Rotation driving device and gimbal

Abstract

A rotation driving device (1) and a gimbal (100). The rotation driving device (1) comprises a first component (10) and a second component (20) that are capable of relative rotational movement, a driving force between the first component (10) and the second component (20) is provided by an interaction surface between the two, and a roller set (30) capable of adjusting the movement gap between the first component (10) and the second component (20) is arranged between the first component (10) and the second component (20).

Description

Rotation drive device and pan / tilt Technical Field

[0001] The embodiments of the present application relate to the technical field of drive devices, and more specifically to a rotation drive device and a pan / tilt head. Background Art

[0002] To achieve stable filming, a gimbal can be used to support the camera. A gimbal typically includes roll, pitch, and yaw mechanisms, enabling the camera to rotate around the pitch, yaw, and roll axes, respectively. However, the roll arm obstructs the camera's leveling range, limiting its ability to support larger lenses and affecting on-screen monitoring.

[0003] Summary of the Invention

[0004] To address the aforementioned technical issues, the roll axis mechanism can employ a slewing bearing, with the camera mounted on the inner ring of the slewing bearing, ensuring that the camera is not obstructed by the roll arm. However, existing slewing bearing structures lack inherent preload and have play, making it difficult to precisely position the camera.

[0005] The embodiments of the present application provide a rotation drive device and a pan / tilt head having the rotation drive device.

[0006] According to the first aspect of the present application, a rotational drive device is provided, which includes a first component and a second component capable of relative rotational movement, the driving force between the first component and the second component is provided by the interaction surface between the two, and a roller group capable of adjusting the motion gap between the first component and the second component is provided between the first component and the second component.

[0007] According to a second aspect of the present application, a gimbal is provided, comprising: a carrier for carrying a load; a roll axis mechanism for adjusting the roll angle of the load; a pitch axis mechanism for adjusting the roll angle of the load; and a yaw axis mechanism for adjusting the yaw angle of the load, wherein the roll axis mechanism includes a rotation drive device according to the first aspect of the present application.

[0008] The rotary drive device of the embodiment of the present application includes a roller assembly between the first and second components, which is capable of adjusting the clearance between the first and second components. This roller assembly can be used to adjust the clearance between the first and second components. When the rotary drive device is applied to the roll axis mechanism of a gimbal, it facilitates precise positioning of a camera mounted on the gimbal, freeing the camera from obstruction by the roll axis arm, thereby extending the camera's adjustment range. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Other objects and advantages of the present application will become apparent from the following description of the present application with reference to the accompanying drawings, which will help provide a comprehensive understanding of the present application.

[0010] FIG1 is a schematic structural diagram of a rotation drive device according to an embodiment of the present application;

[0011] FIG2 is a schematic structural diagram of the rotary drive device shown in FIG1 from another angle;

[0012] FIG3 is a schematic cross-sectional view of the rotary drive device shown in FIG1 taken along a radial direction;

[0013] FIG4 is a schematic cross-sectional view of the rotary drive device shown in FIG1 taken along the axial direction;

[0014] FIG5 is a partial enlarged schematic diagram of the area A shown in FIG4 ;

[0015] FIG6 is a partial enlarged schematic diagram of area B shown in FIG4 ;

[0016] FIG7 is an exploded schematic diagram of the rotary drive device shown in FIG1 ;

[0017] FIG8 is an exploded schematic diagram of the rotary drive device shown in FIG7 from another angle;

[0018] FIG9 is a schematic cross-sectional view of the rotary drive device shown in FIG1 taken along the axial direction;

[0019] FIG10 is an exploded schematic diagram of a first roller assembly according to an embodiment of the present application;

[0020] FIG11 is a schematic cross-sectional view of the first roller assembly shown in FIG10 ;

[0021] FIG12 is a schematic cross-sectional exploded view of the first roller assembly shown in FIG11 ;

[0022] FIG13 is a schematic structural diagram of a pan / tilt platform according to an embodiment of the present application;

[0023] FIG14 is a schematic structural diagram of the pan / tilt platform shown in FIG13 from another angle;

[0024] FIG15 is a cross-sectional schematic diagram of the pan / tilt platform shown in FIG13 ;

[0025] FIG16 is a schematic diagram of the front structure of the gimbal shown in FIG13 carrying a load;

[0026] FIG17 is a schematic structural diagram of the pan-tilt platform shown in FIG16 carrying a load from another angle;

[0027] FIG18 is a schematic structural diagram of the pan-tilt platform shown in FIG16 carrying a load at another angle;

[0028] FIG19 is a cross-sectional schematic diagram of the gimbal shown in FIG16 carrying a load.

[0029] It should be noted that the drawings are not drawn to scale, and for illustrative purposes, elements of similar structure or function are generally represented by similar reference numerals throughout the drawings. It should also be noted that the drawings are only for the purpose of describing the preferred embodiments, not the present application itself. The drawings do not illustrate every aspect of the described embodiments and do not limit the scope of the present application.

[0030] DESCRIPTION OF NUMERALS AND SIGNS: 1. Rotary drive device 10. First component; 11. First annular body; 1101. First mounting groove; 11011. Tangential stop surface; 1102. Second mounting groove; 1103. Flange; 11031. Through hole; 12. First cover plate; 121. First mating notch; 122. Second mating notch; 123. Third mating notch; 124. Connecting plate; 13. Second cover plate; 131. Fourth mating notch; 20. Second component; 21. Second annular body; 211. Raceway surface; 30. Roller assembly; 31. First roller assembly; 310. First end portion; 320. Second end portion; 311. Roller body; 3111. Roller; 31111. Protrusion; 3112. Roller shaft; 3113. Bearing; 3114. Fixing member; 312. Bracket; 3121. Bracket body; 31211. First support portion; 312111. First base portion; 3121111. First tangential engagement stop surface; 3121112. First limiting hole; 312112. First annular extension portion; 312113. First cavity; 312114. First annular groove; 31212. Second support portion; 312121. Second base portion; 3121211. Second tangential engagement stop surface; 312122. Second annular extension portion; 312123. Second cavity; 312124. Second annular groove; 31213. Connecting portion; 312131. Through hole; 312132. Recessed portion; 31214. First thrust ring; 31215. Gasket; 3122, spacing adjustment mechanism; 31221, pushing member; 31222, buffer member; 312221, pushing member; 3122211, main body; 3122212, stopper; 312222, elastic spacer; 3123, support mechanism; 31231, first thrust bearing; 31232, locking ring; 312321, locking ring opening groove; 31233, second thrust bearing; 31234, second thrust ring; 31241, first axial positioning assembly; 312411, limiting nut; 3124111, slot; 312412, limiting screw; 312413, limiting ring; 3124131, limiting hole; 31242, second axial positioning assembly; 312421, threaded portion; 312422, protrusion; 313, end cap; 32, second roller assembly; 321, second roller body; 3211, second roller; 3212, second roller shaft; 3213, second bearing; 3214, second fixing member; 322, second end cap; 323, first axial set screw; s24, second axial set screw; 40, drive assembly; 41, permanent magnet; 42, retainer; 43, winding; 44, iron core; 45, yoke; 46, iron core locating pin;47. Fixing hole; 50. Slip ring track; 51. Slip ring brush; 60. Dustproof component; 70. Noise-absorbing damping ring; 80. Load; 100. Pan / tilt head; 101. Carrying component; 102. X-axis automatic leveling mechanism; 103. Y-axis adapter pad; 104. Connecting arm; 105. Y-axis counterweight mechanism; 106. Z-axis automatic leveling mechanism; 107. Yaw motor; 108. Yaw-pitch arm; 109. Pitch motor; 110. Pan / tilt head base frame; 111. First handle; 112. Second handle. DETAILED DESCRIPTION

[0031] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0032] The disclosure below provides a plurality of different embodiments or examples for implementing the present application. In order to simplify the disclosure of the present application, the components and methods of specific examples are described below. Of course, they are merely examples and are not intended to limit the present application.

[0033] Referring to Figures 1 to 3, an embodiment of the present application provides a rotational drive device 1, which includes a first component 10 and a second component 20 that can perform relative rotational movement. The driving force between the first component 10 and the second component 20 is provided by the interaction surface between the two. A roller group 30 is provided between the first component 10 and the second component 20, which can adjust the motion gap between the first component 10 and the second component 20.

[0034] The "motion gap" here can be understood as the gap between the first component 10 and the second component 20 when they rotate relative to each other. The rotation drive device 1 of the embodiment of the present application is provided with a roller group 30 between the first component 10 and the second component 20 that can adjust the motion gap between the first component 10 and the second component 20. Therefore, the motion gap between the first component 10 and the second component 20 can be adjusted by using the roller group 30. When the rotation drive device 1 is applied to the roll axis mechanism of the gimbal, it is beneficial to accurately position the camera mounted on the gimbal, and the camera is not blocked by the roll axis arm, thereby allowing the camera to have a larger adjustment range.

[0035] In some embodiments, the first component 10 and the second component 20 both include an annular structure, and the second component 20 is sleeved on the outside of the first component 10. The first component 10 is used to set a load, which can be set inside the first component 10 and can move with the first component 10.

[0036] Each roller assembly in the roller set 30 includes a first end 310 and a second end 320 opposite the first end 310. In some embodiments, the first end 310 of each roller assembly in the roller set 30 is fixedly disposed on the first assembly 10 via an end cap 313, and the second end 320 of each roller assembly 30 is fixedly disposed on the first assembly 10.

[0037] Specifically, the first assembly 10 may include a first annular body 11, and a first cover plate 12 and a second cover plate 13 respectively connected to the two axial end surfaces of the first annular body 11. The first cover plate 12, the second cover plate 13, and the first annular body 11 collectively form an annular groove that is open radially outward. The second assembly 20 may include a second annular body 21. When assembled, the second annular body 21 is located within the annular groove of the first assembly 10.

[0038] 3 to 8 , in some embodiments, the roller assembly 30 may include at least one first roller assembly 31 disposed on the first assembly 10 or the second assembly 20. The number of first roller assemblies 31 may be one, two, three, or four or more. In the illustrated embodiment, the number of first roller assemblies 31 is two.

[0039] In some embodiments, the first roller assembly 31 may be disposed on the first assembly 10. In other embodiments, the first roller assembly 31 may be disposed on the second assembly 20.

[0040] In some embodiments, the first component 10 may be located radially inward of the second component 20 .

[0041] In some embodiments, the first roller assembly 31 can be disposed on the first assembly 10 and can rotate relative to the second assembly 20 while in contact. When the first assembly 10 and the second assembly 20 rotate relative to each other, the first roller assembly 31 can rotate relative to the second assembly 20 while in contact with each other, thereby facilitating reduction of the motion gap between the first assembly 10 and the second assembly 20.

[0042] 10 to 12 , in some embodiments, the first roller assembly 31 may include a bracket 312 and a roller body 311. The bracket 312 is disposed on the first assembly 10, and the roller body 311 is disposed on the bracket 312 and is rotatable relative to the bracket 312. The roller body 311 is disposed on the first assembly 10 via the bracket 312. When the roller body 311 and the second assembly 20 rotate relative to each other while in contact, the roller body 311 rotates relative to the bracket 312.

[0043] In some embodiments, referring to FIG. 12 , the roller body 311 includes a roller 3111 , a roller shaft 3112 , and a bearing 3113 that rotatably supports the roller 3111 on the roller shaft 3112 .

[0044] The second annular body 21 of the second assembly 20 includes a raceway surface 211, which is configured to cooperate with the roller 3111 to achieve circumferential rotation. Specifically, protrusions 31111 are formed on both axial sides of the roller 3111. The second annular body 21 also forms a raceway surface 211 on both axial sides of the second assembly 20. When the first assembly 10 rotates relative to the second assembly 20, the protrusions 31111 of the roller 3111 roll on the raceway surface 211. The raceway surfaces 211 on either side can be positioned between the two protrusions 31111, thereby limiting the position of the second assembly 20 by the roller 3111.

[0045] In such an embodiment, the distance between the bilateral contact points of the roller body 311 and the raceway surface 211 is set to the maximum value while ensuring compact stacking, so that the longest torque arm of the rotary drive device 1 is subjected to the minimum force when subjected to the same overturning moment.

[0046] In some embodiments, the roller body 311 further includes a fixing component 3114 for fixing the bearing 3113 on the roller shaft 3112 .

[0047] In some embodiments, the bracket 312 is disposed on the first component 10 in a movable manner relative to the first component 10. In such an embodiment, since the bracket 312 is movable relative to the first component 10, it is helpful to reduce the movement gap between the first component 10 and the second component 20 and / or level the end surface between the first component 10 and the second component 20.

[0048] In some embodiments, referring to Figures 10 to 12, the bracket 312 may include a bracket body 3121, a spacing adjustment mechanism 3122 arranged between the bracket body 3121 and the first component 10 and used to adjust the distance between the two, and a support mechanism 3123 that enables the bracket body 3121 to move freely radially relative to the first component 10.

[0049] In some embodiments, the bracket body 3121 may include a first support portion 31211 for supporting the first end 310 of the roller body 311, a second support portion 31212 for supporting the second end 320 of the roller body 311, and a connecting portion 31213 for connecting the first support portion 31211 and the second support portion 31212, and the connecting portion 31213 is located on the side of the roller body 311.

[0050] In some embodiments, the first support portion 31211 may include a first base 312111 and a first annular extension portion 312112 extending from the first base 312111 along the axial direction of the roller body 311, a first cavity 312113 for accommodating the first end portion 310 is formed inside the first annular extension portion 312112, and a first annular groove 312114 for accommodating the support mechanism 3123 is formed outside the first base 312111 located on the first annular extension portion 312112.

[0051] The fixing component 3114 of the roller body 311 may be mounted on the first base portion 312111 .

[0052] In some embodiments, referring to FIG. 11 , the first base portion 312111 forms a through hole for the roller shaft 3112 of the roller body 311 to pass through. The through hole may form a stepped surface, and the fixing member 3114 abuts against the stepped surface.

[0053] In some embodiments, the support mechanism 3123 may include a first thrust bearing 31231 disposed within the first annular groove 312114 and a locking ring 31232 disposed on a side of the first thrust bearing 31231 away from the first annular groove 312114. The locking ring 31232 is relatively fixedly disposed on the first assembly 10. The provision of the first thrust bearing 31231 allows the roller body 311 to rotate relative to the first assembly 10 when the first roller assembly 31 is mounted on the first assembly 10 via the end cap 313.

[0054] In some embodiments, a first thrust ring 31214 may be provided between the locking ring 31232 and the first thrust bearing 31231 , and the rolling element of the first thrust bearing 31231 rotates between the first thrust ring 31214 and the surface of the first annular groove 312114 .

[0055] In some embodiments, a gasket 31215 is disposed between the locking ring 31232 and the first thrust ring 31214 to buffer the forces acting therebetween. Referring to FIG11 , a groove is formed on the surface of the locking ring 31232 facing the first thrust ring 31214 to accommodate a portion of the gasket 31215 and thereby position the gasket 31215. The gasket 31215 deforms under load, maintaining surface contact between the locking ring 31232 and the first thrust ring 31214 after preload, thereby reducing contact stress.

[0056] In some embodiments, the second support portion 31212 includes a second base 312121 and a second annular extension portion 312122 extending from the second base 312121 along the axial direction of the roller body 311, and a second cavity 312123 for accommodating the second end 320 is formed inside the second annular extension portion 312122, and a second annular groove 312124 for accommodating the support mechanism 3123 is formed outside the second annular extension portion 312122 of the second base 312121.

[0057] Referring to Figure 7 , a first mounting groove 1101 is formed radially outwardly of the first annular body 11 for accommodating the first roller assembly 31. The sidewalls of the first mounting groove 1101 form tangential stop surfaces 11011, and corresponding surfaces of the first roller assembly 31 form tangential mating stop surfaces. These surfaces, in conjunction with the tangential stop surfaces 11011, constrain the translational freedom of the roller body 311 relative to the first assembly 10 in the tangential direction of the rotary drive device 1 (i.e., the x-axis of the coordinate system of the first roller assembly 31 shown in Figure 10 ).

[0058] Specifically, the side wall of the first mounting groove 1101 forms two opposite tangential stop surfaces 11011; referring to FIG10 , the periphery of the first base 312111 forms two oppositely arranged first tangential mating stop surfaces 3121111; the periphery of the second base 312121 includes two oppositely arranged second tangential mating stop surfaces 3121211.

[0059] In some embodiments, the support mechanism 3123 may also include a second thrust bearing 31233 arranged in the second annular groove 312124 and a second thrust ring 31234 arranged between the second thrust bearing 31233 and the first component 10, and the rolling body of the second thrust bearing 31233 rolls between the second thrust bearing 31233 and the surface of the second annular groove 312124.

[0060] The locking ring 31232 can be used to pre-tighten the first thrust bearing 31231 , the first thrust ring 31214 , the bracket body 3121 , the second thrust ring 31234 , and the second thrust bearing 31233 .

[0061] By providing the first thrust bearing 31231 and the second thrust bearing 31233, the support body 3121 is freed from translational freedom in the z-direction (i.e., the z-axis of the coordinate system of the first roller assembly 31 shown in FIG10 ) relative to the first assembly 10, resulting in minimal sliding resistance in the z-direction (i.e., the z-axis of the coordinate system of the first roller assembly 31 shown in FIG10 ). Consequently, the preload force applied by the elastic spacer 312222 to the roller body 311 of the support body 3121 is directly applied to the second assembly 20, thereby preloading the entire rotary drive device 1, eliminating play and generating extremely high radial stiffness. Furthermore, in the event of excessive radial loads, the elastic spacer 312222 can be directly compressed to absorb the impact load, preventing the second assembly 20 from being crushed by the roller 3111.

[0062] By cooperating between the first thrust bearing 31231 and the gasket 31215, the locking ring 31232, the end cover 313, and the first component 10, and by cooperating between the second thrust bearing 31233 and the first component 10, the roller body 311 on the bracket body 3121 is constrained in the y-direction (i.e., the y-axis of the coordinate system of the first roller component 31 shown in Figure 10) and the x-direction (i.e., the x-axis of the coordinate system of the first roller component 31 shown in Figure 10) relative to the first component 10, thereby avoiding constraining the rotation of the roller body 311 along the x-direction (i.e., the x-axis of the coordinate system of the first roller component 31 shown in Figure 10) by applying a preload force (provided by the propeller 31221 supporting the elastic spacer 312222). Without the need for additional loading of preload force, the rotary drive device 1 is provided with great overturning stiffness and at the same time has extremely low rolling resistance torque, providing good system characteristics for high static stiffness closed-loop control.

[0063] The diameters of the first thrust bearing 31231 and the second thrust bearing 31233 are set to the maximum value while ensuring compact stacking, so that when the rotary drive device 1 is subjected to the same overturning moment, the torque arm between the first thrust bearing 31231 and the gasket 31215, the locking ring 31232, the end cover 313, and the first component 10 is the longest and the force is the smallest, and the torque arm between the second thrust bearing 31233 and the first component 10 is the longest and the force is the smallest.

[0064] In some embodiments, the spacing adjustment mechanism 3122 includes a propulsion member 31221 that is spirally arranged on the first component 10 and can apply force to the bracket body 3121 through spiral movement with the first component 10, and a buffer member 31222 arranged on the bracket body 3121.

[0065] In some embodiments, the buffer member 31222 includes a pusher 312221 slidingly disposed in a through hole 312131 in the side wall of the bracket body 3121 and an elastic spacer 312222 disposed between the side wall of the bracket body 3121 and the pusher 312221 .

[0066] In some embodiments, the pusher 31221 may be a jackscrew. The pusher 31221 is locked to the first assembly 10 and is used to push the first roller assembly 31 so that it presses against the second assembly 20 in the radial direction of the rotary drive device 1. At this time, the roller assembly assembled on the opposite side of the first assembly 10 (such as the second roller assembly 32 mentioned below) is pushed toward the second assembly 20, thereby completing the centering and pre-tightening of the rotary drive device 1.

[0067] In some embodiments, the elastic spacer 312222 comprises a spring, a spring washer, or a disc spring. The pusher 312221 may include a main body 3122211 and a stopper 3122212, which is connected to the end of the main body 3122211 away from the roller body 311. The main body 3122211 is slidably inserted into a through-hole 312131 in the sidewall of the bracket body 3121, and the elastic spacer 312222 is sleeved onto the main body 3122211. The sidewall of the bracket body 3121 is formed as a connecting portion 31213, and the through-hole 312131 is formed in the connecting portion 31213. A recessed portion 312132 is formed inwardly from the periphery of the through-hole 312131 on the side of the connecting portion 31213 facing away from the roller body 311, and is used to accommodate the stopper 3122212 and the elastic spacer 312222.

[0068] In some embodiments, the bracket 312 further includes an axial adjustment mechanism for adjusting the axial position of the roller body 311 within the bracket body 3121 .

[0069] In some embodiments, the axial adjustment mechanism includes a first axial positioning assembly 31241 threadedly engaged in the first cavity 312113 of the first support portion 31211 of the bracket body 3121 and a second axial positioning assembly 31242 threadedly engaged in the second cavity 312123 of the second support portion 31212 of the bracket body 3121.

[0070] In some embodiments, the first axial positioning assembly 31241 includes a limiting nut 312411 fixedly disposed in the first cavity 312113 of the bracket body 3121 and a limiting screw 312412 threadedly engaged with the limiting nut 312411. The first end 310 of the first roller assembly 31 is axially positioned by the movement of the limiting screw 312412 in the limiting nut 312411.

[0071] The retaining nut 312411 is locked to the end cap 313, pre-tightening the first thrust bearing 31231 in the y-direction (i.e., the y-axis of the coordinate system of the first roller assembly 31 shown in Figure 10). Specifically, the end cap 313 is connected to the first cover plate 12. The first cover plate 12 defines a first mating notch 121 for mating with the end cap 313.

[0072] 5 and 7 , the end cap 313 has an opening, into which the locking ring 31232, the retaining nut 312411, and the first annular extension 312112 extend. The retaining nut 3124111 is also formed with a slot 3124111 on the end surface facing the end cap 313, allowing adjustment of the retaining nut 312411 through the opening of the end cap 313. The surface of the locking ring 31232 facing the end cap 313 is recessed to form a radially extending locking ring opening slot 312321. This slot, combined with the slot of the retaining nut 312411, forms a larger opening slot, facilitating adjustment of the retaining nut 312411 through the opening of the end cap 313.

[0073] A step surface is formed in the opening of the end cover 313 to limit the limiting nut 312411 in the axial direction.

[0074] It is easy to understand that the pre-tightening method using the limit nut 312411 can be replaced by using a spring, which can be placed inside or outside the first roller assembly 31. For example, the pre-tightening can be achieved by compressing the compression spring inside the first roller assembly 31 through the inner rings of the first thrust bearing 31231 and the second thrust bearing 31233.

[0075] In some embodiments, a flange 1103 is formed on a portion of the periphery of the first annular body 11 away from the first cover plate 12, and the second cover plate 13 is connected to the flange 1103. A through hole 11031 is formed in the flange 1103, and the second end 320 of the first roller assembly 31 enters the through hole 11031, thereby constraining the first roller assembly 31 within the first mounting groove 1101 by the end cover 313 and the through hole 11031.

[0076] In some embodiments, the first axial positioning assembly 31241 may further include a limiting ring 312413 fixedly disposed in the first cavity 312113 of the bracket body 3121 for radially limiting the first end portion 310 of the first roller assembly 31 .

[0077] Referring to Figure 10 , the outer periphery of the retaining ring 312413 has a racetrack shape. The racetrack shape of the retaining ring 312413 may include two opposing straight segments and two opposing arc segments, with the distance between the two straight segments being less than the length of the straight segments. A racetrack-shaped retaining hole 3124131 is formed radially inwardly of the retaining ring 312413. The first base 312111 forms a through hole for the roller shaft 3112 of the roller body 311 to pass through. A first retaining hole 3121112, connected to the through hole, is further formed on the side of the first base 312111 away from the roller body 311. The first retaining hole 3121112 mates with the outer periphery of the retaining ring 312413 to retain the retaining ring 312413 within.

[0078] The extension direction of the straight segment of the limiting hole 3124131 is perpendicular to the axial direction of the through hole 312131, and the distance between the two straight segments can be the same as the outer diameter of the roller shaft 3112 of the roller body 311, thereby constraining the rotational freedom of the roller body 311 relative to the bracket body 3121 on the z-axis (i.e., the z-axis of the coordinate system of the first roller assembly 31 shown in Figure 10), and at the same time releasing the rotational freedom of the roller body 311 relative to the first component 10 on the x-axis (i.e., the x-axis of the coordinate system of the first roller assembly 31 shown in Figure 10) during the assembly process, thereby avoiding the assembly tolerance causing the roller 3111 on the roller body 311 to be in non-facing contact with the second component 20.

[0079] In some embodiments, the second axial positioning assembly 31242 may include an axial top screw threadedly disposed in the second cavity 312123 of the second support portion 31212 , and the axial top screw has an external thread that cooperates with the internal thread in the second cavity 312123 of the second support portion 31212 .

[0080] In some embodiments, the axial jackscrew includes a threaded portion 312421 having an external thread and a protrusion 312422 protruding from the threaded portion 312421 toward the second end portion 320 of the first roller assembly 31. The protrusion 312422 contacts the second end portion 320 of the first roller assembly 31. Specifically, the second annular extension 312122 and the protrusion 312422 are located in the through hole 11031 of the first annular body 11. An operating groove (e.g., a slotted groove) is formed on the end surface of the protrusion 312422 away from the protrusion 312422 for cooperating with the limit screw 312412 to axially pretighten the first roller assembly 31.

[0081] In some embodiments, referring to FIG. 9 , a slip ring track 50 and a slip ring brush 51 are provided at the position of the second component 20 in contact with the roller assembly 30 , and the two cooperate to realize the internal routing and infinite rotation of the rotary drive device 1 .

[0082] 5 , a noise reduction and damping ring 70 is provided on the side wall of the second component 20 opposite to the roller assembly 30 to reduce or eliminate the operating noise of the rotary drive device 1. The noise reduction and damping ring 70 can be combined with the second component 20 by an in-mold injection process.

[0083] In some embodiments, the roller assembly 30 further includes at least one second roller assembly 32 disposed on the first assembly 10 or the second assembly 20. The number of second roller assemblies 32 can be one, two, three, or four or more. In some embodiments, the second roller assembly 32 can be disposed on the first assembly 10. In some embodiments, the second roller assembly 32 can be disposed on the second assembly 20.

[0084] The second roller assembly 32 can be assembled to the first assembly 10 to center the second assembly 20 relative to the first assembly 10. The first roller assembly 31 is assembled to the first assembly 10 and applies a radial preload to the second assembly 20 via the pusher 31221, thereby constraining the rotation of the rotary drive device in conjunction with the second roller assembly 32.

[0085] In the illustrated embodiment, the roller assembly 30 includes two first roller assemblies 31 and two second roller assemblies 32. The four roller assemblies are assembled to the first assembly 10 at equal intervals. The first roller assemblies 31 and the second roller assemblies 32 are arranged opposite to each other.

[0086] In some embodiments, as shown in Figure 6 , the second roller assembly 32 includes a second roller body 321 that is radially movable on the first assembly 10. As shown in Figure 7 , a second mounting groove 1102 is formed radially outwardly of the first annular body 11 for receiving the second roller assembly 32.

[0087] In some embodiments, the first end 310 of the second roller body 321 is axially positioned by a second end cover 322 having a second axial top screw 324 disposed therein. The second end cover 322 is fixedly disposed on the first component 10, and the second end 320 of the second roller body 321 is axially positioned by a first axial top screw 323 threadedly disposed in the first component 10.

[0088] 7 , the first cover plate 12 forms a second mating notch 122 for mating with the second end cap 322. The first cover plate 12 and the second cover plate 13 respectively form a third mating notch 123 and a fourth mating notch 131. Two connecting plates 124 are connected to the first cover plate 12 and the second cover plate 13 at the third mating notch 123 and the fourth mating notch 131, respectively.

[0089] In some embodiments, the structure of the second roller body 321 may be similar to that of the first roller body 311. Specifically, the second roller body 321 includes a second roller 3211, a second roller shaft 3212, and a second bearing 3213 rotatably supporting the second roller 3211 on the second roller shaft 3212.

[0090] In some embodiments, the second roller body 321 further includes a second fixing member 3214 that fixes the second bearing 3213 to the second roller 3212. The end surface of the second roller 3212 facing the first axial screw 323 is recessed inward to form a threaded hole. The first axial screw 323 passes through the second end cap 322 and is threadedly connected to the threaded hole of the second roller 3212.

[0091] By adjusting the locking position of the limit screw 312412 and the axial top screw (second axial positioning component 31242), the axial position of the first roller assembly 31 relative to the first component 10 can be positioned, so that the end face of the second component 20 jointly positioned by the first roller assembly 31 and the second roller assembly 32 on the rotary drive device 1 is aligned with the end face of the first component 10, so as to eliminate the processing and assembly tolerances of each part in the y-axis direction (that is, the y-axis of the coordinate system of the first roller assembly 31 shown in Figure 10).

[0092] In some embodiments, the rotation drive device 1 may include a drive assembly 40 capable of driving the first assembly 10 and the second assembly 20 to rotate relative to each other. The drive assembly 40 may be a permanent magnet synchronous motor.

[0093] In some embodiments, referring to FIG3 , the drive component 40 may include a permanent magnet 41 and a retaining frame 42 disposed in one of the first component 10 and the second component 20 and an iron core 44 and a winding 43 disposed in the other of the first component 10 and the second component 20, wherein the retaining frame 42 is used to fix and retain the permanent magnet 41, and the winding 43 is wound on the iron core 44.

[0094] In some embodiments, the permanent magnet 41 and the retaining frame 42 are disposed in the second component 20, and the iron core 44 and the winding 43 are disposed in the first component 10. The driving component 40 may include a yoke 45 fixed to the second component 20. The iron core 44 and the winding 43 are disposed on a plate and connected to a fixing hole 47 on the first component 10 via an iron core locating pin 46.

[0095] The permanent magnet 41, the retaining frame 42 and the yoke 45 can be assembled on the second component 20 of the rotary drive device 1 in an embedded manner, and the iron core 44 and the winding 43 can be assembled in the first component 10 of the rotary drive device 1 in an embedded manner to form a direct-drive rotary drive.

[0096] In some embodiments, the first cover plate 12 is fixed to the first assembly 10 to cover and protect the internal features of the rotary drive device 1. The second cover plate 13 may have two pieces and is fixed to the first assembly 10 to cover and protect the internal features of the rotary drive device 1.

[0097] In some embodiments, the driving component 40 of the rotary drive device 1 is not limited to the above embodiments, and can also be driven in any other form, such as using a permanent magnet synchronous motor with axial magnetic flux for built-in direct drive, or using any other motor with or without a transmission mechanism or a reduction mechanism for built-in or external drive.

[0098] In some embodiments, as shown in FIG9 , a dustproof member 60 is provided on the edge of the first assembly 10 opposite the second assembly 20. The dustproof member 60 may be a dustproof felt that seals the gaps in the rotary drive device 1 to prevent dust from entering and protect the internal operation. The dustproof member 60 may also be made of any dustproof and waterproof material, such as rubber or nylon bristles.

[0099] The number of first roller assemblies 31 and second roller assemblies 32 in the rotary drive device 1 can be adjusted arbitrarily. The functions of the second assembly 20 and the first assembly 10, as well as the parts assembled thereon, can be interchanged arbitrarily. The rollers can be arranged at any angle relative to the second assembly 20 and the first assembly 10. The cross-sectional shape of the rollers and the second assembly 20 can be adjusted arbitrarily. The contact form can be either point contact or line contact, and the shape and angle of the contact line can be adjusted arbitrarily.

[0100] The present application also provides a gimbal 100. Referring to Figures 13 to 15, the gimbal 100 may include a carrier 101, a roll axis mechanism, a pitch axis mechanism, and a yaw axis mechanism.

[0101] Referring to Figures 16 to 19 , a support member 101 is used to support a load 80. A roll axis mechanism is used to adjust the roll angle of the load 80. A pitch axis mechanism is used to adjust the roll angle of the load 80. A yaw axis mechanism is used to adjust the yaw angle of the load 80. The roll axis mechanism includes a rotation drive device 1 according to any embodiment of the present application.

[0102] The rotary drive device 1 of the embodiment of the present application has a roller group 30 between the first component 10 and the second component 20 that can adjust the motion gap between the first component 10 and the second component 20. Therefore, the motion gap between the first component 10 and the second component 20 can be adjusted by using the roller group 30. When the rotary drive device 1 is applied to the roll axis mechanism of the pan-tilt head 100, it is beneficial to accurately position the load 80 carried by the pan-tilt head 100. The adjustment along the Z-axis (optical axis) is no longer restricted by the shaft arm. Large-size lenses can be arbitrarily mounted and leveling can be completed. Moreover, since there is no shaft arm blocking it, it no longer affects the monitoring of the screen.

[0103] The payload may include a photographing device. The photographing device may be, for example, a camera. The carrier 101 may include a quick-release mount for quick release of the payload.

[0104] In the embodiments shown in Figures 13 to 19, the gimbal 100 further includes a gimbal base frame 110. The pitch axis mechanism is connected to the gimbal base frame 110; the yaw axis mechanism is connected to the pitch axis mechanism and can rotate about the yaw axis driven by the pitch axis mechanism; and the roll axis mechanism is connected to the yaw axis mechanism. A carrier 101 is disposed on the first component 10 of the rotation drive device 1 of the roll axis mechanism.

[0105] The pitch mechanism includes a pitch motor 109 and a yaw-pitch arm 108. The yaw mechanism may include a yaw motor 107. Yaw motor 107 drives the rotary drive device 1 to rotate about the yaw axis. The rotary drive device 1 can function as a roll axis. The second component 20 corresponds to the outer frame base of the pan / tilt axis. The first component 10 corresponds to the inner frame base of the pan / tilt axis.

[0106] In the illustrated embodiment, the gimbal 100 may further include an X-axis automatic leveling mechanism 102, a Y-axis adaptor block 103, two connecting arms 104, a Y-axis counterweight mechanism 105, and a Z-axis automatic leveling mechanism 106. The X-axis automatic leveling mechanism 102 is used to automatically level the gimbal's center of mass along the X-axis. The X-axis automatic leveling mechanism 102 can also be manually adjusted.

[0107] Two connecting arms 104 are arranged relative to the rotation drive device 1, and the carrier 101 is connected to one connecting arm 104. The X-axis automatic leveling mechanism 102 and the Y-axis adaptation pad 103 are respectively connected to the connecting arm 104. The Y-axis adaptation pad 103 can use different adaptation pads according to different cameras to achieve the center of mass leveling in the Y-axis direction of the gimbal. The Y-axis counterweight mechanism 105 is connected to the other connecting arm 104. The Y-axis counterweight mechanism 105 cooperates with the Y-axis adaptation pad 103 to achieve the center of mass leveling in the Y-axis direction. The Z-axis automatic leveling mechanism 106 is connected between the yaw axis motor 107 and the rotation drive device 1. The Z-axis automatic leveling mechanism 106 is used to achieve automatic leveling of the center of mass in the Z-axis direction of the gimbal. The Z-axis automatic leveling mechanism 106 can support manual operation.

[0108] The gimbal 100 may further include two first handles 111 and a second handle 112 disposed on the gimbal base frame 110. The second handle 112 is disposed on the upper portion of the gimbal base frame 110, and the two first handles 111 are disposed on the opposite ends of the gimbal base frame 110. In the above embodiment, the gimbal 100 has a symmetrical configuration. By using Y-axis adapter blocks for different cameras, the leveling process can be reduced from four times for traditional gimbals to two times. Automatic leveling is also possible, significantly reducing user learning and usage costs and improving efficiency and user experience.

[0109] When using the gimbal 100 with both hands, a line connecting the two hands passes through the center of mass of the gimbal 100, allowing the user to perform stable and precise camera movements. The user can switch to single-handed mode using the second handle 112 at any time, or single-handed mode (either of the first handles 111) by rotating the gimbal 100 90 degrees along the roll axis (in which case the axis sequence changes from "roll-yaw-pitch" to "roll-pitch-yaw"). The roll axis can rotate infinitely in either mode, facilitating rotating camera movements.

[0110] Through the sophisticated structural design of the rotary drive device 1 and the integrated stacking of the direct-drive permanent magnet synchronous motor and the conductive slip ring, a rotary drive system of the rotary drive device 1 with high support stiffness, low rolling resistance torque, integrated permanent magnet synchronous motor (direct drive) and conductive slip ring in the ring, high lightness, high control accuracy and high response speed with its own over-positioning pre-tightening system is obtained. The control performance of the gimbal 100 not only does not decline compared with traditional gimbals, but its overturning stiffness is greatly improved. Combined with the double-end support configuration of each axis, it still has extremely high response speed and control accuracy compared with other gimbals after carrying heavy loads such as heavy movie cameras. Under this premise, the weight of the rotary drive device 1 is also greatly reduced. Moreover, since there is no external drive, the size of the rotary drive device 1 can be more compact, so that the gimbal joint angle range under the same conditions is larger and the outer frame size of the entire gimbal is also more compact.

[0111] It is easy to understand that the axis sequence of the gimbal 100 includes but is not limited to RYP (the sequence is from the load 80 to the handheld end or the base end) shown in the figure, and can be arranged and combined arbitrarily, and the placement position of the automatic leveling mechanism can also be adjusted arbitrarily according to the axis sequence.

[0112] The above only shows an embodiment in which the functional modules are one or two. Those skilled in the art will easily understand that in the embodiment of the present application, the shooting kit may include one functional module, two functional modules, three functional modules, or more functional modules.

[0113] Regarding the embodiments of the present application, it should also be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other to obtain new embodiments.

[0114] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A rotary drive device, comprising a first component and a second component capable of relative rotational movement, wherein the driving force between the first component and the second component is provided by an interaction surface between the two components, characterized in that: A roller set capable of adjusting a motion gap between the first component and the second component is arranged between the first component and the second component.

2. The rotary drive device according to claim 1, characterized in that: The roller set includes at least one first roller assembly disposed on the first assembly or the second assembly.

3. The rotary drive device according to claim 2, characterized in that: The first roller assembly is arranged on the first assembly and is in contact with the second assembly for relatively rotational movement.

4. The rotary drive device according to claim 3, characterized in that: The first roller assembly includes a bracket and a roller body. The bracket is arranged on the first assembly, and the roller body is arranged on the bracket and can rotate relative to the bracket.

5. The rotary drive device according to claim 4, characterized in that: The bracket is disposed on the first component in a movably manner relative to the first component.

6. The rotary drive device according to claim 5, characterized in that: The support comprises a support body, a spacing adjustment mechanism disposed between the support body and the first component and used to adjust the distance between the two, and a support mechanism enabling the support body to freely move radially relative to the first component.

7. The rotary drive device according to claim 6, characterized in that: The bracket body includes a first support portion for supporting a first end portion of the roller body, a second support portion for supporting a second end portion of the roller body, and a connecting portion for connecting the first support portion and the second support portion, wherein the connecting portion is located at a side portion of the roller body.

8. The rotary drive device according to claim 7, characterized in that: The first support portion includes a first base portion and a roller extending from the first base portion in the axial direction of the roller body. A first annular extension portion is formed inside the first annular extension portion to accommodate the first end portion, and a first annular groove for accommodating the support mechanism is formed outside the first annular extension portion of the first base portion.

9. The rotary drive device according to claim 8, characterized in that: The supporting mechanism comprises a first thrust bearing arranged in the first annular groove and a locking ring arranged on a side of the first thrust bearing away from the first annular groove, and the locking ring is relatively fixedly arranged on the first component.

10. The rotary drive device according to claim 9, characterized in that: A first thrust ring is arranged between the locking ring and the first thrust bearing, and a rolling element of the first thrust bearing rotates between the first thrust ring and a surface of the first annular groove.

11. The rotary drive device according to claim 10, characterized in that: A gasket for buffering the force between the locking ring and the first thrust ring is arranged between the locking ring and the first thrust ring.

12. The rotary drive device according to any one of claims 9 to 11, characterized in that: The second supporting portion includes a second base and a second annular extension portion extending from the second base along the axial direction of the roller body, a second cavity for accommodating the second end portion is formed inside the second annular extension portion, and a second annular groove for accommodating the supporting mechanism is formed outside the second base portion and located on the second annular extension portion.

13. The rotary drive device according to claim 12, characterized in that: The support mechanism further includes a second thrust bearing disposed in the second annular groove and a second thrust ring disposed between the second thrust bearing and the first component, wherein a rolling element of the second thrust bearing rolls between the second thrust bearing and a surface of the second annular groove.

14. The rotary drive device according to claim 6, characterized in that: The spacing adjustment mechanism includes a propulsion member which is spirally arranged on the first component and can apply a force to the bracket body through spiral movement with the first component, and a buffer member which is arranged on the bracket body.

15. The rotary drive device according to claim 14, characterized in that: The buffer member includes a pusher member that is slidably arranged in a through hole in the side wall of the bracket body and an elastic spacer that is arranged between the side wall of the bracket body and the pusher member.

16. The rotary drive device according to claim 15, characterized in that: The elastic spacer includes a spring, a spring washer or a disc spring.

17. The rotary drive device according to claim 6, characterized in that: The bracket further comprises an axial adjustment mechanism for adjusting the axial position of the roller body within the bracket body.

18. The rotary drive device according to claim 17, characterized in that: The axial adjustment mechanism includes a first axial positioning component threadedly engaged in a first cavity of a first support portion of the bracket body and a second axial positioning component threadedly engaged in a second cavity of a second support portion of the bracket body.

19. The rotary drive device according to claim 18, characterized in that: The first axial positioning assembly includes a limiting nut fixedly disposed in the first cavity of the bracket body and a limiting screw threadably matched with the limiting nut, and the first end of the first roller assembly is axially positioned by the movement of the limiting screw in the limiting nut.

20. The rotary drive device according to claim 19, characterized in that: The first axial positioning assembly also includes a limiting ring fixedly disposed in the first cavity of the bracket body for radially limiting the first end of the first roller assembly.

21. The rotary drive device according to claim 18, characterized in that: The second axial positioning assembly includes an axial push screw threadably disposed in the second cavity of the second support portion, wherein the axial push screw has an external thread that matches with an internal thread in the second cavity of the second support portion.

22. The rotary drive device according to claim 21, characterized in that: The axial top screw includes a threaded portion provided with an external thread and a protruding portion protruding from the threaded portion toward the second end of the first roller assembly, wherein the protruding portion contacts the second end of the first roller assembly.

23. The rotary drive device according to claim 4, characterized in that: The roller body includes a roller, a roller shaft, and a bearing that rotatably supports the roller on the roller shaft.

24. The rotary drive device according to claim 23, characterized in that: The roller body further comprises a fixing component for fixing the bearing on the roller shaft.

25. The rotary drive device according to any one of claims 1 to 24, characterized in that: The first end of each roller assembly in the roller group is fixedly arranged on the first assembly through an end cover, and the second end of each roller assembly is fixedly arranged on the first assembly.

26. The rotary drive device according to claim 2, characterized in that: The roller set further includes at least one second roller assembly disposed on the first assembly or the second assembly.

27. The rotary drive device according to claim 26, characterized in that: The second roller assembly includes a roller body which is disposed on the first assembly in a radially movable manner.

28. The rotary drive device according to claim 27, characterized in that: The first end of the roller body is axially positioned by an end cover with a top screw disposed inside, the end cover is fixedly disposed on the first component, and the second end of the roller body is axially positioned by a top screw threadedly disposed in the first component.

29. The rotary drive device according to claim 27, characterized in that: The roller body includes a roller, a roller shaft, and a bearing that rotatably supports the roller on the roller shaft.

30. The rotary drive device according to claim 29, characterized in that: The roller body further comprises a fixing component for fixing the bearing on the roller shaft.

31. The rotary drive device according to claim 1, characterized in that: The rotation driving device includes a driving component capable of driving the first component and the second component to rotate relative to each other.

32. The rotary drive device according to claim 31, characterized in that: The driving component includes a permanent magnet and a retaining frame arranged in one of the first component and the second component, and an iron core and a winding arranged in the other of the first component and the second component, the retaining frame is used to fix and retain the permanent magnet, and the winding is wound on the iron core.

33. The rotary drive device according to claim 3, characterized in that: A slip ring track is provided at a position of the second component that is in motion contact with the roller group so as to roll with the roller group.

34. The rotary drive device according to claim 33, characterized in that: A sound-absorbing and damping ring is provided in a side wall of the second assembly opposite to the roller set.

35. The rotary drive device according to claim 1, characterized in that: A dust-proof member is provided on an edge portion of the first component opposite to the second component.

36. The rotary drive device according to claim 3, characterized in that: The first component and the second component both include a circular ring structure. The second component is sleeved on the outside of the first component. A load is arranged inside the first component, and the load can move with the first component.

37. A pan / tilt head, characterized in that: include: A bearing member, used for bearing a load; A roll axis mechanism, used for adjusting the roll angle of the load; A pitch axis mechanism, used to adjust the roll angle of the load; as well as A yaw axis mechanism, used to adjust the yaw angle of the load, Wherein, the roll axis mechanism comprises a rotation drive device according to any one of claims 1-36.

38. The pan / tilt platform according to claim 37, characterized in that: The load includes a camera device.

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