WO2016141567A1 - 角度感测装置以及采用该角度感测装置的云台 - Google Patents

角度感测装置以及采用该角度感测装置的云台 Download PDF

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Publication number
WO2016141567A1
WO2016141567A1 PCT/CN2015/073997 CN2015073997W WO2016141567A1 WO 2016141567 A1 WO2016141567 A1 WO 2016141567A1 CN 2015073997 W CN2015073997 W CN 2015073997W WO 2016141567 A1 WO2016141567 A1 WO 2016141567A1
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WO
WIPO (PCT)
Prior art keywords
sensing device
mounting plate
motor
angle sensing
sensor mounting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2015/073997
Other languages
English (en)
French (fr)
Inventor
陈子寒
潘大虎
鄢奇龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to JP2017547429A priority Critical patent/JP6523477B2/ja
Priority to PCT/CN2015/073997 priority patent/WO2016141567A1/zh
Priority to CN201580000500.8A priority patent/CN105518981B/zh
Priority to EP15884250.0A priority patent/EP3270254B1/en
Publication of WO2016141567A1 publication Critical patent/WO2016141567A1/zh
Priority to US15/700,595 priority patent/US10520130B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
    • G01D11/24—Housings ; Casings for instruments
    • G01D11/245—Housings for sensors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction

Definitions

  • the present invention relates to an angle sensing device, and more particularly to an angle sensing device for sensing a rotation angle of a driving shaft of a motor and a pan/tilt head using the angle sensing device.
  • the traditional pan-tilt angle sensing device integrates the potentiometer on the ESC as an angle sensor.
  • the shaft mechanism uses a bracket and a back cover to clamp the ESC, and the periphery of the ESC is exposed outside the bracket and the back cover.
  • the rotating shaft mechanism of the above-mentioned angle sensing device is very likely to cause excessive positioning of the potentiometer, so that the driving shaft of the motor of the pan/tilt is not concentric with the detecting hole of the potentiometer, so that the driving shaft of the motor of the pan/tilt and the angle sensor exist.
  • Larger stresses can cause problems such as poor motor rotation and affect positioning accuracy. Therefore, in the production assembly, it is necessary to increase the specific working position to adjust the positioning accuracy between the drive shaft and the angle sensor of the motor, which increases the production cost.
  • An angle sensing device comprising:
  • bracket having a lower mating surface, the lower mating surface being disposed opposite to the upper mating surface, and spaced apart by a predetermined spacing;
  • the sensor mounting plate is disposed between the upper mating surface and the lower mating surface, and the predetermined spacing is greater than a thickness of the sensor mounting plate, so that the sensor mounting plate is on the upper mating surface
  • the lower mating surfaces are movable between each other.
  • the sensor mounting board is a circuit board, and the circuit board is further provided with a control circuit for controlling a rotation angle of a driving shaft of the motor.
  • the back cover is provided with a step for mounting a motor, and the step is provided on a surface of the back cover away from the sensor mounting plate.
  • the step portion includes a bottom surface and a side surface perpendicularly connected to the bottom surface, the side surface having a shape that matches a shape of a circumference of the motor.
  • the side is provided with a threaded hole for the flexible circuit board to pass through, and the flexible circuit board is for electrically connecting to the motor.
  • the height of the bottom surface is less than the height of the back cover.
  • the back cover is provided with a limiting portion
  • the sensor mounting plate is provided with a fitting portion
  • the limiting portion cooperates with the engaging portion to limit the sensor mounting plate on the bracket The angle of rotation with the back cover.
  • the limiting portion is a limiting slot provided on the back cover, and the engaging portion is a mating boss disposed at an edge of the sensor mounting plate.
  • the bracket includes a first support arm and a second support arm fixedly connected to one end of the first support arm, the first support arm being disposed opposite to the rear cover, and second A motor mounting portion for mounting the motor is provided on the support arm.
  • the motor mounting portion is a mounting groove, the shape of the mounting groove being adapted to the shape of the bottom of the motor.
  • the back cover is provided with an upper receiving groove; the bracket is provided with a lower receiving groove, and the lower receiving groove is opposite to the upper receiving groove.
  • the upper mating surface is disposed at a bottom of the upper accommodating groove, and the lower mating surface is disposed at a bottom of the lower accommodating groove; the lower accommodating groove and the upper accommodating groove
  • the slots together form a receiving cavity for receiving the sensor mounting plate.
  • the upper mating surface is disposed on an opening circumference of the upper receiving groove
  • the lower mating surface is disposed on an opening circumference of the lower receiving groove
  • the angle sensor is provided with a detection hole through which the drive shaft of the power supply machine passes.
  • a pan/tilt that includes:
  • the angle sensor is disposed close to a driving shaft of the motor and is used for sensing a rotation angle of a driving shaft of the motor.
  • An angle sensing device comprising:
  • a sensor mounting plate for mounting an angle sensor, wherein the sensor mounting plate is provided with a limiting hole;
  • the sensor mounting plate is disposed between the rear cover and the bracket, and the connecting shaft passes through the limiting hole, so that the sensor mounting plate is movably sleeved on the connecting shaft.
  • the sensor mounting board is a circuit board, and the circuit board is further provided with a control circuit for controlling a rotation angle of a driving shaft of the motor.
  • the back cover is provided with a step for mounting a motor, and the step is provided on a surface of the back cover away from the sensor mounting plate.
  • the step portion includes a bottom surface and a side surface perpendicularly connected to the bottom surface, the side surface having a shape that matches a shape of a circumference of the motor.
  • the height of the bottom surface is less than the height of the back cover.
  • the side is provided with a threaded hole for the flexible circuit board to pass through, and the flexible circuit board is for electrically connecting to the motor.
  • the back cover is provided with a limiting portion
  • the sensor mounting plate is provided with a fitting portion
  • the limiting portion cooperates with the engaging portion to limit the sensor mounting plate on the bracket The angle of rotation with the back cover.
  • the limiting portion is a limiting slot provided on the back cover, and the engaging portion is a mating boss disposed at an edge of the sensor mounting plate.
  • the bracket includes a first support arm and a second support arm fixedly connected to one end of the first support arm, the first support arm being disposed opposite to the rear cover, and second A motor mounting portion for mounting the motor is provided on the support arm.
  • the motor mounting portion is a mounting groove, the shape of the mounting groove being adapted to the shape of the bottom of the motor.
  • the back cover and the bracket together form a receiving cavity for receiving the sensor mounting plate, and the connecting shaft is located in the receiving cavity.
  • the back cover is spaced apart from the bracket.
  • an elastic member is further included, the elastic member abutting between the sensor mounting plate and the back cover or/and the bracket.
  • the connecting shaft is a positioning post disposed on one of the back cover and the bracket, and the other of the back cover and the bracket is provided with a positioning hole, The positioning post cooperates with the positioning hole.
  • the positioning post abuts the bottom of the positioning hole to determine the predetermined spacing between the back cover and the bracket.
  • the end surface of the positioning post is provided with a screw hole, and the threaded fastener passes through the positioning hole and is screwed with the screw hole to fix the back cover to the bracket. stand up.
  • the angle sensor is provided with a detection hole through which the drive shaft of the power supply machine passes.
  • a gimbal characterized in that it comprises:
  • the angle sensor is disposed close to a driving shaft of the motor and is used for sensing a rotation angle of a driving shaft of the motor.
  • the sensor mounting plate of the angle sensing device is disposed between the back cover and the bracket, and the sensor mounting plate is movable between the back cover and the bracket, and the driving shaft of the motor of the pan/tilt interferes with the angle sensor of the sensor mounting plate.
  • the sensor mounting plate can be adjusted according to the actual error to reduce the drive shaft of the motor and the sensor mounting plate.
  • the stress between the angle sensors avoids problems such as unsatisfactory rotation of the motor and affects the positioning accuracy, so that the positioning accuracy between the drive shaft and the angle sensor of the motor is not required to be increased, and the production cost of the gimbal is reduced.
  • FIG. 1 is a schematic structural view of a hinge mechanism of a pan/tilt head according to Embodiment 1 of the present invention
  • FIG 2 is an exploded view of the hinge mechanism of the pan/tilt head shown in Figure 1;
  • FIG 3 is an exploded perspective view showing another perspective of the rotating shaft mechanism of the pan/tilt head shown in Figure 1;
  • Figure 4 is a plan view of the hinge mechanism of the pan/tilt head shown in Figure 1;
  • Figure 5 is a cross-sectional view taken along line B-B of Figure 4.
  • Fig. 6 is a schematic structural view of a hinge mechanism of a pan/tilt head according to a second embodiment of the present invention.
  • Embodiments of the present invention provide an angle sensing device for sensing a rotation angle of a rotating shaft, for example, for sensing a rotation angle of a driving shaft of a motor.
  • the angle sensing device comprises a back cover, a bracket and a sensor mounting plate.
  • the back cover is opposite to the bracket.
  • the sensor mounting plate is movably disposed between the back cover and the bracket to reduce the driving shaft of the motor and the sensor mounting plate. The stress between the angle sensors.
  • the back cover and the bracket are provided with shaft holes for the drive shaft of the power supply machine to facilitate mounting of the motor and the drive shaft of the positioning motor.
  • the sensor mounting plate is provided with a shaft bore for the drive shaft of the motor to facilitate positioning of the drive shaft of the motor.
  • the back cover is spaced from the bracket and a predetermined gap exists between the sensor mounting plate and the back cover or/and the bracket such that the sensor mounting plate is movable between the back cover and the bracket.
  • the predetermined gap may form a sealed space.
  • the back cover and the bracket together form a receiving cavity, and the preset gap is formed between the opposite side walls of the receiving cavity, and the sensor mounting plate is received in the Capacitance inside the cavity.
  • the preset gap may also form an open space.
  • the back cover is spaced apart from the bracket, the preset gap is formed between the back cover and the opposite surface of the bracket, and the periphery of the sensor mounting plate is exposed on the back cover and the bracket. Outside.
  • the back cover is spaced apart from the bracket, and the sensor mounting plate and the back cover or/and the bracket are filled with an elastic member such as an elastic rubber pad, an elastic rubber ring, a sponge pad, a sponge ring, or the like.
  • the back cover and the bracket are fixedly connected by a connecting shaft, and the sensor mounting plate is movably sleeved on the connecting shaft.
  • the above angle sensing device can be applied to a cloud platform, for example, a single axis pan/tilt, a two-axis pan/tilt head, a three-axis pan/tilt head, and the like.
  • a platform 100 according to Embodiment 1 of the present invention includes at least one spindle mechanism.
  • the pan/tilt head 100 of the present embodiment will be described by taking a three-axis pan/tilt as an example, and the pivot mechanism of the present embodiment will be described by taking a pitch axis as an example.
  • the hinge mechanism includes an angle sensing device 101, a first motor 102, and a second motor 103 for sensing a rotation angle of a driving shaft of the first motor 102.
  • the angle sensing device 101 includes a rear cover 110 , a bracket 120 , and a sensor mounting plate 130 .
  • the rear cover 110 is disposed opposite to the bracket 120
  • the sensor mounting plate 130 is disposed between the rear cover 110 and the bracket 120 .
  • the rear cover 110 is provided with an upper mating surface 111 and a first shaft hole 112 .
  • the first shaft hole 112 is for the passage of the object to be sensed. Specifically, in the illustrated embodiment, the first shaft hole 112 is for the drive shaft 102a of the first motor 102 to pass through.
  • first shaft hole 112 may also be omitted.
  • the first motor 102 is fixed to the rear cover 110 away from the bottom of the drive shaft 102a.
  • the rear cover 110 includes an upper cover body 113 and an upper fixing portion 114, and the upper fixing portion 114 is disposed at one end of the upper cover body 113. Used for fixed connection with the bracket 120. Specifically, the upper fixing portion 114 is fixedly coupled to the bracket 120 by a threaded fastener.
  • the rear cover 110 is provided with a step portion 115 for mounting the first motor 102.
  • the step portion 115 is disposed at one end of the upper cover body 113 of the rear cover 110 away from the upper fixing portion 114.
  • the step portion 115 is disposed on a surface of the rear cover 110 away from the sensor mounting plate 130 , that is, the step portion 115 is disposed opposite to the sensor mounting plate 130 .
  • the first shaft hole 112 is provided at the bottom of the step portion 115.
  • the shape of the step portion 115 can be designed according to different requirements.
  • the step portion 115 includes a bottom surface 115a and a side surface 115b perpendicularly connected to the bottom surface 115a.
  • the first shaft hole 112 is disposed on the bottom surface 115a, the side surface.
  • the shape of 115b is adapted to the shape of the circumference of the first motor 102.
  • the circumference of the first motor 102 is circular
  • the shape of the side surface 115b is circular.
  • the side surface 115b is provided with a threading hole 116 through which the flexible circuit board 102b passes, and the flexible circuit board 102b is used for electrical connection with the first motor 102.
  • the height of the bottom surface 115a is smaller than the height of the rear cover 110, so that the overall structure of the platform 100 is relatively compact after the first motor 102 is mounted on the step portion 115.
  • the step portion 115 is recessed from the surface of the upper cover body 113 opposite to the sensor mounting plate 130 such that the height of the bottom surface 115a is much smaller than the overall height of the upper cover body 113.
  • the bracket 120 is provided with a lower mating surface 121 and a second shaft bore 122.
  • the lower mating surface 121 is disposed opposite to the upper mating surface 111 and spaced apart by a predetermined pitch H (as shown in FIG. 5).
  • the second shaft hole 122 corresponds to the first shaft hole 112.
  • the second shaft hole 122 is for the passage of the object to be sensed. Specifically, in the illustrated embodiment, the second shaft hole 122 is for the drive shaft 102a of the first motor 102 to pass through.
  • the second shaft hole 122 may be omitted.
  • the first motor 102 drives the shaft 102a to pass through the edge of the bracket 120.
  • the bracket 120 includes a first support arm 123 and a second support arm 124 that is fixedly connected to one end of the first support arm 123.
  • a support arm 123 is disposed opposite the rear cover 110.
  • the first support arm 123 includes a lower cover body 123a and a lower fixing portion 123b.
  • the lower fixing portion 123b is disposed at one end of the lower cover body 123a and is fixedly coupled to the second support arm 124.
  • the lower fixing portion 123b is fixedly coupled to the upper fixing portion 114 by a threaded fastener.
  • the lower cover body 123a is disposed at a distance from the upper cover body 113.
  • the second support arm 124 is provided with a motor mounting portion 124a for mounting the second motor 103.
  • the motor mounting portion 124a is a mounting groove provided on the second support arm 124, and the shape of the mounting groove is adapted to the shape of the bottom of the second motor 103.
  • the upper mating surface 111 and the lower mating surface 121 together form a preset space for mounting the sensor mounting plate 130, and the sensor mounting plate 130 is movable in the preset space.
  • the upper mating surface 111 and the lower mating surface 121 may be formed in an open space, and an edge of the sensor mounting plate 130 may be exposed outside the rear cover 110 and the bracket 120.
  • the rear cover 110 is provided with an upper receiving groove 117.
  • the upper receiving groove 117 is disposed on the upper cover 113 of the rear cover 110.
  • the bracket 120 is provided with a lower receiving groove 125.
  • the lower receiving groove 125 is disposed on the lower cover body 123a of the first support arm 123.
  • the lower accommodating groove 125 is disposed opposite to the upper accommodating groove 117.
  • the upper mating surface 111 is disposed on the peripheral edge of the opening of the upper accommodating groove 117
  • the lower mating surface 121 is disposed on the peripheral edge of the opening of the lower accommodating groove 125 .
  • the upper mating surface 111 and the lower mating surface 121 may be formed in a sealed space, and the sensor mounting plate 130 may be housed in a sealed space.
  • the rear cover 110 is provided with an upper receiving groove 117.
  • the upper receiving groove 117 is disposed on the upper cover 113 of the rear cover 110.
  • the bracket 120 is provided with a lower receiving groove 125.
  • the lower receiving groove 125 is disposed on the lower cover body 123a of the first support arm 123.
  • the lower accommodating groove 125 is disposed opposite to the upper accommodating groove 117.
  • the upper mating surface 111 is disposed at the bottom of the upper accommodating groove 117, and the lower mating surface 121 is disposed at the bottom of the lower accommodating groove 125.
  • the lower receiving groove 125 and the upper receiving groove 117 together form a receiving cavity for receiving the sensor mounting plate 130.
  • the sensor mounting plate 130 is used to mount the angle sensor 133.
  • the sensor mounting plate 130 is provided with a third shaft hole 131 corresponding to the first shaft hole 112 and the second shaft hole 122.
  • the sensor mounting plate 130 is disposed between the upper mating surface 111 of the rear cover 110 and the lower mating surface 121 of the bracket 120.
  • the preset spacing H is greater than the thickness d of the sensor mounting plate 130 such that the sensor mounting plate 130 is movable between the upper mating surface 111 and the lower mating surface 121.
  • the third shaft hole 131 may also be omitted.
  • the angle sensor 133 is disposed near the edge of the sensor mounting plate 130.
  • the sensor mounting plate 130 may be a circuit board, and in particular, in the illustrated embodiment, the circuit board is further provided with a control circuit for controlling the angle of rotation of the drive shaft 102a of the first motor 102.
  • the sensor mounting plate 130 is an ESC.
  • the sensor mounting plate 130 may also be an insulating plate.
  • the sensor mounting plate 130 may be a flat plate made of insulating plastic.
  • connection manner of the sensor mounting plate 130 and the rear cover 110 and the bracket 120 can be designed according to different requirements.
  • the rear cover 110 and the bracket 120 are fixedly connected by the connecting shaft 140.
  • the sensor mounting plate 130 is provided with a limiting hole 132 through which the connecting shaft 140 passes.
  • the size of the limiting hole 132 is larger than the size of the cross section of the connecting shaft 140, so that the sensor mounting plate 130 is movably sleeved on the connecting shaft 140.
  • the upper cover 113 of the rear cover 110 is fixedly coupled to the edge of the lower cover 123a of the bracket 120 to form a sealed receiving cavity, for example, the upper cover 113 of the rear cover 110 and the bracket 120.
  • the edges of the lower cover 123a are snapped together to form a sealed casing.
  • the sensor mounting plate 130 is mounted in the accommodating cavity and movable in the accommodating cavity.
  • the upper cover 113 of the rear cover 110 is fixedly coupled to the edge of the lower cover 123a of the bracket 120 to form a sealed receiving cavity.
  • the rear cover 110 and the bracket 120 are fixedly connected by the connecting shaft 140, and the connecting shaft 140 is located in the accommodating cavity.
  • the connecting shaft 140 passes through the limiting hole 132, so that the sensor mounting plate 130 is movably sleeved on the connecting shaft 140 while being accommodated in the accommodating cavity and movable in the accommodating cavity.
  • the connecting shaft 140 is disposed on one of the rear cover 110 and the bracket 120.
  • the positioning post 140, the other one of the rear cover 110 and the bracket 120 are provided with positioning holes 150.
  • the positioning post 140 cooperates with the positioning hole 150, so that the rear cover 110 and the bracket 120 can be accurately docked.
  • the connecting shaft 140 abuts against the bottom of the positioning hole 150 to determine a preset spacing H between the rear cover 110 and the bracket 120.
  • the end surface of the connecting shaft 140 is provided with a screw hole.
  • the threaded fastener passes through the positioning hole 150 and is screwed with the screw hole of the connecting shaft 140 to fix the rear cover 110 and the bracket 120.
  • the positioning post 140 is disposed on the upper cover 113 of the rear cover 110; specifically, the positioning post 140 is a cylinder. body.
  • the lower cover body 123a of the first support arm 123 of the bracket 120 is provided with a positioning cylinder, and the positioning hole 150 is a central hole of the positioning cylinder.
  • the connecting shafts 140 are at least three, respectively disposed around the first shaft holes 112 of the upper cover 113 of the rear cover 110.
  • the positioning holes 150 are at least three, and are respectively disposed around the second shaft holes 122 of the lower cover body 123a of the first support arm 123 of the bracket 120. Since the triangular distribution has better stability, more than three connecting shafts 140 are provided to improve the positioning accuracy between the rear cover 110 and the bracket 120 and the firmness of the connection.
  • the lower cover body 123a of the first support arm 123 of the bracket 120 is provided with a through hole 126 communicating with the positioning hole 150.
  • the through hole 126 communicates with the positioning hole 150, and the threaded fastener sequentially passes through the through hole 126, and After positioning the hole 150, it is screwed with the screw hole of the connecting shaft 140.
  • the through hole 126 is a stepped hole, and includes a large end 126a and a small end 126b communicating with the large end 126a.
  • the large end 126a is located on a side of the lower cover 123a facing away from the positioning cylinder, and the small end 126b and the positioning hole 150 Connected.
  • the threaded fastener is a screw, and the cap of the screw is received in the large end 126a of the through hole 126.
  • the size of the preset gap is equal to the difference between the preset spacing H between the upper mating face 111 of the rear cover 110 and the lower mating face 121 of the bracket 120 and the thickness d of the sensor mounting plate 130.
  • the preset gap may be from 0.1 mm to 0.2 mm.
  • the angle sensing device 101 further includes an elastic member that abuts between the sensor mounting plate 130 and the rear cover 110 or/and the bracket 120.
  • the sensor mounting plate 130 presses the elastic member to elastically deform the elastic member to provide a evasive space for the sensor mounting plate 130 to move.
  • the elastic member is an elastic rubber pad, an elastic rubber ring, a sponge pad, a sponge ring, etc. sandwiched between the sensor mounting plate 130 and the rear cover 110 or/and the bracket 120. .
  • the elastic member may seal a predetermined gap between the sensor mounting plate 130 and the rear cover 110 or/and the bracket 120, or partially fill a predetermined gap between the sensor mounting plate 130 and the rear cover 110 or/and the bracket 120.
  • the back cover 110 is provided with a limiting portion 118.
  • the sensor mounting plate 130 is provided with a matching portion 135.
  • the limiting portion 118 cooperates with the engaging portion 135 to limit the sensor mounting plate 130 in the bracket.
  • the angle of rotation between 120 and rear cover 110 Specifically, in the illustrated embodiment, the limiting portion 118 is disposed on the upper fixing portion 114 of the rear cover 110 , and the engaging portion 135 is disposed on the edge of the sensor mounting plate 130 .
  • the limiting portion 118 and the engaging portion 135 can be designed according to different requirements.
  • the limiting portion 118 is a limiting slot provided on the rear cover 110, and the engaging portion 135 is disposed on the limiting portion.
  • the limiting portion 118 is a limiting boss disposed on the rear cover 110, and the engaging portion 135 is a blocking boss at the edge of the sensor mounting plate 130.
  • the angle sensor 133 is disposed adjacent to the drive shaft 102a of the first motor 102 and is used to sense the angle of rotation of the drive shaft 102a of the first motor 102.
  • the angle sensor 133 may be a potentiometer, a Hall sensor, or the like.
  • the angle sensor 133 is provided with a detection hole 133a through which the drive shaft 102a of the first motor 102 passes, the detection hole 133a and the first shaft hole 112 of the rear cover 110, the second shaft hole 122 of the bracket 120, and the sensor mounting plate 130.
  • the three-axis holes 131 correspond to each other.
  • the angle sensor 133 is a potentiometer having a detection aperture 133a.
  • the drive shaft 102a of the first motor 102 is provided with a positioning plane 102c.
  • the positioning plane 102c extends parallel to the axial direction of the drive shaft 102a of the first motor 102.
  • the detecting hole 133a of the positioner is a shaped hole that matches the shape of the drive shaft 102a.
  • the sensor mounting plate 130 is provided with a terminal 136 for electrical connection of the external connector
  • the rear cover 110 is provided with a wiring notch 119 corresponding to the terminal 136 for the external connector to pass through the insertion wire notch 119 and the terminal 136 docking.
  • the sensor mounting plate 130 of the angle sensing device 101 is disposed between the rear cover 110 and the bracket 120, and the sensor mounting plate 130 is movable between the rear cover 110 and the bracket 120.
  • the driving shaft 102a of the motor of the platform 100 is When there is interference in the angle sensor 133 on the sensor mounting plate 130, for example, when the drive shaft 102a of the motor of the pan/tilt head 100 is not concentric with the detection hole 133a of the angle sensor 133 on the sensor mounting plate 130, the sensor mounting plate 130 may be based on actual conditions.
  • the error is adjusted to reduce the stress between the driving shaft 102a of the motor and the angle sensor 133 on the sensor mounting plate 130, thereby avoiding problems such as uneven rotation of the motor and affecting positioning accuracy, thereby eliminating the need to add a specific station to adjust the motor.
  • the positioning accuracy between the drive shaft 102a and the angle sensor 133 reduces the production cost of the pan/tilt head 100.
  • the pan/tilt head 200 of the second embodiment of the present invention is substantially similar to the pan/tilt head 100 of the first embodiment, and the difference is that the pivot mechanism of the pan/tilt head 200 of the second embodiment of the present invention is rolled. (Roll) axis.
  • the sensor mounting plate 230 of the hinge mechanism of the pan/tilt 200 is disposed between the rear cover 210 and the bracket 220, and a predetermined spacing between the rear cover 210 and the bracket 220 is greater than a thickness of the sensor mounting plate 230.
  • the bracket 220 is provided with a motor mounting portion 225 for mounting a motor.
  • pan/tilt heads 100 and 200 may include the pitch axis and the roll axis described above at the same time.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
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Abstract

一种角度感测装置（101）及采用该角度感测装置（101）的云台（100、200），该角度感测装置包括：后盖（110），设有上配合面（111）；支架（120），设有下配合面（121），下配合面（121）与上配合面（111）相对设置，并且间隔预设间距；传感器安装板（130），用于安装角度传感器（133）；其中，传感器安装板（130）设于上配合面（111）与下配合面（121）之间，预设间距大于传感器安装板（130）的厚度，使传感器安装板（130）在上配合面（111）与下配合面（121）之间可活动。上述角度感测装置（101）能够有效减小电机的驱动轴与传感器安装板（130）上的角度传感器（133）之间的应力，以节省云台（100、200）的生产成本。

Description

角度感测装置以及采用该角度感测装置的云台 技术领域
本发明涉及一种角度感测装置，特别涉及一种用于感测电机的驱动轴的转动角度的角度感测装置以及采用该角度感测装置的云台。
背景技术
传统的云台的角度感测装置，将电位器集成在电调板上作为角度传感器。为了固定电调板，转轴机构采用支架和后盖夹紧电调板的方式，电调板的周缘外露在支架及后盖之外。
然而，上述角度感测装置的转轴机构非常容易造成电位器过度定位，使云台的电机的驱动轴与电位器的检测孔不同心，从而使云台的电机的驱动轴与角度传感器之间存在较大的应力，由此会造成电机转动不顺畅，影响定位精度等问题。因此，在生产装配时，需要增加特定工位来调节电机的驱动轴与角度传感器之间的定位精度，增加了生产成本。
发明内容
鉴于此，本发明有必要提供一种能够有效减小电机的驱动轴与传感器安装板上的角度传感器之间的应力、节省云台的生产成本的角度感测装置。
一种角度感测装置，包括：
后盖，设有上配合面；
支架，设有下配合面，所述下配合面与所述上配合面相对设置，并且间隔预设间距；以及
传感器安装板，用于安装角度传感器；
其中，所述传感器安装板设于所述上配合面与所述下配合面之间，所述预设间距大于所述传感器安装板的厚度，使所述传感器安装板在所述上配合面与所述下配合面之间可活动。
在其中一个实施例中，所述传感器安装板为电路板，所述电路板还设有用于控制电机的驱动轴的旋转角度的控制电路。
在其中一个实施例中，所述后盖设有用于安装电机的台阶部，所述台阶部设于所述后盖远离所述传感器安装板的表面。
在其中一个实施例中，所述台阶部包括底面及与所述底面垂直相连的侧面，所述侧面的形状与所述电机的周缘的形状相适配。
在其中一个实施例中，所述侧面设有供软性电路板穿过的穿线孔，所述软性电路板用于与所述电机电连接。
在其中一个实施例中，所述底面所在的高度小于所述后盖的高度。
在其中一个实施例中，所述后盖设有限位部，所述传感器安装板设有配合部，所述限位部与所述配合部相配合，以限制所述传感器安装板在所述支架与所述后盖之间的转动角度。
在其中一个实施例中，所述限位部为设于所述后盖的限位槽，所述配合部为设于所述传感器安装板的边缘的配合凸台。
在其中一个实施例中，所述支架包括第一支撑臂及与所述第一支撑臂的一端垂直固定连接的第二支撑臂，所述第一支撑臂与所述后盖相对设置，第二支撑臂上设有用于安装电机的电机安装部。
在其中一个实施例中，所述电机安装部为安装槽，所述安装槽的形状与所述电机的底部的形状相适配。
在其中一个实施例中，所述后盖设有上容置槽；所述支架设有下容置槽，所述下容置槽与所述上容置槽相对设置。
在其中一个实施例中，所述上配合面设于所述上容置槽的底部，所述下配合面设于所述下容置槽的底部；所述下容置槽及所述上容置槽共同形成一个用于收容所述传感器安装板的容置腔。
在其中一个实施例中，所述上配合面设于所述上容置槽的开口周缘，所述下配合面设于所述下容置槽的开口周缘。
在其中一个实施例中，所述角度传感器设有供电机的驱动轴穿过的检测孔。
一种云台，包括：
上述角度感测装置；以及
电机，安装在所述后盖上；
其中，所述角度传感器靠近所述电机的驱动轴设置，并且用于感测所述电机的驱动轴的转动角度。
一种角度感测装置，包括：
后盖；
支架，与所述后盖相对设置 ，并且通过连接轴固定连接；以及
传感器安装板，用于安装角度传感器，所述传感器安装板设有限位孔；
其中，所述传感器安装板设于所述后盖与所述支架之间，所述连接轴穿过所述限位孔，使所述传感器安装板可活动地套设在所述连接轴上。
在其中一个实施例中，所述传感器安装板为电路板，所述电路板还设有用于控制电机的驱动轴的旋转角度的控制电路。
在其中一个实施例中，所述后盖设有用于安装电机的台阶部，所述台阶部设于所述后盖远离所述传感器安装板的表面。
在其中一个实施例中，所述台阶部包括底面及与所述底面垂直相连的侧面，所述侧面的形状与所述电机的周缘的形状相适配。
在其中一个实施例中，所述底面所在的高度小于所述后盖的高度。
在其中一个实施例中，所述侧面设有供软性电路板穿过的穿线孔，所述软性电路板用于与所述电机电连接。
在其中一个实施例中，所述后盖设有限位部，所述传感器安装板设有配合部，所述限位部与所述配合部相配合，以限制所述传感器安装板在所述支架与所述后盖之间的转动角度。
在其中一个实施例中，所述限位部为设于所述后盖的限位槽，所述配合部为设于所述传感器安装板的边缘的配合凸台。
在其中一个实施例中，所述支架包括第一支撑臂及与所述第一支撑臂的一端垂直固定连接的第二支撑臂，所述第一支撑臂与所述后盖相对设置，第二支撑臂上设有用于安装电机的电机安装部。
在其中一个实施例中，所述电机安装部为安装槽，所述安装槽的形状与所述电机的底部的形状相适配。
在其中一个实施例中，所述后盖与所述支架共同形成一个用于收容所述传感器安装板的容置腔，所述连接轴位于所述容置腔内。
在其中一个实施例中，所述后盖与所述支架相对间隔设置。
在其中一个实施例中，还包括弹性件，所述弹性件抵接在所述传感器安装板与所述后盖或/及所述支架之间。
在其中一个实施例中，所述传感器安装板与所述后盖或/及所述支架之间存在预设间隙。
在其中一个实施例中，所述连接轴为设于所述后盖及所述支架的其中一个上的定位柱，所述后盖及所述支架中的另外一个上设有定位孔，所述定位柱与所述定位孔相配合。
在其中一个实施例中，所述定位柱与所述定位孔的底部抵接，以确定所述后盖与所述支架之间的所述预设间距。
在其中一个实施例中，所述定位柱的端面设有螺孔，螺纹紧固件穿过所述定位孔后与所述螺孔相螺合，以将所述后盖与所述支架固定连接起来。
在其中一个实施例中，所述角度传感器设有供电机的驱动轴穿过的检测孔。
一种云台，其特征在于，包括：
上述的角度感测装置；以及
电机，安装在所述后盖上；
其中，所述角度传感器靠近所述电机的驱动轴设置，并且用于感测所述电机的驱动轴的转动角度。
上述角度感测装置的传感器安装板设于后盖与支架之间，并且传感器安装板在后盖与支架之间可活动，当云台的电机的驱动轴与传感器安装板上的角度传感器存在干涉时，例如，云台的电机的驱动轴与传感器安装板上的角度传感器的检测孔不同心时，传感器安装板上可以根据实际误差来调整，以减小电机的驱动轴与传感器安装板上的角度传感器之间的应力，避免产生电机转动不顺畅、影响定位精度等问题，从而无需增加特定工位来调节电机的驱动轴与角度传感器之间的定位精度，减少了云台的生产成本。
 附图说明
图1为本发明的实施方式一的云台的转轴机构的结构示意图；
图2为图1所示的云台的转轴机构的分解图；
图3为图1所示的云台的转轴机构的另一视角的分解图；
图4为图1所示的云台的转轴机构的俯视图；
图5为沿图4中B-B线的剖视图；
图6为本发明的实施方式二的云台的转轴机构的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及／或”包括一个或多个相关的所列项目的任意的和所有的组合。
本发明的实施方式提供一种角度感测装置，用于感测转轴的旋转角度，例如，用于感测电机的驱动轴的旋转角度。
该角度感测装置包括后盖、支架、以及传感器安装板，后盖与支架相对设置，传感器安装板可活动地设于后盖与支架之间，以减小电机的驱动轴与传感器安装板上的角度传感器之间的应力。
在其中一些实施例中，后盖及支架设有用于供电机的驱动轴穿过的轴孔，以便于安装电机及定位电机的驱动轴。
在其中一些实施例中，传感器安装板设有用于电机的驱动轴穿过的轴孔，以便于定位电机的驱动轴。
在其中一些实施例中，后盖与支架相对间隔设置，并且传感器安装板与后盖或/及支架之间存在预设间隙，使传感器安装板在后盖与支架之间可活动。
在其中一些实施例中，预设间隙可以形成密封的空间，例如，后盖与支架共同形成一个容置腔，预设间隙形成于容置腔的相对两侧壁之间，传感器安装板收容在容置腔内。
在其中一些实施例中，预设间隙也可以形成开放空间，例如，后盖与支架相对间隔设置，预设间隙形成后盖与支架相对表面之间，传感器安装板的周缘裸露在后盖与支架之外。
在其中一些实施例中，后盖与支架相对间隔设置，传感器安装板与后盖或/及支架之间填充有弹性件，例如，弹性橡胶垫、弹性橡胶圈、海绵垫、海绵圈等。
在其中一些实施例中，后盖与支架之间通过连接轴固定连接，传感器安装板可活动地套设在连接轴上。
上述角度感测装置可以应用于云台上，例如，单轴云台，二轴云台，三轴云台等。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1，本发明的实施方式一的云台100，包括至少一个转轴机构。在本实施例中，以三轴云台为例来说明本实施方式的云台100，以俯仰（Pitch）轴为例来说明本实施方式的转轴机构。
该转轴机构包括角度感测装置101、第一电机102、以及第二电机103，角度感测装置101用于感测第一电机102的驱动轴的旋转角度。其中，角度感测装置101包括后盖110、支架120、以及传感器安装板130，后盖110与支架120相对设置，传感器安装板130设于后盖110与支架120之间。
请参阅图2及图3，后盖110设有上配合面111、以及第一轴孔112。第一轴孔112用于供待感测物体穿过，具体在图示的实施例中，第一轴孔112用于供第一电机102的驱动轴102a穿过。
需要说明的是，第一轴孔112也可以省略，此时，第一电机102远离驱动轴102a的底部固定在后盖110上。
后盖110的具体结构可以根据不同需求来设计，例如，在图示的实施例中，后盖110包括上盖体113以及上固定部114，上固定部114设于上盖体113的一端，用于与支架120固定连接。具体地，上固定部114通过螺纹紧固件与支架120固定连接。
进一步的，后盖110设有用于安装第一电机102的台阶部115，具体地，台阶部115设于后盖110的上盖体113远离上固定部114的一端。所述台阶部115设于所述后盖110远离所述传感器安装板130的表面，即，台阶部115与传感器安装板130的背对设置。第一轴孔112设于台阶部115的底部。
台阶部115的形状可以根据不同的需求来设计，例如，在图示的实施例中，台阶部115包括底面115a及与底面115a垂直相连的侧面115b，第一轴孔112设于底面115a，侧面115b的形状与第一电机102的周缘的形状相适配。例如，第一电机102的周缘为圆形，侧面115b的形状为圆弧形。
进一步的，侧面115b设有供软性电路板102b穿过的穿线孔116，软性电路板102b用于与第一电机102电连接。
进一步的，所述底面115a所在的高度小于所述后盖110的高度，以便于第一电机102安装在台阶部115后，云台100的整体结构较为紧凑。具体在图示的实施例中，台阶部115从上盖体113与传感器安装板130背对的表面凹陷延伸，使所述底面115a所在的高度远远小于上盖体113的整体高度。
支架120设有下配合面121、以及第二轴孔122。下配合面121与上配合面111相对设置，并且间隔预设间距H（如图5所示）。第二轴孔122与第一轴孔112对应。第二轴孔122用于供待感测物体穿过，具体在图示的实施例中，第二轴孔122用于供第一电机102的驱动轴102a穿过。
需要说明的是，第二轴孔122可以省略，此时，第一电机102驱动轴102a从支架120的边缘穿过。
支架120的具体结构可以根据不同需求来设计，例如，在图示的实施例中，支架120包括第一支撑臂123及与第一支撑臂123的一端垂直固定连接的第二支撑臂124，第一支撑臂123与后盖110相对设置。
进一步的，第一支撑臂123包括下盖体123a、以及下固定部123b，下固定部123b设于下盖体123a的一端，并与第二支撑臂124固定连接。下固定部123b通过螺纹紧固件与上固定部114固定连接。下盖体123a与上盖体113相对间隔设置。
进一步的，第二支撑臂124上设有用于安装第二电机103的电机安装部124a。具体在图示的实施例中，电机安装部124a为设于第二支撑臂124上的安装槽，安装槽的形状与第二电机103的底部的形状相适配。
其中，上配合面111与下配合面121共同形成用于安装传感器安装板130的预设空间，传感器安装板130在预设空间内可活动。
上配合面111与下配合面121可以形成于开放的空间内，传感器安装板130的边缘可以裸露在后盖110与支架120之外。例如，在图示的实施例中，后盖110设有上容置槽117，具体地，上容置槽117设于后盖110的上盖体113上；支架120设有下容置槽125，具体地，下容置槽125设于第一支撑臂123的下盖体123a上。下容置槽125与上容置槽117相对设置。上配合面111设于上容置槽117的开口周缘，下配合面121设于下容置槽125的开口周缘。
上配合面111与下配合面121可以形成于密封的空间内，传感器安装板130的可以收容在密封的空间内。例如，在其中一个实施例中，后盖110设有上容置槽117，具体地，上容置槽117设于后盖110的上盖体113上；支架120设有下容置槽125，具体地，下容置槽125设于第一支撑臂123的下盖体123a上。下容置槽125与上容置槽117相对设置。上配合面111设于上容置槽117的底部，下配合面121设于下容置槽125的底部。下容置槽125及上容置槽117共同形成一个用于收容传感器安装板130的容置腔。
传感器安装板130用于安装角度传感器133。传感器安装板130设有与第一轴孔112及第二轴孔122对应的第三轴孔131。其中，传感器安装板130设于后盖110的上配合面111与支架120的下配合面121之间。预设间距H大于传感器安装板130的厚度d，使传感器安装板130在上配合面111与下配合面121之间可活动。
需要说明的是，第三轴孔131也可以省略，此时，角度传感器133靠近传感器安装板130的边缘设置。
传感器安装板130可以为电路板，具体在图示的实施例中，电路板还设有用于控制第一电机102的驱动轴102a的旋转角度的控制电路。例如，传感器安装板130为电调板。
传感器安装板130也可以为绝缘板，例如，传感器安装板130可以为由绝缘塑料制成的平板。
传感器安装板130与后盖110及支架120的连接方式可以根据不同需求来设计，例如，在图示的实施例中，后盖110与支架120通过连接轴140固定连接。传感器安装板130设有限位孔132，连接轴140穿过限位孔132。具体地，限位孔132的尺寸大于连接轴140的横截面的尺寸，使传感器安装板130可活动地套设在连接轴140上。
在其他实施例中，后盖110的上盖体113与支架120的下盖体123a的边缘固定连接起来，形成一密封的容置腔，例如，后盖110的上盖体113与支架120的下盖体123a的边缘扣合在一起，形成一个密封的盒体。传感器安装板130安装在容置腔内，并在容置腔内可活动。
在另一个实施例中，后盖110的上盖体113与支架120的下盖体123a的边缘固定连接起来，形成一密封的容置腔。并且，后盖110与支架120通过连接轴140固定连接，连接轴140位于容置腔内。连接轴140穿过限位孔132，使传感器安装板130可活动地套设在连接轴140上，同时收容在容置腔内，并且在容置腔内可活动。
请一并参阅图4及图5，连接轴140的具体结构可以根据实际需要来设计，例如，在图示的实施例中，连接轴140为设于后盖110及支架120的其中一个上的定位柱140，后盖110及支架120中的另外一个上设有定位孔150，定位柱140与定位孔150相配合，从而方便后盖110与支架120准确对接。
进一步的，连接轴140与定位孔150的底部抵接，以确定后盖110与支架120之间的预设间距H。
进一步的，连接轴140的端面设有螺孔，螺纹紧固件穿过定位孔150后与连接轴140的螺孔相螺合，以将后盖110与支架120固定连接起来。
定位孔150及连接轴140的具体结构可以根据不同需求来设计，例如，在图示的实施例中，定位柱140设于后盖110的上盖体113上；具体地，定位柱140为圆柱体。支架120的第一支撑臂123的下盖体123a上设有定位筒，定位孔150为定位筒的中心孔。
进一步地，连接轴140为至少三个，分别围绕后盖110的上盖体113的第一轴孔112设置。定位孔150为至少三个，分别围绕支架120的第一支撑臂123的下盖体123a的第二轴孔122设置。由于三角形分布具有较好的稳定性，故，将连接轴140设置三个以上，以提高后盖110与支架120之间的定位精度以及连接的牢固度。
进一步的，支架120的第一支撑臂123的下盖体123a设有与定位孔150相连通的贯穿孔126，贯穿孔126与定位孔150连通，螺纹紧固件依次穿过贯穿孔126、以及定位孔150后，与连接轴140的螺孔相螺合。
进一步的，贯穿孔126为阶梯孔，其包括大头端126a以及与大头端126a连通的小头端126b，大头端126a位于下盖体123a背离定位筒的一侧，小头端126b与定位孔150相连通。螺纹紧固件为螺钉，螺钉的帽头收容在贯穿孔126的大头端126a内。
为了使传感器安装板130在后盖110与支架120之间可活动，传感器安装板130与后盖110或/及支架120之间存在预设间隙。例如，预设间隙的大小等于后盖110的上配合面111与支架120的下配合面121之间的预设间距H与传感器安装板130的厚度d的差值。优选地，预设间隙可以为0.1毫米~0.2毫米。
或者，角度感测装置101还包括弹性件，弹性件抵接在传感器安装板130与后盖110或/及支架120之间。传感器安装板130挤压弹性件，而使弹性件发生弹性形变，以提供传感器安装板130活动的避让空间。
弹性件的具体结构可以根据不同需求来设计，例如，弹性件为夹持在传感器安装板130与后盖110或/及支架120之间的弹性橡胶垫、弹性橡胶圈、海绵垫、海绵圈等。
弹性件可以密封传感器安装板130与后盖110或/及支架120之间的预设间隙，或者，局部填充传感器安装板130与后盖110或/及支架120之间的预设间隙。
进一步的，请再次参阅图2及图3，后盖110设有限位部118，传感器安装板130设有配合部135，限位部118与配合部135相配合，以限制传感器安装板130在支架120与后盖110之间的转动角度。具体在图示的实施例中，限位部118设于后盖110的上固定部114，配合部135设于传感器安装板130的边缘。
限位部118及配合部135的具体结构可以根据不同的需求来设计，例如，在图示的实施例中，限位部118为设于后盖110的限位槽，配合部135为设于传感器安装板130的边缘的配合凸台。在其他实施中，限位部118为设于后盖110的限位凸台，配合部135为传感器安装板130的边缘的阻挡凸台。限位凸台为多个，限位凸台位于相邻两个限位凸台之间。
角度传感器133靠近第一电机102的驱动轴102a设置，并且用于感测第一电机102的驱动轴102a的转动角度。角度传感器133可以为电位器，霍耳传感器等。
角度传感器133设有供第一电机102的驱动轴102a穿过的检测孔133a，检测孔133a与后盖110的第一轴孔112、支架120的第二轴孔122、传感器安装板130的第三轴孔131都相对应。具体在图示的实施例中，角度传感器133为具有检测孔133a的电位器。
进一步的，第一电机102的驱动轴102a设有定位平面102c。定位平面102c平行第一电机102的驱动轴102a的轴向延伸。定位器的检测孔133a为与驱动轴102a的形状相匹配的异形孔。
进一步的，传感器安装板130设有用于外部连接器电连接的接线端子136，后盖110设有与接线端子136相对应的接线缺口119，以供外部连接器穿过插入接线缺口119与接线端子136对接。
上述角度感测装置101的传感器安装板130设于后盖110与支架120之间，并且传感器安装板130在后盖110与支架120之间可活动，当云台100的电机的驱动轴102a与传感器安装板130上的角度传感器133存在干涉时，例如，云台100的电机的驱动轴102a与传感器安装板130上的角度传感器133的检测孔133a不同心时，传感器安装板130上可以根据实际误差来调整，以减小电机的驱动轴102a与传感器安装板130上的角度传感器133之间的应力，避免产生电机转动不顺畅、影响定位精度等问题，从而无需增加特定工位来调节电机的驱动轴102a与角度传感器133之间的定位精度，减少了云台100的生产成本。
请一并参阅图6，本发明的实施方式二的云台200与实施方式一的云台100基本相似，其不同之处在于：本发明的实施方式二的云台200的转轴机构为横滚（Roll）轴。云台200的转轴机构的传感器安装板230设于后盖210与支架220之间，并且后盖210与支架220之间的预设间距大于传感器安装板230的厚度。支架220设有用于安装电机的电机安装部225。
需要说明的是，云台100、200也可以同时包含上述的俯仰轴以及横滚轴。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (34)

  1. 一种角度感测装置，其特征在于，包括：
    后盖，设有上配合面；
    支架，设有下配合面，所述下配合面与所述上配合面相对设置，并且间隔预设间距；以及
    传感器安装板，用于安装角度传感器；
    其中，所述传感器安装板设于所述上配合面与所述下配合面之间，所述预设间距大于所述传感器安装板的厚度，使所述传感器安装板在所述上配合面与所述下配合面之间可活动。
  2. 根据权利要求1所述的角度感测装置，其特征在于，所述传感器安装板为电路板，所述电路板还设有用于控制电机的驱动轴的旋转角度的控制电路。
  3. 根据权利要求1所述的角度感测装置，其特征在于，所述后盖设有用于安装电机的台阶部，所述台阶部设于所述后盖远离所述传感器安装板的表面。
  4. 根据权利要求3所述的角度感测装置，其特征在于，所述台阶部包括底面及与所述底面垂直相连的侧面，所述侧面的形状与所述电机的周缘的形状相适配。
  5. 根据权利要求4所述的角度感测装置，其特征在于，所述侧面设有供软性电路板穿过的穿线孔，所述软性电路板用于与所述电机电连接。
  6. 根据权利要求4所述的角度感测装置，其特征在于，所述底面所在的高度小于所述后盖的高度。
  7. 根据权利要求1所述的角度感测装置，其特征在于，所述后盖设有限位部，所述传感器安装板设有配合部，所述限位部与所述配合部相配合，以限制所述传感器安装板在所述支架与所述后盖之间的转动角度。
  8. 根据权利要求7所述的角度感测装置，其特征在于，所述限位部为设于所述后盖的限位槽，所述配合部为设于所述传感器安装板的边缘的配合凸台。
  9. 根据权利要求1所述的角度感测装置，其特征在于，所述支架包括第一支撑臂及与所述第一支撑臂的一端垂直固定连接的第二支撑臂，所述第一支撑臂与所述后盖相对设置，所述第二支撑臂上设有用于安装电机的电机安装部。
  10. 根据权利要求9所述的角度感测装置，其特征在于，所述电机安装部为安装槽，所述安装槽的形状与所述电机的底部的形状相适配。
  11. 根据权利要求1所述的角度感测装置，其特征在于，所述后盖设有上容置槽；所述支架设有下容置槽，所述下容置槽与所述上容置槽相对设置。
  12. 根据权利要求11所述的角度感测装置，其特征在于，所述上配合面设于所述上容置槽的底部，所述下配合面设于所述下容置槽的底部；所述下容置槽及所述上容置槽共同形成一个用于收容所述传感器安装板的容置腔。
  13. 根据权利要求11所述的角度感测装置，其特征在于，所述上配合面设于所述上容置槽的开口周缘，所述下配合面设于所述下容置槽的开口周缘。
  14. 根据权利要求1所述的角度感测装置，其特征在于，所述角度传感器设有供电机的驱动轴穿过的检测孔。
  15. 一种云台，其特征在于，包括：
    权利要求1~14任一项所述角度感测装置；以及
    电机，安装在所述后盖上；
    其中，所述角度传感器靠近所述电机的驱动轴设置，并且用于感测所述电机的驱动轴的转动角度。
  16. 一种角度感测装置，其特征在于，包括：
    后盖；
    支架，与所述后盖相对设置 ，并且通过连接轴固定连接；以及
    传感器安装板，用于安装角度传感器，所述传感器安装板设有限位孔；
    其中，所述传感器安装板设于所述后盖与所述支架之间，所述连接轴穿过所述限位孔，使所述传感器安装板可活动地套设在所述连接轴上。
  17. 根据权利要求16所述的角度感测装置，其特征在于，所述传感器安装板为电路板，所述电路板还设有用于控制电机的驱动轴的旋转角度的控制电路。
  18. 根据权利要求16所述的角度感测装置，其特征在于，所述后盖设有用于安装电机的台阶部，所述台阶部设于所述后盖远离所述传感器安装板的表面。
  19. 根据权利要求18所述的角度感测装置，其特征在于，所述台阶部包括底面及与所述底面垂直相连的侧面，所述侧面的形状与所述电机的周缘的形状相适配。
  20. 根据权利要求19所述的角度感测装置，其特征在于，所述侧面设有供软性电路板穿过的穿线孔，所述软性电路板用于与所述电机电连接。
  21. 根据权利要求19所述的角度感测装置，其特征在于，所述底面所在的高度小于所述后盖的高度。
  22. 根据权利要求16所述的角度感测装置，其特征在于，所述后盖设有限位部，所述传感器安装板设有配合部，所述限位部与所述配合部相配合，以限制所述传感器安装板在所述支架与所述后盖之间的转动角度。
  23. 根据权利要求22所述的角度感测装置，其特征在于，所述限位部为设于所述后盖的限位槽，所述配合部为设于所述传感器安装板的边缘的配合凸台。
  24. 根据权利要求16所述的角度感测装置，其特征在于，所述支架包括第一支撑臂及与所述第一支撑臂的一端垂直固定连接的第二支撑臂，所述第一支撑臂与所述后盖相对设置，所述第二支撑臂上设有用于安装电机的电机安装部。
  25. 根据权利要求24所述的角度感测装置，其特征在于，所述电机安装部为安装槽，所述安装槽的形状与所述电机的底部的形状相适配。
  26. 根据权利要求16所述的角度感测装置，其特征在于，所述后盖与所述支架共同形成一个用于收容所述传感器安装板的容置腔，所述连接轴位于所述容置腔内。
  27. 根据权利要求16所述的角度感测装置，其特征在于，所述后盖与所述支架相对间隔设置。
  28. 根据权利要求27所述的角度感测装置，其特征在于，还包括弹性件，所述弹性件抵接在所述传感器安装板与所述后盖或/及所述支架之间。
  29. 根据权利要求27所述的角度感测装置，其特征在于，所述传感器安装板与所述后盖或/及所述支架之间存在预设间隙。
  30. 根据权利要求27所述的角度感测装置，其特征在于，所述连接轴为设于所述后盖及所述支架的其中一个上的定位柱，所述后盖及所述支架中的另外一个上设有定位孔，所述定位柱与所述定位孔相配合。
  31. 根据权利要求30所述的角度感测装置，其特征在于，所述定位柱与所述定位孔的底部抵接，以确定所述后盖与所述支架之间的所述预设间距。
  32. 根据权利要求30所述的角度感测装置，其特征在于，所述定位柱的端面设有螺孔，螺纹紧固件穿过所述定位孔后与所述螺孔相螺合，以将所述后盖与所述支架固定连接起来。
  33. 根据权利要求16所述的角度感测装置，其特征在于，所述角度传感器设有供电机的驱动轴穿过的检测孔。
  34. 一种云台，其特征在于，包括：
    权利要求16~33任一项所述的角度感测装置；以及
    电机，安装在所述后盖上；
    其中，所述角度传感器靠近所述电机的驱动轴设置，并且用于感测所述电机的驱动轴的转动角度。
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JP2018518928A (ja) 2018-07-12
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