Gimbal and camera appartus
A gimbal and a camera apparatus are provided. The gimbal includes an electric motor and a rotation bracket connected to the electric motor and driven by the electric motor to rotate. The electric motor includes a first body, a second body, a magnetic ring disposed in the first body, a position sensing assembly disposed in the second body, and a mechanical limit mechanism disposed between the first body and the second body to define a limiting position of the first body when rotating relative to the second body. A positioning structure is disposed at a pre-determined position of a magnetic field of the magnetic ring. When the first body rotates relative to the second body to the limiting position, the position sensing assembly is capable of sensing a pre-determined magnetic field signal.
1. A gimbal, comprising:
an electric motor; and
a rotation bracket connected to the electric motor and driven by the electric motor to rotate, wherein the electric motor includes:
a first body;
a second body;
a magnetic ring disposed in the first body;
a position sensing assembly disposed in the second body; and
a mechanical limit mechanism disposed between the first body and the second body to define a limiting position of the first body when rotating relative to the second body,
wherein:
a positioning structure is disposed at a pre-determined position of a magnetic field of the magnetic ring; and
when the first body rotates relative to the second body to the limiting position, the position sensing assembly is capable of sensing a pre-determined magnetic field signal.
2. The gimbal of claim 1 , wherein:
the positioning structure includes two bumps formed on two opposite surfaces of the magnetic ring; and
one of the two bumps is coupled and snapped to the first body.
3. The gimbal of claim 2 , wherein:
a line connecting centers of the two bumps is in parallel with a central axis of the magnetic ring.
4. The gimbal of claim 2 , wherein:
a slot is configured on the first body; and
one of the bumps snaps into the slot.
5. The gimbal of claim 1 , wherein:
the magnetic ring includes a multipole magnetic ring; and
the positioning structure is formed at a position having a peak-to-peak value of one pair of magnetic poles of the magnetic ring.
6. The gimbal of claim 1 , wherein:
the first body includes a first bottom wall and a first side wall connecting to the first bottom wall;
the first bottom wall and the first side wall together form a first housing space; and
the magnetic ring is disposed in the first housing space and fixedly connected to the first body.
7. The gimbal of claim 6 , wherein:
a first limiter is formed protruding from the first bottom wall;
a second limiter is formed on the second body and capable of cooperating with the first limiter; and
the first limiter and the second limiter together form the mechanical limit mechanism.
8. The gimbal of claim 1 , wherein:
the first body includes a first shaft; and
the first shaft and the second body are capable of rotatably cooperating with each other, such that the first body and the second body are capable of rotatably connecting one to another.
9. The gimbal of claim 8 , wherein:
the second body includes a second shaft; and
the first shaft is capable of rotatably inserting into the second shaft.
10. The gimbal of claim 9 , wherein:
a first limiter is formed protruding from the first body;
a second limiter is formed on the second body and capable of cooperating with the first limiter;
the first limiter and the second limiter together form the mechanical limit mechanism;
the first limiter is disposed on a side of the first shaft; and
the second limiter is formed on an end surface of the second shaft.
11. The gimbal of claim 8 , wherein:
the position sensing assembly includes a base board and a plurality of position sensors disposed on the base board;
the base board is fixedly disposed inside the second body;
the plurality of position sensors are capable of sensing the pre-determined magnetic field signal; and
based on the pre-determined magnetic field signal sensed by the position sensing assembly, the electric motor determines whether the first body rotates relative to the second body to the limiting position.
12. The gimbal of claim 11 , wherein:
the base board includes a main board and an extension board connected to the main board;
the plurality of position sensors are electrically connected to the main board; and
the extension board is used to transmit sensing results of the plurality of position sensors to a controller.
13. The gimbal of claim 11 , wherein:
the plurality of position sensors includes a first position sensor and a second position sensor;
the first position sensor is capable of sensing the pre-determined magnetic field signal; and
the second position sensor is capable of sensing a rotation angle of the electric motor to provide references for driving the electric motor.
14. A camera apparatus, comprising:
a gimbal; and
an image acquisition device connected to the gimbal and stabilized by the gimbal, wherein the gimbal includes:
an electric motor; and
a rotation bracket connected to the electric motor and driven by the electric motor to rotate, wherein the electric motor includes:
a first body;
a second body;
a magnetic ring disposed in the first body;
a position sensing assembly disposed in the second body; and
a mechanical limit mechanism disposed between the first body and the second body to define a limiting position of the first body when rotating relative to the second body,
wherein:
a positioning structure is disposed at a pre-determined position of a magnetic field of the magnetic ring; and
when the first body rotates relative to the second body to the limiting position, the position sensing assembly is capable of sensing a pre-determined magnetic field signal.
15. The apparatus of claim 14 , wherein:
the positioning structure includes two bumps formed on two opposite surfaces of the magnetic ring; and
one of the two bumps is coupled and snapped to the first body.
16. The apparatus of claim 14 , wherein:
the magnetic ring includes a multipole magnetic ring; and
the positioning structure is formed at a position having a peak-to-peak value of one pair of magnetic poles of the magnetic ring.
17. The apparatus of claim 14 , wherein:
the first body includes a first bottom wall and a first side wall connecting to the first bottom wall;
the first bottom wall and the first side wall together form a first housing space; and
the magnetic ring is disposed in the first housing space and fixedly connected to the first body.
18. The apparatus of claim 14 , wherein:
the first body includes a first shaft; and
the first shaft and the second body are capable of rotatably cooperating with each other, such that the first body and the second body are capable of rotatably connecting one to another.
19. The apparatus of claim 18 , wherein:
the second body includes a second shaft; and
the first shaft is capable of rotatably inserting into the second shaft.
20. The apparatus of claim 19 , wherein:
a first limiter is formed protruding from the first body;
a second limiter is formed on the second body and capable of cooperating with the first limiter;
the first limiter and the second limiter together form the mechanical limit mechanism;
the first limiter is disposed on a side of the first shaft; and
the second limiter is formed on an end surface of the second shaft.