of the other end of the first worm gear 125. A first open retaining ring 127 can be provided in the first groove. The first open retaining ring 127 stops on the outside of the second bushing 126 to axially limit the second bushing 126 and prevent it from dislodging. The second bushing 126 can be made of POM (polyoxymethylene) material, which has excellent self-lubricating and wear-resistant properties, thereby reducing the rotational resistance of the first worm gear 125 and improving its rotational performance. In addition, a first groove structure 128, such as a hexagonal groove, can be provided on the other end face of the first worm gear 125. Since the worm gear transmission has self-locking properties, the rotating module cannot move when there is an abnormality in the transmission gear. At this time, a corresponding screwing tool (such as a hexagonal wrench) can be inserted into the groove to manually adjust and rotate it, so as to troubleshoot the fault.

[0087] like Figure 2 As shown, a first pin 129 can be provided on the bottom wall of the first housing 110 as the rotation shaft of the first intermediate gear 124, that is, the first intermediate gear 124 can rotate on the first pin 129. Multiple first intermediate gears 124 can be provided to realize multi-stage transmission, and transmit the motion of the first worm gear 125 to the first output gear step by step.

[0088] When the first motor 102 starts operating, it drives the first worm gear 125 to rotate synchronously. The first worm gear 125 drives the multi-stage first intermediate gear 124 to rotate, and the first intermediate gear 124 in turn drives the first output gear (first transmission component 106) to rotate, thereby driving the first rotating shaft 104 to rotate. In this series of gear transmissions, each stage of gear will reduce speed and increase torque according to the gear ratio, so that the speed reaching the first output gear is reduced while the torque is increased, which helps to improve output accuracy and ensures that the load can move at the expected speed and force. In addition, the cooperation between the first worm gear 125 and the first intermediate gear 124 has a self-locking characteristic, that is, without the power provided by the first motor 102, even if an external force is applied, the first worm gear 125 cannot be rotated in the opposite direction, thus ensuring the safety and stability of the rotating module 100.

[0089] It is worth mentioning that in manual adjustment mode, since the damping torque of the first damping element 107 is greater than that of the second damping element 108, and the first worm gear 125 has a self-locking characteristic, when the first output element 105 is manually rotated, it can be further ensured that the first rotating shaft 104 will not be driven to rotate, so it will not drive the transmission gears and the first motor 102 in the reverse direction, thereby avoiding damage to the motor and transmission components.

[0090] like Figure 5 As shown, in gear transmission components, due to manufacturing tolerances, assembly errors, and other factors, there is a certain backlash L between gears, especially in large-module gears, where this backlash is more pronounced. When the load direction changes, this backlash can cause a brief period of "free-spinning" or "slipping," which not only affects transmission accuracy but also causes vibration and noise, reducing the overall performance of the rotating module. This phenomenon manifests to the user as a distinct "two-stage force" phenomenon: there is no damping sensation in the first stage, and damping sensation begins after rotating through a certain angle. However, in the manual adjustment mode of this application, since the first rotating shaft 104 and its associated transmission gears do not rotate, this indirectly avoids the slipping sensation caused by the meshing backlash between the transmission gears, thereby improving the user's operating experience.

[0091] Furthermore, in order to further eliminate the meshing backlash between transmission gears, see [reference]. Figure 6 As shown, in some embodiments, at least one of the first output gear and the first intermediate gear 124 is a backlash-free gear.

[0092] For example, a transmission gear can be divided into two gears 130 with the same tooth parameters. During installation, the teeth of the two gears 130 are offset at a certain angle along the circumferential direction, and the teeth of the two gears 130 abut against the tooth surfaces on both sides of the meshing tooth groove. After adjustment, the two gears 130 are fixed with fasteners such as screws 131, which can achieve the purpose of eliminating backlash.

[0093] For example, helical or herringbone gears can be used, utilizing the axial component of the force generated by the helix angle to counteract backlash. This method not only eliminates backlash but also improves load-bearing capacity and operational smoothness.

[0094] Therefore, by employing backlash-free gears, the slippage caused by backlash in this embodiment can be eliminated, which helps to achieve more precise rotation control and thus improves the reliability of the rotation module 100.

[0095] In some embodiments, refer to Figure 2 and Figure 3 As shown, the first housing 101, the first transmission component 106, the first bushing 112, the first rotating shaft 104, and the first output component 105 can all be rigid components that are not easily deformed, such as those made of metal materials like steel and aluminum.

[0096] It is understandable that if the transmission components associated with the first damping element 107 and the second damping element 108 are easily deformable (such as plastic), there will be a certain deformation release process when subjected to the adjustment pressure of the first adjusting bolt 114 and the second adjusting bolt 117. This manifests in the mechanism as a certain degree of natural attenuation after the damping torque setting is adjusted (e.g., the initial setting value is 1 N·m, which becomes 0.7 N·m after a certain period), resulting in unstable torque values. Therefore, in this embodiment, the transmission components associated with the first damping element 107 and the second damping element 108 are all set as rigid components that are not easily deformable. This effectively ensures the stability of the damping torque, thereby improving rotational accuracy.

[0097] Optionally, such as Figure 14 As shown, the first transmission component 106 is the first output gear. A connector 132 is connected to the middle of one side of the first output gear via screws or other fasteners. The connector 132 is sleeved on the first rotating shaft 104, meaning the first output gear is connected to the first rotating shaft 104 through the connector 132. A first damping component 107 is located between the connector 132 and the bottom wall of the first housing 110. A first elastic component 115 and a first clamping washer 116 are located between the head of the first adjusting bolt 114 and the connector 132. In this configuration, the first output gear can be made of plastic, and the connector 132 is a rigid component, which can be a plate or disc structure. This allows the plastic gear to be used for transmission while ensuring rigid contact, thereby guaranteeing the stability of the damping torque.

[0098] The gimbal mechanism provided in the embodiments of this application will be described below.

[0099] In some embodiments, refer to Figures 7 to 9As shown, this application also provides a gimbal 200, including: a support base 201, a rotation module 300, and a rotation module 100 as described in the above embodiment. The support base 201 includes a chassis 202, a base 203, and a support arm 204. The base 203 is disposed on the chassis 202, and the support arm 204 is disposed on the base 203 for supporting the projection host 400. The rotation module 300 is disposed between the chassis 202 and the base 203 for driving the base 203 to rotate relative to the chassis 202 in a first direction. The rotation module 100 is disposed inside the projection host 400, and a first output component 105 is connected to the support arm 204 for driving the projection host 400 to rotate relative to the support arm 204 in a second direction, the second direction being perpendicular to the first direction.

[0100] The chassis 202 serves as the basic fixed platform for the entire pan-tilt head 200 and can be installed on the ground, ceiling, or wall, depending on actual needs. At least one elastic foot pad 205 can be installed on the bottom of the chassis 202 to improve friction and provide cushioning and vibration reduction, thereby improving the stability of the chassis 202. The base 203 is mounted on the chassis 202 and is driven to rotate around the central axis of the chassis 202 by the rotating module 300. At least one annular rib 206 can be provided on the bottom of the base 203 to provide auxiliary support and reduce the contact area between the base 203 and the chassis 202, thereby reducing frictional resistance and improving the smoothness of the base 203's rotation. Furthermore, to improve the overall stability of the pan-tilt head 200, a counterweight (not shown in the figure) can be installed inside the base 203. Two support arms 204 can be provided, spaced apart on both sides of the base 203 and connected to the projector host 400, serving as load-bearing and positioning components. The rotating module 300 drives the base 203 to rotate relative to the chassis 202 in a first direction, thereby adjusting the angle of the projector 400 in the first direction. The rotating module 100 is disposed inside the projector 400. The first housing 101 is fixedly connected to the projector 400 by screws or other fasteners, and the first output component 105 is fixedly connected to the support arm 204, remaining relatively stationary. The rotating module 100 drives the projector 400 to rotate relative to the support arm 204 in a second direction, thereby adjusting the angle of the projector 400 in the second direction. The rotating module 100 rotates together with the projector 400.

[0101] It is understood that when the gimbal 200 mechanism is placed on a horizontal plane, the first direction can be horizontal and the second direction can be vertical. That is, the projector 400 can be driven to rotate horizontally by the rotation module 300, and the projector 400 can be driven to rotate tilt by the rotation module 100, thereby realizing the dual-degree-of-freedom adjustment of the projector 400 on the support 201 for horizontal and tilt rotation. Of course, the gimbal 200 is not limited to being placed on a horizontal plane; it can also be suspended from the ceiling or mounted on a vertical wall, etc., all of which can use the above-described structure of this application to achieve the adjustment of the projection angle and projection direction of the projector 400. The specific type of the projector 400 is not particularly limited; for example, it can be a digital projector or an LCD projector. Optionally, the projector 400 can be a long-throw projector, which can use a laser optical engine.

[0102] The working principle of the rotating module 100 driving the projector host 400 to rotate is described below with a specific example.

[0103] Automatic adjustment mode: The first motor 102 starts to run. The driving torque output by the first motor 102 overcomes the frictional damping of the first friction plate 120 and the second friction plate 121. Through the multi-stage first intermediate gear 124, it drives the first output gear (first transmission component 106) to rotate, thereby driving the first rotating shaft 104 to rotate synchronously. When the first rotating shaft 104 rotates, it drives the first output component 105 to rotate through the frictional transmission of the third friction plate. However, since the first output component 105 is fixed on the support arm 204 and does not rotate with the first rotating shaft 104, the first rotating shaft 104 rotates relative to the first output component 105. The first rotating shaft 104 is connected to the projector host 400 through the transmission gear, the first motor 102, and the first housing 101. Therefore, when the first rotating shaft 104 rotates relative to the first output component 105, it drives the projector host 400 to tilt and rotate on the support arm 204.

[0104] Manual adjustment mode: When the first motor 102 is not working (e.g., during a power outage), the user applies a rotational torque to the projector 400. At this time, the first housing 101 rotates together with the projector 400. Since the first motor 102 is not running, the gear inside the first housing 101 is locked by a worm gear. When the rotational torque applied by the user is greater than the frictional damping of the third friction plate, the first rotating shaft 104 can rotate relative to the first output component 105. Since the first output component 105 is fixed on the support arm 204, the first rotating shaft 104 is connected to the projector 400 via the transmission gear, the first motor 102, and the first housing 101. Therefore, when the first rotating shaft 104 rotates relative to the first output component 105, it drives the projector 400 to pitch and rotate on the support arm 204.

[0105] Therefore, the gimbal 200 structure provided in this embodiment, by combining the rotation module 300 and the rotation module 100, can achieve precise adjustment of the projector 400 with two degrees of freedom, ensuring that the projected image is accurately projected onto the target area and improving the projection effect. Furthermore, the rotation module 100 can achieve automatic and manual adjustment of the projector 400's tilt and rotation, thereby meeting different user needs.

[0106] In some embodiments, refer to Figures 10 to 12 As shown, the rotating module 300 includes: a second housing 301, a second drive mechanism, and a third damping mechanism. The second housing 301 is fixedly connected to the base 203. The second drive mechanism includes a second motor 302, a second transmission assembly 303, a second rotating shaft 304, a second connecting member 305, and a second output member 306. The second motor 302 is mounted on the second housing 301. The second transmission assembly 303 includes a second transmission member 307 disposed within the second housing 301. The second motor 302 is connected to the second transmission member 307. The second connecting member 305 is fixed to the second transmission member 307 and rotatably connected to the second rotating shaft 304. The second output member 306 is fixedly connected to the second rotating shaft 304 and fixedly connected to the chassis 202. The third damping mechanism includes a third damping member 308 disposed on the second rotating shaft 304. The third damping member 308 is disposed between the second connecting member 305 and the second output member 306.

[0107] The second housing 301 serves as the outer shell of the entire rotating module 300, primarily supporting and protecting the internal components. The second housing 301 can be a split structure, comprising a second cover 309 and a second shell 310 that are joined together. The second cover 309 can be fastened to the second shell 310 using screws or other fasteners, thereby enclosing a space for accommodating the internal components. The detachable design of the second housing 301 facilitates the disassembly and maintenance of the internal components.

[0108] The second motor 302, serving as the drive source for the rotating module 300, can be located either outside or inside the second housing 301. Since the second motor 302 generates heat during operation, its location outside the second housing 301 facilitates direct heat dissipation. When located inside the second housing 301, the second cover 309 and / or the second housing 310 can be made of a metal material with sufficient strength and heat dissipation properties, such as aluminum alloy or steel. Alternatively, second heat dissipation holes 311 can be provided on the second cover 309 and / or the second housing 310. This ensures structural strength while improving heat dissipation, thereby guaranteeing the normal operation of the second motor 302. The second transmission component 307 can be a gear, pulley, or similar material used to transmit power from the second motor 302. The bottom wall of the second housing 310 is provided with a second mounting hole 312. The second rotating shaft 304 is located in the second mounting hole 312. The second transmission component 307 and the second output component 306 are located on both sides of the second mounting hole 312, respectively. The second connecting component 305 is located between the second transmission component 307 and the second output component 306, and is fixedly connected to the second transmission component 307 by fasteners such as screws. The second connecting component 305 can rotate relative to the second rotating shaft 304. The second output component 306 can rotate with the second rotating shaft 304 and is fixedly connected to the chassis 202 by fasteners such as screws.

[0109] The third damping element 308 is disposed between the second connector 305 and the second output element 306 to provide damping torque. The specific type of the third damping element 308 is not particularly limited in this application; for example, it can be a friction plate, friction disc, rubber, or elastomer material. As an example, the third damping element 308 is a fourth friction plate.

[0110] The working principle of the rotating module 300 provided in this application embodiment is described below with reference to specific examples, which generally includes automatic adjustment mode (motor driven) and manual adjustment mode (no motor driven).

[0111] Automatic adjustment mode: The second motor 302 starts running, driving the second transmission component 307 to start rotating. The rotation of the second transmission component 307 drives the second connecting component 305 to rotate synchronously, and through the friction transmission of the fourth friction plate, drives the second output component 306 and the second rotating shaft 304 to rotate, thereby driving the base 203 to rotate horizontally relative to the chassis 202, and in turn driving the projection host 400 on the base 203 to rotate synchronously.

[0112] Manual adjustment mode: When the second motor 302 is not working (e.g., during a power outage), the user applies a rotational torque to the projector host 400. At this time, the second housing 301 rotates together with the projector host 400. Since the second motor 302 is not running, the gear inside the second housing 301 is locked by a worm gear. When the rotational torque applied by the user is greater than the frictional damping of the fourth friction plate, the second output component 306 is fixedly connected to the chassis 202 and is in a relatively stationary state. The second connecting component 305 is connected to the base 203 via the second transmission component 307, the second motor 302, and the second housing 301. In this way, the second connecting component 305 can rotate relative to the second output component 306, thereby driving the base 203 to rotate horizontally on the chassis 202, and thus driving the projector host 400 on the base 203 to rotate synchronously.

[0113] Therefore, the rotating module 300 provided in this application embodiment, by introducing a damping mechanism, can realize automatic and manual adjustment of the horizontal rotation of the projection host 400, thereby meeting different user needs.

[0114] In some embodiments, refer to Figure 11 and Figure 12 As shown, the third damping mechanism also includes a second adjusting nut 313, a third elastic element 314 and a fourth damping element 315 sequentially sleeved on the second rotating shaft 304, and the second adjusting nut 313, the third elastic element 314 and the fourth damping element 315 are all located on the side of the second connecting member 305 facing away from the third damping element 308.

[0115] The second adjusting nut 313 is threadedly installed at the end of the second rotating shaft 304, and the damping torque can be adjusted by turning the second adjusting nut 313. The third elastic element 314 can be a disc washer, a compression spring, or a wave spring, and multiple elements can be provided to transmit the pressure applied by the second adjusting nut 313 to the fourth damping element 315 and the third damping element 308. The fourth damping element 315 can be a friction plate, a friction disc, rubber, or an elastomer material. As an example, the fourth damping element 315 is a fifth friction plate. Furthermore, a third clamping washer 316 can be provided between the second adjusting nut 313 and the third elastic element 314 to improve the uniformity of the applied pressure. In addition, to improve the adjustment accuracy of the damping torque, it can be turned using a torque wrench or monitored in real time by a torque sensor.

[0116] When the second adjusting nut 313 is tightened, the third elastic element 314 is compressed, increasing the pressure and thus increasing the damping torque of the third damping element 308 and the fourth damping element 315. Conversely, when the second adjusting nut 313 is loosened, the third elastic element 314 relaxes, decreasing the pressure and thus reducing the damping torque of the third damping element 308 and the fourth damping element 315.

[0117] Therefore, by introducing a second adjusting nut 313 and a third elastic element 314, the damping torque of this embodiment is infinitely adjustable, thereby adapting to different load requirements and improving the adaptability of the rotating module 300.

[0118] In some embodiments, refer to Figure 11 As shown, the second transmission component 307 is the second output gear, and the second transmission assembly 303 also includes a second intermediate gear 317 disposed in the second housing 301. The output shaft of the second motor 302 is connected to the second worm gear 318, and the second worm gear 318 is meshed with the second output gear through the second intermediate gear 317.

[0119] The second motor 302 can be fixed inside the second housing 301 to provide driving force. The second worm gear 318 is located inside the second housing 301 and is mainly used to transmit the rotational motion of the second motor 302 to the subsequent gear transmission assembly, and to achieve a self-locking function. Specifically, as... Figure 11 and Figure 13 As shown, one end of the second worm 318 can be press-fitted to the output shaft of the second motor 302 via an interference fit. A third bushing 319 is provided on the side wall of the second housing 310. The other end of the second worm 318 passes through the third bushing 319 and extends to the outside of the second housing 301. A second groove is provided on the outer peripheral wall of the other end of the second worm 318. A second open retaining ring 320 can be installed in the second groove. The second open retaining ring 320 stops on the outside of the third bushing 319 to axially limit the third bushing 319 and prevent it from dislodging. The third bushing 319 can be made of POM (polyoxymethylene) material, which has excellent self-lubricating and wear-resistant properties, thereby reducing the rotational resistance of the second worm 318 and improving its rotational performance. In addition, a second groove structure 321, such as a hexagonal groove, can be provided on the other end face of the second worm 318. Since the worm gear transmission has self-locking properties, when there is an abnormality in the transmission gear, the rotating module 300 cannot move. At this time, a corresponding screwing tool can be inserted into the groove to manually adjust and rotate it, so as to troubleshoot the fault.

[0120] like Figure 11 As shown, a second pin 322 can be provided on the bottom wall of the second housing 310 as the rotation shaft of the second intermediate gear 317, that is, the second intermediate gear 317 can rotate on the second pin 322. Multiple second intermediate gears 317 can be provided to realize multi-stage transmission, transmitting the motion of the second worm 318 to the second output gear step by step.

[0121] When the second motor 302 starts operating, it drives the second worm gear 318 to rotate synchronously. The second worm gear 318 drives the multi-stage second intermediate gear 317 to rotate, which in turn drives the second output gear to rotate, thereby driving the second connecting member 305 to rotate. In this series of gear transmission processes, each stage of the gear will reduce speed and increase torque according to the gear ratio, so that the speed reaching the second output gear is reduced while the torque is increased. This helps to improve output accuracy and ensures that the projector 400 can move at the expected speed and force. In addition, the cooperation between the second worm gear 318 and the second intermediate gear 317 has a self-locking characteristic. That is, without the power provided by the second motor 302, even if an external force is applied, the second worm gear 318 cannot be rotated in the opposite direction, thus ensuring the safety and stability of the rotating module 300.

[0122] It is worth mentioning that in manual adjustment mode, because the second worm gear 318 has a self-locking characteristic, when the projector host 400 is manually rotated and adjusted, the second motor 302 and each transmission gear in the rotating module 300 will not rotate relative to each other and will remain in a relatively stationary state, thereby avoiding damage to the motor and transmission components.

[0123] In some embodiments, refer to Figure 11 As shown, at least one of the second output gear and the second intermediate gear 317 is a backlash-free gear, which can eliminate the slippage caused by the backlash in the transmission gear meshing, helping to achieve more precise rotation control and thus improving the reliability of the rotation module. The working principle of the backlash-free gear is the same as that of the backlash-free gear in the rotation module 100 of the aforementioned embodiment, and will not be described again here.

[0124] In some embodiments, refer to Figure 11 and Figure 12 As shown, the second housing 301, the second rotating shaft 304, the second connecting piece 305, the second output piece 306, and the second transmission piece 307 can all be rigid components that are not easily deformed, such as those made of steel, aluminum, or other metal materials. This design ensures the stability of the damping torque after adjusting the damping torque of the third damping piece 308 and the fourth damping piece 315 by turning the second adjusting nut 313, thereby improving rotational accuracy.

[0125] In some embodiments, the damping torque of the second damping element 108 is greater than the gravitational torque of the projection host 400.

[0126] The damping torque of the second damping element 108 is greater than the gravitational torque generated when the projector 400 rotates relative to the support arm 204. This ensures that the projector 400 will not move unexpectedly due to gravity, regardless of its angle. For example, when a user manually adjusts the angle of the projector 400, the applied external force overcomes the resistance torque of the second damping element 108, causing the projector 400 to rotate. Once the desired angle is reached and the external force is released, the resistance torque provided by the second damping element 108 will keep the projector 400 in a fixed position, preventing it from sliding even in the vertical direction due to gravity. This achieves a hovering function, allowing the projector 400 to hover stably at any angle, greatly improving the accuracy of angle adjustment. For example, in meeting rooms, classrooms, and other places, projection equipment is usually installed on the ceiling. With this design, the projector 400 can stay at any angle without using an additional locking mechanism, facilitating quick and easy adjustment of the image position.

[0127] In some embodiments, refer to Figure 7 As shown, this application also provides a projection device, including: a projection host 400 and a pan-tilt unit 200 as described in the above embodiment, wherein the projection host 400 is rotatably mounted on the pan-tilt unit 200.

[0128] Since the projection device provided in this application includes the gimbal 200 of the above embodiments, it has all the technical effects of the gimbal 200 of the above embodiments, and will not be described in detail here.

[0129] The above are merely preferred embodiments of this application and are not intended to limit the embodiments of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A rotating module, characterized in that, include: First shell; The first drive mechanism includes a first motor, a first transmission assembly, a first rotating shaft, and a first output component. The first motor is disposed on the first housing. The first transmission assembly includes a first transmission component disposed inside the first housing. The first motor is connected to the first transmission component. The first rotating shaft passes through the first housing. One end of the first rotating shaft is connected to the first transmission component, and the other end of the first rotating shaft extends outside the first housing and is rotatably connected to the first output component. The first damping mechanism includes a first damping element, which is disposed between the first transmission element and the first housing. The second damping mechanism includes a second damping element, which is disposed between the first rotating shaft and the first output element, and the damping torque of the second damping element is less than the damping torque of the first damping element.

2. The rotary die set of claim 1, wherein, The first transmission component is sleeved on one end of the first rotating shaft. The first damping mechanism further includes a first adjusting bolt and a first elastic element. The first adjusting bolt is coaxially threaded to one end of the first rotating shaft, and the first elastic element is disposed between the head of the first adjusting bolt and the first transmission component.

3. The rotary die set of claim 1, wherein, The first output component is sleeved on the other end of the first rotating shaft. The second damping mechanism further includes a second adjusting bolt and a second elastic element. The second adjusting bolt is coaxially threaded to the other end of the first rotating shaft, and the second elastic element is disposed between the head of the second adjusting bolt and the first output component.

4. The rotary die set of claim 1, wherein, The first damping element includes a first friction plate and a second friction plate sequentially sleeved on the first rotating shaft, wherein the first friction plate is fixed on the first rotating shaft and the second friction plate is fixed on the first housing.

5. The rotary die set of claim 1, wherein, The first transmission component is a first output gear, and the first transmission assembly further includes a first intermediate gear disposed in the first housing. The output shaft of the first motor is connected to a first worm gear, and the first worm gear is meshed with the first output gear through the first intermediate gear.

6. The rotary die set of claim 5, wherein, At least one of the first output gear and the first intermediate gear is a backlash-free gear.

7. A gimbal, comprising: include: The support base, the rotating module, and the rotating module according to any one of claims 1 to 6, wherein the support base includes a chassis, a base and a support arm, the base is disposed on the chassis and the support arm is disposed on the base, for supporting the projection host; The rotating module is disposed between the chassis and the base, and is used to drive the base to rotate relative to the chassis in a first direction; The rotating module is located inside the projection host, and the first output component is connected to the support arm to drive the projection host to rotate relative to the support arm in a second direction, the second direction being perpendicular to the first direction.

8. The head according to claim 7, characterized in that, The rotating module includes: The second housing is fixedly connected to the base; The second drive mechanism includes a second motor, a second transmission assembly, a second rotating shaft, a second connecting member, and a second output member. The second motor is mounted on the second housing. The second transmission assembly includes a second transmission member disposed within the second housing. The second motor is connected to the second transmission member. The second connecting member is fixed to the second transmission member and rotatably connected to the second rotating shaft. The second output member is fixedly connected to the second rotating shaft and fixedly connected to the chassis. The third damping mechanism includes a third damping element disposed on the second rotating shaft, the third damping element being disposed between the second connecting member and the second output member.

9. The gimbal according to claim 7, characterized in that, The damping torque of the second damping element is greater than the gravitational torque of the projection host.

10. A projection apparatus, characterized by, include: The projection host and the pan-tilt unit according to any one of claims 7 to 9, wherein the projection host is rotatably mounted on the pan-tilt unit.

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