Three-dimensional electric pan-tilt head

Abstract

The utility model discloses a three -dimensional electric cloud platform belongs to three -dimensional cloud platform technical field, the utility model discloses a pedestal, first platform and set up second platform on first platform through mounting bracket, mounting bracket be connected with transfer transmission subassembly, the pedestal be equipped with three drive source, wherein, first drive source drive first platform to rotate through first transmission subassembly, and then drive second platform to rotate in first direction through mounting bracket, second drive source drive mounting bracket to swing through second transmission subassembly and transfer transmission subassembly, and then drive second platform to swing in second direction, third drive source drive second platform to rotate in third direction through third transmission subassembly and transfer transmission subassembly, the utility model discloses all drive motor is centrally arranged on the pedestal, can make the weight of motor not add up on the corresponding transmission platform, also avoided the problem that cable is easy to entwine.

Description

Technical Field

[0001] This utility model belongs to the field of three-dimensional gimbal technology, and more specifically, relates to a three-dimensional electric gimbal. Background Technology

[0002] A gimbal is a key component used to install, support, and stabilize camera equipment, and is widely used in photography, aerial photography, surveying, security monitoring, robotics, and industrial inspection. Traditional gimbals typically consist of a multi-degree-of-freedom mechanical support and a drive mechanism to adjust the camera's posture. However, the gimbal's structure, transmission method, and motor layout directly affect the system's stability, control accuracy, load capacity, and wiring reliability.

[0003] Current 3D motorized gimbals generally employ a "motor-driven structure," where the motors driving each axis are mounted on the corresponding moving parts. While this structure is simple to implement, it introduces significant drawbacks in practical applications: First, the motor's weight is directly transferred to the upper-level motion axis, causing the load to accumulate, leading to increased inertia, slower dynamic response, and a burden on the servo stabilization algorithm. Second, the rotation of each axis requires the transmission of power and control signals across multiple motion mechanisms, thus generally relying on conductive slip rings for continuous rotation. However, slip rings suffer from frictional wear, signal attenuation, limited lifespan, and high maintenance costs. Third, the movement of the motor causes the cables to repeatedly bend and entangle, easily leading to wire breakage and interference.

[0004] A search revealed a novel three-dimensional gimbal in patent CN211118485U. This application employs a multi-motor driven ring-shaped three-dimensional support, achieving multi-angle movement through a one-dimensional rotating shaft, a two-dimensional flipping mechanism, and a synchronous belt inside the three-dimensional ring. While this solution is structurally simple and can achieve three-dimensional rotation, the fact that each drive motor is mounted on a movable support results in significant load superposition. Furthermore, the internal synchronous belt drive still requires follow-up wiring, and the problem of cable entanglement during multi-axis rotation is difficult to avoid. Utility Model Content

[0005] The problem to be solved In view of at least some of the problems existing in the prior art, this utility model proposes a three-dimensional electric gimbal, the purpose of which is to solve the problem that the existing three-dimensional gimbal adopts a "motor follow-up structure", which leads to the superposition of loads on the motion axis and the difficulty of wiring.

[0006] Technical solution To solve the above problems, the technical solution adopted by this utility model is as follows: This utility model discloses a three-dimensional electric gimbal, comprising a base, a first platform, and a second platform arranged sequentially from bottom to top; wherein... The second platform is rotatably mounted on the first platform via a mounting bracket, and the mounting bracket is connected to a transfer transmission assembly; The base is provided with a first driving source, a second driving source and a third driving source; The first drive source drives the first platform to rotate through the first transmission component, and then drives the second platform to rotate in the first direction through the mounting frame; The second drive source drives the mounting frame to swing through the sequential transmission of the second transmission component and the intermediate transmission component, thereby driving the second platform to swing in the second direction. The third drive source drives the second platform to rotate in a third direction through the sequential transmission of the third transmission component and the intermediate transmission component.

[0007] In some embodiments, the transfer drive assembly includes a first transfer bevel gear and meshing second and third transfer bevel gears; wherein, The first transfer bevel gear, through the transmission of the first transmission component, drives the mounting frame and the second platform on it to swing in the second direction; The second intermediate bevel gear is driven by the third transmission assembly, and the second platform rotates in a third direction through the transmission of the third intermediate bevel gear.

[0008] In some embodiments, the first transfer bevel tooth is fixedly mounted on the mounting frame, the second transfer bevel tooth is rotatably embedded in the first transfer bevel tooth, and the third transfer bevel tooth is connected to the second platform through a connecting shaft.

[0009] In some embodiments, the first transmission component includes a first gear connected to the output shaft of the first drive source, and the inner peripheral wall of the first platform is provided with an internal gear ring that meshes with the first gear.

[0010] In some embodiments, the second transmission assembly includes a second gear connected to the output shaft of the second drive source, the second gear meshing with a first transition gear; The first transition gear is connected to a first intermediate shaft, which passes through the first platform and is connected to a first bevel gear that meshes with the first intermediate bevel gear.

[0011] In some embodiments, the third transmission assembly includes a third gear connected to the output shaft of a third drive source, the third gear meshing with a second transition gear; The second transition gear is connected to a second intermediate shaft, which passes through the first platform and is connected to a second bevel gear that meshes with the second intermediate bevel gear.

[0012] In some embodiments, the first transition gear and the second transition gear are coaxially arranged vertically, and the first transition gear and the first intermediate shaft have a central through hole through which the second intermediate shaft passes.

[0013] In some embodiments, the mounting frame is in the shape of an inverted U, the second platform is rotatably mounted on the top plate of the mounting frame, the first transfer bevel gear is located on the inner side of the side plate of the mounting frame, and the side plate is rotatably mounted on the connector via a shaft.

[0014] In some embodiments, the base is provided with a housing that encloses the first drive source, the second drive source and the third drive source, and the housing is provided with mounting holes for mounting the first platform and through holes for power lines and control lines to pass through.

[0015] In some implementations, the first drive source, the second drive source, and the third drive source are all motors.

[0016] Beneficial effects Compared with the prior art, the beneficial effects of this utility model are as follows: (1) The present invention provides a three-dimensional electric gimbal, which concentrates all the drive motors on the base so that the weight of the motors will not be superimposed on the corresponding transmission platform. On the one hand, it can significantly reduce the inertia of the transmission platform, improve the response speed and stability, and achieve high-precision control; on the other hand, since the motors are concentrated and "do not follow the movement", the power supply lines and signal lines are fixed on the base and do not cross the motion axis, avoiding the problems of cable entanglement, bending fatigue and wire breakage caused by multi-axis continuous motion, which can significantly improve the service life of the gimbal.

[0017] (2) A three-dimensional electric gimbal of this utility model optimizes the structure of each transmission component and uses gear transmission and bevel gear mechanism to achieve three-axis power coupling. It can achieve three-axis continuous rotation without the need for conductive slip rings; it completely eliminates the problems of slip ring wear, short life and signal instability, and improves system reliability.

[0018] (3) The three-dimensional electric gimbal of this utility model, through the sleeve setting of the first intermediate shaft and the second intermediate shaft of the first transition gear, can make the overall structure more compact, which is conducive to the miniaturization design of the gimbal and suitable for some space-constrained application environments; on the other hand, it can shorten the transmission path, ensure high power transmission efficiency and low precision loss, so as to achieve higher positioning accuracy and faster dynamic response. Attached Figure Description

[0019] Figure 1 This is a structural schematic diagram of a three-dimensional electric gimbal according to the present invention; Figure 2This is a partial structural schematic diagram of a three-dimensional electric gimbal according to the present invention; Figure 3 This is a structural schematic diagram of the first platform in this utility model; Figure 4 for Figure 3 Vertical sectional view; Figure 5 This is a schematic diagram showing the connection between the second platform and the third intermediate bevel gear in this utility model.

[0020] In the diagram: 110, base; 120, shell; 210. First platform; 220. Second platform; 230. Mounting bracket; 240. Connector; 310. First drive source; 320. First transmission assembly; 321. First gear; 322. Internal gear ring; 410. Second drive source; 420. Second transmission assembly; 421. Second gear; 422. First intermediate gear; 423. First intermediate shaft; 424. First bevel gear; 510. Third drive source; 520. Third transmission assembly; 521. Third gear; 522. Second intermediate gear; 523. Second intermediate shaft; 524. Second bevel gear; 600. Transfer transmission components; 610, First intermediate bevel gear; 620, Second intermediate bevel gear; 630, Third intermediate bevel gear; 640, Connecting shaft. Detailed Implementation

[0021] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings.

[0022] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] The present invention will be further described below with reference to specific embodiments.

[0024] like Figure 1 , Figure 2 , Figure 3As shown, a three-dimensional electric gimbal in this embodiment includes a base 110, a first platform 210, and a second platform 220 arranged sequentially from bottom to top. The second platform 220 is rotatably mounted on the first platform 210 via a mounting bracket 230. The mounting bracket 230 is connected to a transfer drive assembly 600, which includes a first transfer assembly and a second transfer assembly.

[0025] The base 110 is equipped with a first drive source 310, a second drive source 410, and a third drive source 510, preferably arranged in a ring. The first drive source 310 drives the first platform 210 to rotate via a first transmission assembly 320, which in turn drives the second platform 220 to rotate in a first direction via a mounting frame 230. The second drive source 410 drives the mounting frame 230 to swing via the second transmission assembly 420 and the first transfer assembly, which in turn drives the second platform 220 to swing in a second direction. The third drive source 510 directly drives the second platform 220 to rotate in a third direction via the third transmission assembly 520 and the second transfer assembly, thereby achieving multi-degree-of-freedom adjustment of the second platform 220.

[0026] It is worth mentioning that the first direction mentioned above refers to the circumferential rotation on the horizontal plane where the first platform 210 is located; the second direction refers to the circumferential swing on the vertical plane perpendicular to the horizontal plane of the first platform 210; and the third direction refers to the circumferential rotation on the horizontal plane where the second platform 220 is located.

[0027] In some embodiments, the first drive source 310, the second drive source 410, and the third drive source 510 can all be motors. Meanwhile, the second platform 220 can be rotatably mounted on the mounting bracket 230 via a rotating shaft.

[0028] This embodiment of a three-dimensional electric gimbal concentrates all drive motors on the base 110, preventing the weight of the motors from being superimposed on the corresponding transmission platform. On one hand, this significantly reduces the inertia of the transmission platform, improving response speed and stability, and enabling high-precision control. On the other hand, because the motors are centrally located and "non-motorized," the power supply and signal lines are fixed to the base 110 and do not cross the motion axis, avoiding cable entanglement, bending fatigue, and wire breakage problems caused by continuous multi-axis motion, thus significantly improving the gimbal's service life.

[0029] As one embodiment of the first transfer component, the first transfer component is a first transfer bevel gear 610 vertically arranged on the mounting frame 230. The first transfer bevel gear 610 drives the mounting frame 230 and the second platform 220 on it to swing in a second direction through the transmission of the first transmission component 320.

[0030] As one embodiment of the second transfer component, the first transfer component includes a second transfer bevel tooth 620 and a third transfer bevel tooth 630 that mesh with each other; wherein, the second transfer bevel tooth 620 is also placed vertically, but the second transfer bevel tooth 620 is rotatably connected to the mounting frame 230. That is, the second transfer bevel tooth 620 can rotate freely and will not cause the mounting frame 230 to move accordingly.

[0031] refer to Figure 5 As shown, the third intermediate bevel gear 630 is connected to the second platform 220 via a connecting shaft 640. During operation, the second intermediate bevel gear 620 is driven by the third transmission assembly 520, and the meshing transmission of the third intermediate bevel gear 630 drives the second platform 220 to rotate in a third direction.

[0032] Furthermore, the first transfer bevel tooth 610 is fixedly mounted on the mounting bracket 230, and the second transfer bevel tooth 620 is rotatably embedded in the first transfer bevel tooth 610.

[0033] refer to Figure 3 , Figure 4 As shown, as one embodiment of the first transmission component 320, the first transmission component 320 includes a first gear 321 disposed on the output shaft of the first drive source 310; at the same time, the inner peripheral wall of the first platform 210 is provided with an internal gear ring 322 that meshes with the first gear 321.

[0034] When in operation, the first drive source 310 is started. The driving force of the first drive source 310 is transmitted through the meshing between the first gear 321 and the internal gear ring 322, which can drive the first platform 210 and the mounting bracket 230 on it to rotate, and then the second platform 220 on the mounting bracket 230 rotates.

[0035] In one embodiment of the second transmission assembly 420, the second transmission assembly 420 includes a second gear 421 disposed on the output shaft of the second drive source 410, the second gear 421 meshing with a first transition gear 422. Simultaneously, the first transition gear 422 is connected to a first intermediate shaft 423. The first intermediate shaft 423 passes through the first platform 210 and is connected to a first bevel gear 424, and the first bevel gear 424 meshes with a first intermediate transfer bevel gear 610.

[0036] Preferably, the first intermediate shaft 423 and the first platform 210 can be rotatably connected by bearings.

[0037] When in operation, the second drive source 410 is started. The driving force of the second drive source 410 is transmitted sequentially through the second gear 421, the first transition gear 422, the first intermediate shaft 423, the first bevel gear 424 and the first transfer bevel gear 610, and finally drives the second platform 220 to swing through the mounting frame 230.

[0038] In one embodiment of the third transmission assembly 520, the third transmission assembly 520 includes a third gear 521 disposed on the output shaft of the third drive source 510, which meshes with a second transition gear 522. Simultaneously, the second transition gear 522 is connected to a second intermediate shaft 523. The second intermediate shaft 523 passes through the first platform 210 and is connected to a second bevel gear 524, which meshes with a second intermediate bevel gear 620.

[0039] During operation, the third drive source 510 is activated. The driving force of the third drive source 510 is transmitted sequentially through the third gear 521, the second transition gear 522, the second intermediate shaft 523, and the second bevel gear 524, which drives the second intermediate bevel gear 620 to rotate. While the second intermediate bevel gear 620 is rotating, it is driven by the third intermediate bevel gear 630 and the connecting shaft 640, which ultimately drives the second platform 220 to rotate.

[0040] This embodiment of a three-dimensional electric gimbal optimizes the structure of each transmission component, using gear transmission and bevel gear mechanism to achieve three-axis power coupling, eliminating the need for conductive slip rings to achieve continuous three-axis rotation; completely eliminating slip ring wear, short lifespan and signal instability problems, thus improving system reliability.

[0041] In some embodiments, the first transition gear 422 and the second transition gear 522 are coaxially arranged vertically, and the first transition gear 422 and the first intermediate shaft 423 have a central through hole through which the second intermediate shaft 523 passes.

[0042] That is, the second intermediate axis 523 and the first intermediate axis 423 are arranged in an inner and outer manner. This design makes the overall structure more compact, which is conducive to the miniaturization of the gimbal and suitable for some space-constrained application environments. On the other hand, it can shorten the transmission path, ensuring high power transmission efficiency and low accuracy loss, so as to achieve higher positioning accuracy and faster dynamic response.

[0043] refer to Figure 1 As shown, in some embodiments, the mounting bracket 230 has an overall inverted U-shaped structure, including a top plate and side plates located on both sides and extending downwards. The second platform 220 is rotatably mounted on the top plate via bearings, and the first intermediate bevel gear 610 is located on the inner side of the side plate (the side where the two side plates are close to each other).

[0044] Meanwhile, the first platform 210 is provided with a connector 240, and the mounting bracket 230 is rotatably mounted on the connector 240 via a shaft, so as to ensure that the mounting bracket 230 can rotate in the first direction with the first platform 210 on the one hand, and swing in the second direction with the first intermediate bevel gear 610 on the other hand.

[0045] Furthermore, the base 110 is provided with a housing 120, which encloses and protects the first drive source 310, the second drive source 410, and the third drive source 510. At the same time, the housing 120 is provided with mounting holes for mounting the first platform (210) and through holes for power lines and control lines to pass through.

[0046] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A three-dimensional electric gimbal, characterized in that: It includes, from bottom to top, a base (110), a first platform (210), and a second platform (220); wherein, The second platform (220) is rotatably mounted on the first platform (210) via a mounting bracket (230), and the mounting bracket (230) is connected to a transfer transmission assembly (600). The base (110) is provided with a first driving source (310), a second driving source (410) and a third driving source (510). The first drive source (310) drives the first platform (210) to rotate through the first transmission assembly (320), and then drives the second platform (220) to rotate in the first direction through the mounting bracket (230); The second drive source (410) drives the mounting frame (230) to swing through the sequential transmission of the second transmission assembly (420) and the transfer transmission assembly (600), thereby driving the second platform (220) to swing in the second direction; The third drive source (510) drives the second platform (220) to rotate in a third direction through the sequential transmission of the third transmission component (520) and the intermediate transmission component (600).

2. A three-dimensional electric gimbal according to claim 1, characterized in that: The transfer drive assembly (600) includes a first transfer bevel gear (610) and two meshing transfer bevel gears (620 and 630); wherein, The first intermediate bevel gear (610) drives the mounting frame (230) and the second platform (220) on it to swing in the second direction through the transmission of the first transmission assembly (320); The second intermediate bevel gear (620) is driven by the third transmission assembly (520), and through the transmission of the third intermediate bevel gear (630), the second platform (220) rotates in a third direction.

3. A three-dimensional electric gimbal according to claim 2, characterized in that: The first transfer bevel tooth (610) is fixedly mounted on the mounting frame (230), the second transfer bevel tooth (620) is rotatably embedded on the first transfer bevel tooth (610), and the third transfer bevel tooth (630) is connected to the second platform (220) through the connecting shaft (640).

4. A three-dimensional motorized gimbal according to any one of claims 1-3, characterized in that: The first transmission assembly (320) includes a first gear (321) connected to the output shaft of the first drive source (310), and the inner peripheral wall of the first platform (210) is provided with an internal gear ring (322) that meshes with the first gear (321).

5. A three-dimensional electric gimbal according to claim 4, characterized in that: The second transmission assembly (420) includes a second gear (421) connected to the output shaft of the second drive source (410), which meshes with a first transition gear (422). The first transition gear (422) is connected to a first intermediate shaft (423), which passes through the first platform (210) and is connected to a first bevel gear (424) that meshes with the first intermediate bevel gear (610).

6. A three-dimensional electric gimbal according to claim 5, characterized in that: The third transmission assembly (520) includes a third gear (521) connected to the output shaft of the third drive source (510), which meshes with a second transition gear (522). The second transition gear (522) is connected to a second intermediate shaft (523), which passes through the first platform (210) and is connected to a second bevel gear (524) that meshes with the second intermediate bevel gear (620).

7. A three-dimensional electric gimbal according to claim 6, characterized in that: The first transition gear (422) and the second transition gear (522) are coaxially distributed vertically, and the first transition gear (422) and the first intermediate shaft (423) have a central through hole through which the second intermediate shaft (523) passes.

8. A three-dimensional electric gimbal according to claim 2, characterized in that: The mounting bracket (230) has an overall inverted U-shaped structure. The second platform (220) is rotatably mounted on the top plate of the mounting bracket (230). The first intermediate bevel tooth (610) is located on the inner side of the side plate of the mounting bracket (230), and the side plate is rotatably mounted on the connector (240) through a shaft.

9. A three-dimensional electric gimbal according to claim 1, characterized in that: The base (110) is provided with a housing (120), which covers the first drive source (310), the second drive source (410) and the third drive source (510). The housing (120) is provided with mounting holes for mounting the first platform (210) and wire holes for power lines and control lines to pass through.

10. A three-dimensional electric gimbal according to claim 9, characterized in that: The first drive source (310), the second drive source (410), and the third drive source (510) are all motors.

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