CN207082976U - A kind of brushless motor and the cloud platform and aerial camera with the brushless motor - Google Patents

Abstract

The utility model provides a kind of brushless electric machine, including motor body and circuit board assemblies installation shell, the circuit board assemblies installation shell is arranged on the end of the motor body, formed with the first cavity between the circuit board assemblies and the motor body, it is provided with first cavity and is used for the circuit board assemblies for controlling the brushless electric machine work and the angle sensor device assembly for gathering the brushless electric motor rotor anglec of rotation, the circuit board assemblies electrically connect with the angle sensor device assembly, by using said structure, so that brushless electric machine adjustment is simple, using relatively easy, the utility model also provides a kind of head and aerial photography device with above-mentioned brushless electric machine.

Description

A kind of brushless motor and the cloud platform and aerial camera with the brushless motor

technical field

The utility model relates to the field of motors, in particular to a brushless motor and a cloud platform and an aerial camera equipped with the brushless motor.

Background technique

In recent years, all kinds of moving base imaging gimbals have been widely used in aerial photography, unmanned vehicles, robots and other fields, and have attracted more and more attention. In particular, the use of drones for aerial photography is an important means to quickly, flexibly, clearly and accurately obtain photos and video information of areas of interest to people. However, for moving base carriers represented by UAVs, there are inevitably changes in the carrier's attitude and vibrations during the movement process, resulting in severe shaking of the video and blurred photos. The birth of the stable gimbal solves this problem. question.

The stabilized gimbal consists of a multi-degree-of-freedom mechanical mechanism, a drive motor on each axis, and a control circuit. Common gimbal motors include steering gear for model airplanes, DC servo motors with reduction mechanisms, stepper motors, and brushless motors.

Compared with other types of motors, the stabilized head with brushless motor has outstanding advantages such as high overall rigidity, small size, light weight, and good stabilization effect. However, in the existing brushless pan/tilt drive control systems on the market, the motor drive circuit system and the brushless motor are separated, resulting in a large motor system and lack of high installation adaptability during system installation.

Utility model content

In view of this, the embodiment of the utility model provides a brushless motor and a pan/tilt and an aerial camera with the brushless motor.

In the first aspect, the utility model provides a brushless motor, which includes a motor body and a circuit board assembly mounting shell, the circuit board assembly mounting shell is arranged on the end of the motor body, the circuit board assembly and the A first cavity is formed between the motor bodies, and a circuit board assembly for controlling the operation of the brushless motor and an angle sensor assembly for collecting the rotor rotation angle of the brushless motor are arranged in the first cavity. A board assembly is electrically connected to the angle sensor assembly.

Optionally, the angle sensor assembly includes a magnetic encoder chip and a permanent magnet, a rotating shaft is arranged at the axial center of the rotor of the brushless motor, and the permanent magnet is arranged with the rotating shaft toward the end of the circuit board assembly The magnetic encoder chip is arranged on the circuit board assembly and corresponds to the permanent magnet, and the magnetic encoder chip is electrically connected to the circuit board assembly.

Optionally, the circuit board assembly includes a digital controller for controlling the brushless motor according to the rotor rotation angle and current data of the brushless motor, a three-phase bridge drive assembly, and a drive assembly for detecting that the brushless motor is adjacent to each other. A current sensor component for current data between two phases, the digital controller, the three-phase bridge drive component and the current sensor component are electrically connected.

Optionally, the circuit board assembly includes a digital processing circuit board and a driving circuit board, and the digital processing circuit board and the driving circuit board are stacked in the first cavity.

Optionally, a cavity is formed through the rotating shaft along the axial direction.

Optionally, the angle sensor assembly includes a circular grating and an optical reading chip. There is a mounting hole in the middle of the circular grating, and the circular grating is sleeved on the end of the rotating shaft through the mounting hole. The optical reading chip It is arranged on the circuit board assembly and corresponds to the circular grating, and the optical reading chip is electrically connected with the circuit board assembly.

Optionally, the angle sensor assembly includes a circular magnetic grid and a Hall reading chip. There is a circular hole in the middle of the circular magnetic grid, and the circular magnetic grid is sleeved on the end of the rotating shaft through the circular hole. part, the Hall reading chip is arranged on the circuit board assembly and corresponds to the circular magnetic grid, and the Hall reading chip is electrically connected to the circuit board assembly.

Optionally, a wiring harness for transmitting electrical signals is arranged in the cavity.

In a second aspect, the utility model provides a platform, which has the above-mentioned brushless motor.

In a third aspect, the utility model provides an aerial camera, which has the above-mentioned pan/tilt.

As can be seen from the above technical solutions, the utility model embodiment has the following advantages:

The utility model provides a brushless motor, a pan-tilt and an aerial camera, comprising a motor body and a circuit board assembly installation shell, the circuit board assembly installation shell is arranged on the end of the motor body, the circuit board assembly and A first cavity is formed between the motor bodies, and a circuit board assembly for controlling the operation of the brushless motor and an angle sensor assembly for collecting the rotation angle of the rotor of the brushless motor are arranged in the first cavity. The circuit board assembly is electrically connected to the angle sensor assembly. By adopting the above structure, the brushless motor is easy to assemble and adjust, relatively easy to use, and relatively low in cost.

Description of drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Apparently, the drawings in the following description are only some embodiments of the present utility model, and those skilled in the art can obtain other drawings according to these drawings without creative work.

Fig. 1 is a schematic structural diagram of a brushless motor provided in an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of another brushless motor provided in the embodiment of the present invention;

Fig. 3 is a structural schematic diagram of another brushless motor provided in the embodiment of the utility model;

Fig. 4 is a schematic structural diagram of another brushless motor provided in the embodiment of the present invention.

Reference signs: first screw 1, circuit board assembly mounting case 2, second screw 3, circuit board assembly 4, digital control circuit board 41, drive circuit board 42, angle sensor assembly 5, magnetic encoder chip 51, permanent magnet 52, circular grating 53, light source 54, optical reading chip 55, motor body 6, rotating shaft 7, cavity 8, wiring harness 9.

Detailed ways

In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the utility model. Obviously, the described The embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present utility model and the above drawings are used to distinguish similar objects and do not necessarily Used to describe a specific sequence or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

As shown in Figure 1, the utility model provides a brushless motor, including a motor body 6 and a circuit board assembly mounting shell 2, the circuit board assembly mounting shell 2 is arranged on the end of the motor body 2, through the first A screw 1 installs the two together, a first cavity is formed between the circuit board assembly 4 and the motor body 6, and a circuit for controlling the operation of the brushless motor is arranged in the first cavity The board assembly and 4 are used to collect the angle sensor assembly 5 of the rotor rotation angle of the brushless motor, the circuit board assembly 4 is installed on the motor body 6 through the second screw 3, and the circuit board assembly 4 is electrically connected to the angle sensor assembly 5 , the circuit board assembly 4 can obtain the absolute angular position of the rotor of the brushless motor and the current data of two adjacent phases of the brushless motor, and realize the drive and control of the motor. The circuit board assembly 4 also has a communication circuit capable of receiving external sent instructions, and send information such as the absolute angular position and current of the brushless motor rotor to the outside, and the angle sensor component measures the absolute angular position of the brushless motor rotation, and feeds back to the digital controller of the circuit board component 4 for further processing Closed-loop control, by adopting the above-mentioned structure, makes the installation and adjustment of the brushless motor simple and relatively easy to use.

According to the thickness of the rotor shaft of the brushless motor, whether it is necessary to pass the cable in the shaft 7 or not, a variety of rotor shaft structures of the brushless motor are provided, and the corresponding angle sensor assembly 5 is also different. For those who do not arrange cables in the shaft 7 or When arranging fewer cables, a solid shaft or a shaft 7 with a thinner through hole can be used. When more cables need to be arranged in the shaft, the diameter of the shaft should be increased accordingly, and the inner diameter of the through hole in the shaft is also the same. Increase.

As shown in FIG. 2 and FIG. 3 , when no cables are arranged in the rotating shaft 7 or few cables are arranged, the angle sensor assembly 5 includes a magnetic encoder chip 51 and a permanent magnet 52, and the axial center of the brushless motor rotor is provided with The rotating shaft 7, the permanent magnet 52 is arranged with the end of the rotating shaft 7 facing the circuit board assembly 4, the magnetic encoder chip 51 is arranged on the circuit board assembly 4 and corresponds to the permanent magnet 52, the magnetic The encoder chip 51 is electrically connected to the circuit board assembly 4, the rotating shaft 7 drives the permanent magnet 52 to rotate, the magnetic flux changes, the magnetic encoder chip 51 collects corresponding signal data and transmits it to the circuit board assembly 4, and the circuit board assembly 4 performs calculation The rotation angle or angular velocity of the brushless motor rotor can be obtained.

Optionally, the circuit board assembly 4 includes a digital controller for controlling the brushless motor according to the rotor rotation angle and current data of the brushless motor, a three-phase bridge drive assembly, and is used for detecting that the brushless motor is adjacent to each other. The current sensor assembly of the current data between two phases, the digital controller, the three-phase bridge drive assembly and the current sensor assembly are electrically connected, and the digital controller on the circuit board assembly 4 can read the angle sensor assembly and the current sensor assembly The absolute angular position of the rotor of the brushless motor and the current data of two adjacent phases of the brushless motor are obtained, and the field-oriented control of the brushless motor is performed through the three-phase bridge chip component.

It should be noted that the current sensor component is used to collect the current passing through the brushless motor and feed it back to the digital controller for current closed-loop control. When the current closed-loop control is not required, the current sensor component can also be omitted.

Optionally, the circuit board assembly 4 includes a digital processing circuit board 41 and a driving circuit board 42, and the digital processing circuit board 41 and the driving circuit board 42 are stacked in the first cavity, so that they can be divided into Implemented on two boards.

As shown in Figure 4, when more cables need to be arranged in the rotating shaft, the rotating shaft is provided with a cavity 8 along the axial direction. Preferably, the shape of the cavity 8 is a regular cylinder, which is convenient for cables to pass through. The inner diameter of the cavity 8 can be set as required, and is not limited here.

When the cavity structure is adopted in the rotating shaft 7, the angular position of the rotor can be obtained by photoelectric coding or magnetic grating coding. Specifically, when using photoelectric coding, the angle sensor assembly 5 includes a circular grating 53 and an optical reading chip 55. The optical reading chip 55 can choose the iC-PN series chips from iC-haus company, the circular grating 53 is provided with coding holes, one side of the circular grating 53 is provided with an optical reading chip 55, and the other side is provided with a light source 54, and the middle of the circular grating 53 has a mounting hole , the circular grating 53 is sleeved on the end of the rotating shaft 7 through the mounting hole, the optical reading chip 55 is arranged on the circuit board assembly 4 and corresponds to the circular grating 53, the optical reading chip 55 is electrically connected with the circuit board assembly 4. When the rotor rotates, the circular grating 53 rotates, and the encoding is performed by turning on and off the light, and the rotation angle of the rotor shaft system is solved by the rotation of the circular grating 53. The structure of the photoelectric encoding is in the field Ordinary technical personnel should understand it, and details are not repeated here.

When using magnetic grid encoding, the angle sensor assembly 5 includes a circular magnetic grid and a Hall reading chip. The Hall reading chip can be the iC-MU series chip of iC-haus company, and the circular magnetic grid can also be replaced by a magnetic drum. The grid pitch of the circular magnetic grid is generally 1.28 mm or 1.5 mm. There is a circular hole in the middle of the circular magnetic grid, and the circular magnetic grid is sleeved on the end of the rotating shaft through the circular hole. The Hall reading chip is arranged on the circuit board assembly 4 and corresponds to the circular magnetic grid, the Hall reading chip is electrically connected to the circuit board assembly 4, and the circular magnetic grid and the Hall reading chip are composed of components It is called a magnetic grating sensor, and its angular resolution can reach 360°/2 ¹⁸ ~ 360°/2 ²⁰ , with high detection accuracy.

Optionally, a wire harness 9 for transmitting electrical signals is provided in the cavity, which is convenient for wiring. Not only that, the cavity 8 can also be used as a gas transmission, infusion or wiring pipeline, so as to make full use of the shaft 7 to , simplify the overall structure of the motor, and meet the special requirements of some special occasions.

UART (Universal Asynchronous Receiver Transmitter, Universal Asynchronous Receiver Transmitter) interface of the digital controller is utilized on the circuit board assembly 4 to realize external communication. to convert between. In order to enhance the anti-interference ability of the communication signal, the UART interface on the circuit board assembly 4 is connected with the RS-422 level conversion chip Max3490 or Max3074 to realize the RS-422 serial communication.

There is also a power supply chip on the circuit board assembly 4, which converts the 8-24V power input to the whole brushless motor into 5V and 3.3V power supplies, and supplies power for each chip and angle sensor assembly. Those of ordinary skill in the art should understand that no further description will be made here. repeat.

Correspondingly, the utility model provides a cloud platform, which has the above-mentioned brushless motor, which can reduce the volume of the platform, simplify assembly, and reduce the cost accordingly. Each motion axis of the gimbal is driven by the brushless motor, and the stable control is realized through the serial communication of the main control system. Since the motor has its own drive circuit, the main control system does not need to design a motor drive circuit, but only needs to be connected through a serial port, which simplifies the development and design of the pan/tilt.

Correspondingly, the utility model provides an aerial camera, which has the above-mentioned pan/tilt. The aerial photography devices mentioned here include but are not limited to aviation models, airplanes, helicopters, hot air balloons, small spaceships, rockets, kites, parachutes, etc. Larger payloads can be loaded by using the aforementioned pan/tilt.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by controlling related hardware through a program. The program can be stored in a computer-readable storage medium, and the storage medium can include: only Read memory (ROM, Read Only Memory), random access memory (RAM, Random AccessMemory), magnetic disk or optical disk, etc.

The brushless motor provided by the utility model and the cloud platform and the aerial camera with the brushless motor have been introduced in detail above. There will be changes in the scope of application and the scope of application. In summary, the content of this specification should not be construed as limiting the utility model.

Claims (10)

1. A brushless motor, characterized in that it comprises a motor body and a circuit board assembly mounting shell, the circuit board assembly mounting shell is arranged on the end of the motor body, the circuit board assembly and the motor body A first cavity is formed between them, and a circuit board assembly for controlling the operation of the brushless motor and an angle sensor assembly for collecting the rotor rotation angle of the brushless motor are arranged in the first cavity, and the circuit board assembly It is electrically connected with the angle sensor assembly. 2. The brushless motor according to claim 1, wherein the angle sensor assembly includes a magnetic encoder chip and a permanent magnet, the axial center of the rotor of the brushless motor is provided with a rotating shaft, and the permanent magnet is provided With the rotating shaft facing the end of the circuit board assembly, the magnetic encoder chip is arranged on the circuit board assembly and corresponds to the permanent magnet, and the magnetic encoder chip is electrically connected to the circuit board assembly. 3. The brushless motor according to claim 1, wherein the circuit board assembly includes a digital controller for controlling the brushless motor according to the rotor rotation angle and current data of the brushless motor, three A phase bridge drive component, a current sensor component for detecting current data between two adjacent phases of the brushless motor, the digital controller, the three-phase bridge drive component and the current sensor component are electrically connected. 4. The brushless motor according to claim 1, wherein the circuit board assembly includes a digital processing circuit board and a driving circuit board, and the digital processing circuit board and the driving circuit board are stacked on the first inside a cavity. 5 . The brushless motor according to claim 2 , wherein a cavity is formed through the rotating shaft along the axial direction. 6 . 6. The brushless motor according to claim 2 or 5, wherein the angle sensor assembly includes a circular grating and an optical reading chip, and there is a mounting hole in the middle of the circular grating, and the circular grating passes through the mounting hole Sleeved on the end of the rotating shaft, the optical reading chip is arranged on the circuit board assembly and corresponds to the circular grating, and the optical reading chip is electrically connected to the circuit board assembly. 7. The brushless motor according to claim 2 or 5, wherein the angle sensor assembly includes a circular magnetic grid and a Hall reading chip, the circular magnetic grid has a round hole in the middle, and the circular magnetic grid The magnetic grid is sleeved on the end of the rotating shaft through the circular hole, the Hall reading chip is arranged on the circuit board assembly and corresponds to the circular magnetic grid, and the Hall reading chip and the circuit The board assembly is electrically connected. 8 . The brushless motor according to claim 5 , wherein a wire harness for transmitting electrical signals is arranged in the cavity. 9. A cloud platform, characterized in that the platform has the brushless motor according to any one of claims 1-8. 10. An aerial photographing device, characterized in that, the aerial photographing device has a pan/tilt as claimed in claim 9.