GIMBAL AND METHOD FOR WINDING FLEXIBLE CABLE ON GIMBAL

A gimbal and a method for winding a flexible cable on a gimbal are provided. The gimbal includes a first motor and a second motor connected with each other. The flexible cable includes a connection unit and a connection end connected with each other, and the connection end is extended from the connection unit. The gimbal winding method includes winding the connection unit on the first motor while allowing the connection end to be electrically connected with the second motor.

TECHNICAL FIELD

Embodiments of the present disclosure relate to a gimbal and a method for winding a flexible cable on a gimbal.

BACKGROUND

Flexible printed circuits (FPCs) are advantageous due to characteristics such as high wiring density, light weight, and thin thickness, and have been mainly applied in mobile phones, laptop computers, palm computers, digital cameras, liquid crystal display modules, gimbals, and many other products. Flexible Flat Cables (FFCs) belong to a new type of cable for transferring data and electrical power for example, and have the advantages such as flexibility, thin thickness, easy connection, and so on.

In an existing gimbal, flexible printed circuits are usually employed to electrically connect various components, such as motor, inertial measurement unit (IMU), camera (imaging module), and PCB board. However, the current winding method for an FPC cable in the gimbal may cause a situation that the FPC cable is wound in a disorder manner and the cables are not wound compactly, which is not favorable to minimization of the gimbal.

SUMMARY

An embodiment of the present disclosure provides a method for winding an flexible cable on the gimbal, the gimbal includes a first motor and a second motor connected with each other, the flexible cable includes a connection unit and a connection end connected with each other, the connection end is extended from the connection unit, and the method includes winding the connection unit on the first motor while allowing the connection end to be electrically connected with the second motor.

Another embodiment of the present disclosure provides a gimbal including a first motor and a second motor connected with each other and an flexible cable, the flexible cable includes a connection unit and a connection end connected with each other, the connection end is extended from the connection unit, the connection unit is wound on the first motor, and the connection end is electrically connected with the second motor.

Still another embodiment of the present disclosure provides a method for winding an flexible cable on a gimbal, the gimbal includes a first motor, a second motor, a third motor and a camera module connected with each other, an end of the flexible cable away from the camera module includes a first connection branch and a second connection branch connected with each other, the first connection branch includes a first connection unit and a first connection end connected with each other, the second connection branch includes a second connection unit, and a second connection end and a third connection end are extended from the second connected unit. The method includes: winding the first connection unit on the first motor while allowing the first connection end to be electrically connected with the second motor; winding the second connection unit on the third motor so that the second connection end is electrically connected with the first motor and the third connection end is electrically connected with the third motor.

DETAILED DESCRIPTION

In order to make objects, technical details and advantages of the embodiments of the disclosure apparent, the technical solutions of the embodiments will be described in a clearly and fully understandable way in connection with the drawings related to the embodiments of the disclosure. Apparently, the described embodiments are just a part but not all of the embodiments of the disclosure. Generally, the components of the embodiments of the present disclosure as shown and described in the attached drawings here can be arranged and designed in various configurations.

Thus, the detail description with respect to the embodiments of the present disclosure illustrated in the accompanying drawings is not intended to limit the scope of the claimed disclosure, but only indicate the optional embodiments of the present disclosure. Based on the described embodiments herein, those skilled in the art can obtain other embodiment(s), without any inventive work, which should be within the scope of the disclosure.

It should be noted that similar symbols and letters are used to indicate the similar items throughout the drawings, and therefore, once an item has been defined in one drawing, then the item is not needed to be further defined and explained in the subsequent drawings.

It should be appreciated that the location or position relationship indicated by the terms “upper”, “lower”, “inner”, “outer”, or the like, as used herein, is based on the location or position relationship as illustrated in the accompanying drawings, or the location or position relationship normally placed when the embodiment product of the disclosure is in operation, or the location or position relationship conventionally understood by the person skilled in the art, servers merely for the purpose of facilitating to describe the present disclosure and simplify the description, but does not indicate or imply the referred device or member must have the specific location or position, is constructed and operated in a specific location, and therefore, should not be construed as limitation upon the present disclosure.

In addition, the terms “first”, “second”, “third”, and so on, as used herein, merely serve for the purpose of distinguishing, but should not be understood as indicating or implying relative significance.

In the description of the present disclosure, it is also to be noted that unless otherwise prescribed or defined explicitly, the terms “provide”, “connect”, “couple” or the like should be understood in their broad sense, for example, it can be a fixedly connection, and also can be a detachably connection or integrally connection, can be a mechanical connection or an electric connection, can be a direct connection or an indirect connection via a intervene medium, and also can be communication between inner portions of two members. The specific meaning of the above terms in the present disclosure can be understood by the person skilled in the art according to the specific situation.

In this disclosure, FPC (flexible printed circuit) cable and FFC (flexible flat cable) are specific examples of flexible cable. Hereinafter, FPC cable is taken as an example for illustration, but obviously the disclosure is not limited to FPC cable and is applicable to FFC as well. Moreover, when an FFC is put in usage, this FFC can be connected to a corresponding PCB, FPC or the like by a connector to establish electric connection.

With reference toFIG. 1, an embodiment of the present disclosure provides a method, for winding an FPC cable200on a gimbal100. In the following, the winding process and the basic principle of the method will be described in detail.

In this embodiment, the gimbal100includes a camera module140, a first motor101, a second motor102, and an FPC cable200, and a rotor housing of the first motor101is connected with a stator of the second motor102. It should be appreciated thatFIG. 1only illustrates the basic principle of the method, motors applicable to the gimbal100are not limited to the two motors, i.e., the first motor101and the second motor102, and the first motor101and the second motor102are not specifically designated, rather, it means that one of the two motors can be the first motor101, and another one adjacent thereto is the second motor102.

When the gimbal according to the present embodiment is wound, one end of the FPC cable200is connected with the camera module140. The FPC cable200further includes a first connection unit201and a connection end202connected with each other, and the connection end202is extended from the connection unit201. In winding, the connection unit201is wound on a rotor housing of the first motor101, and the connection end202is electrically connected with the stator of the second motor102.

For example, the FPC cable200further includes a rotation structure221connected with the connection unit201, and the rotation structure221is rotatable following the first motor101. The rotation structure221includes a fixing end2211and a rotation part2212connected with each other, the rotation part2212is connected with the connection unit201, and the rotation part2212is rotatable following the first motor101. It should be appreciated that the rotation structure221is a structure that is rotated following the motor, and one or more rotation structure can be provided correspondingly according to the number of the motors. The rotation structure221allows the FPC cable200to be rotated following the first motor101as the first motor101rotates, which can avoid the phenomenon that the FPC cable200is wound in a disorder manner when rotated following the motor.

In practice of this method to wind the FPC cable200on the gimbal100, winding on the first motor101is achieved by the connection unit201, and electrical connection with the second motor102is achieved by the connection end202. That is, between the two adjacent motors, the connection unit201of the FPC cable200is wound on one of the motors, and the connection end202extended from the connection unit201is electrically connected with the other motor. This winding method enables the routing of the FPC cable200to be more appropriate, the phenomenon in which the FPC cable200is wound in a disorder manner when rotated following the motor can be prevented, the cable can be arranged more compactly, and the minimization design of the gimbal is facilitated.

Hereinafter, with the example of a three-axis gimbal100, the method according to the embodiment of the present disclosure will be described in detail.

Specifically, with reference toFIG. 2andFIG. 4, the three-axis gimbal100includes a camera module140, a pitch motor110, a yaw motor120, a roll motor130, a first cable passage structure150, a second cable passage structure160, and an FPC cable200. Here, for the purpose of illustrating, the yaw motor120is referred to the first motor101, the pitch motor110is referred to the second motor103, and the roll motor130is referred to a third motor (not indicated in the drawings).

An axis of the pitch motor110(X-axis inFIG. 2), an axis of the roll motor130(Y-axis inFIG. 2), and an axis of the yaw motor120(Z-axis inFIG. 2) are orthogonal to one another, the camera module140is connected (e.g., fixed) with the pitch motor110, the pitch motor110is connected (e.g., fixed) with the yaw motor120, and the yaw motor120is connected (e.g., fixed) with the roll motor130.

With reference toFIG. 3, the pitch motor110includes a pitch rotor housing111and a pitch stator112, and the pitch rotor housing111is rotatable with respect to the pitch stator112. Similarly, the yaw motor120includes a yaw rotor housing121and a yaw stator122, and the yaw rotor housing121is rotatable with respect to the yaw stator122. The roll motor130includes a roll rotor housing131and a roll stator132, and the roll rotor housing131is rotatable with respect to the roll stator132.

The yaw stator122is connected with the roll rotor housing131through a first connection arm170, and the first cable passage structure150is connected with the roll rotor housing131through a second connection arm180. The yaw motor120is located opposite to the first cable passage structure150, and they are respectively provided at opposite sides of the roll motor130. The first connection arm170is preferably located in a same line as the second connection arm180. The first cable passage structure150for example is of a circular disk shape, and a receiving cavity is provided therein.

The pitch motor110and the camera module140are located between the yaw motor120and the first cable passage structure150. The pitch motor110for example is connected with a lower side of the yaw rotor housing121. The pitch rotor housing111is connected with an end of the camera module140. The second cable passage structure160is provided at an end of the camera module140away from the pitch rotor housing111. The second cable passage structure160, for example, is of a circular disk shape, one end of which is connected with a side of the yaw rotor housing121, and the other end of which is provided with a rotation arm161. The rotation arm161is of an L-shape, one end of which is extended into the receiving cavity151of the first cable passage structure150. A catch (or fixture block)162is provided at a side of the second cable passage structure160close to the camera module140. The second cable passage structure160covers a side of the housing of the camera module140, and the catch162is located in the housing of the camera module140.

When the pitch motor110operates, the pitch rotor housing111is rotated with respect to the pitch stator112, the pitch rotor housing111brings the camera module140to rotate around the axis of the pitch motor110, so that an end of the camera module140close to the second cable passage structure160is rotated with respect to the second cable passage structure160.

When the roll motor130operates, the roll rotor housing131is rotated with respect to the roll stator132, and the roll rotor housing131brings the first connection arm170and the second connection arm180into same-direction rotating, that is, the first connection arm170and the second connection arm180are either rotated simultaneously clockwise or rotated simultaneously anticlockwise, thus bring the yaw motor120and the second cable passage structure160to rotate around the axis of the roll motor130in the same direction.

When the yaw motor120operates, the yaw rotor housing121is rotated with respect to the yaw stator122, and the yaw rotor housing121brings the pitch motor110and the second cable passage structure160into same-direction rotating around the axis of the yaw motor120simultaneously, and the camera module140is rotated around the axis of the yaw motor120together with the pitch motor110. In addition, the rotation arm161of the second cable passage structure160is rotated in the receiving cavity of the first cable passage structure150.

With reference toFIG. 2toFIG. 9, a particular winding situation of the method provided by the present embodiment will be described in detail below.

With reference toFIG. 3toFIG. 5, an end of the FPC cable200is connected with the camera module140. The FPC cable200further includes a first connection branch210and a second connection branch220. The first connection branch210includes a first connection unit211that is configured to surround the yaw rotor housing121and a first connection end212that is connected with the pitch stator112; the second connection branch220includes a rotation structure221, a second connection unit222that is configured to surround the roll rotor housing131, a second connection end223that is connected with the yaw stator122, and a third connection end224connected with the roll stator132. The rotation structure221is rotatable following the yaw motor120. The first connection end212can act to provide control signals, power, and so on to the pitch motor.

With reference toFIG. 5andFIG. 8, the rotation structure221is formed as a part of the second connection branch220, and can be rotated upon pushing or pulling. When the yaw motor120operates, the rotation structure221can follow the rotation of the yaw rotor housing121to rotate. In particularly, the rotation structure221may include a fixing end2211and a rotation part2212connected with each other, the fixing end2211is connected with the second connection unit222, and the rotation part2212is connected with the first connection branch210. It may be preferred that the rotation structure221is provided in the first cable passage structure150, and the fixing end2211is fixedly connected with the first cable passage structure150for example. When the yaw rotor housing121is rotated, the fixing end2211is stationary and does not follow to rotate, and the rotation part2212is rotated around the fixing end2211, thus other parts of the FPC cable200fixed with the fixing end2211is prevented from rotation following rotation of the rotation part, and the FPC cable200is prevented from being wound in disorder manner at this place.

In addition, the first connection branch210and the second connection branch220can be respectively fixed to the second cable passage structure160. For example, the FPC cable200further includes a first transition part225, the first connection branch210and the second connection branch220are connected with each other through the first transition part225, and the first transition part225is fixed to the second cable passage structure160.

That is to say, the first transition part225is provided at the position where the first connection branch210and the second connection branch220are branched from the FPC cable200, and for example the first transition part225is fixed to the second cable passage structure160by e.g. back adhesive.

Continuously referring toFIG. 5andFIG. 8, the second connection branch220may further include a first connection segment226. The first connection segment226is fixed to the rotation arm161of the second cable passage structure160. One end of the rotation part2212of the rotation structure221is rotatably connected with the fixing end2211, and the other end is connected with an end of the first transition part225through the first connection segment226.

In addition, referring toFIG. 4again, the FPC cable200may further include a third connection unit230and a fourth connection end231extended from the third connection unit230. The fourth connection end231is configured to be connected with the camera module140. An end of the third connection unit230away from the fourth connection end231is connected with the first transition part225through the first winding structure400. An end of the third connection unit230away from the fourth connection end231is wound in the housing of the camera module140so that the first winding structure400is obtained. A second connection segment232is further provided between the third connection unit230and the first winding structure400, and the second connection segment232is for example connected with the IMU of the gimbal100.

The second connection branch220further includes a second winding structure500. The embodiment will be described by taking the example that the second winding structure500includes the rotation structure221. The second winding structure500is provided on the first cable passage structure150, and the second winding structure500is connected with the first transition part225through the first connection segment226.

With reference toFIG. 3andFIG. 6, the second connection branch220may further include a second transition part227, through which the fixing end2211of the rotation structure221is connected with the second connection unit222. A portion of the second transition part227close to the fixing end2211can be fixed to the first cable passage structure150, and a portion of the second transition part227away from the fixing end2211is extended up to the second connection arm180and can be fixedly connected with the second connection arm180.

The second connection unit222bypasses the roll rotor housing131and leads out a second connection end223and a third connection end224respectively from the opposite sides thereof, the second connection end223is configured to be connected with the yaw stator122and can provide control signals, power, and so on to the yaw motor120, and the third connection end224is configured to be connected with the roll stator132and can provide control signals, power, and so on to the roll motor130. The second connection branch220further includes a third winding structure600, and the third winding structure600is provided between the second connection unit222and the third connection end224.

It should be appreciated that in the present embodiment, the first winding structure400, the second winding structure500and the third winding structure600are all formed by intermediate transition structures of the FPC cable200in routing. At least one of the first winding structure400, the second winding structure500and the third winding structure600may include a rotation structure. The present embodiment is described in the case of the second winding structure500including the rotation structure221. Of course, the first winding structure400and/or the third winding structure600may also include the rotation structure. It should be noted that, if the first winding structure400includes a rotation structure, the rotation structure can be rotated by the rotation of the pitch motor110, and the fixing end of this rotation structure is connected with the first connection unit211. On the other hand, if the third winding structure600includes a rotation structure, the rotation structure will be rotated by the rotation of the roll motor130, and the fixing end of this rotation structure is connected with the second connection unit222.

In addition, in the embodiment of the present disclosure, the FPC cable200may be a monolayer FPC, a multilayer FPC or an integrated FPC incorporating multiple layers. The scope of the present disclosure is not limited thereto.

During research and design, the inventors of the present disclosure have discovered that, as the gimbals have been becoming gradually minimized, and the used amount of transmission wires or cables is continuously increased, monolayer FPCs cannot satisfy the current data transmission requirement any more, and multilayer FPCs are widely used. A multilayer FPC can be obtained by bonding a plurality of stacked FPC together with adhesive to form an integrated flexible circuit board for use. However, when the above integrated FPC or a multilayer FPC is used for electrical connection with a movable component of the gimbal100, as a motor of the gimbal100is rotated forward and backward, the FPC which is wound on a rotation shaft of the motor in advance will be wound or unwound. Because the integrated FPC is made by bonding layers of FPC, generally the integrated FPC has relatively larger thickness and bigger hardness than the multilayer FPC, and it is not easily wound or unwound upon the rotation shaft being rotated. For the situation that flat cables in the multilayer FPC are provided in the form of stack, because the inner layer and the outer layer in the FPC cable200requires different length during the rotation, which causes stacking, the stacked portion induces unstable resistance to the torque of the motor in rotation, so that the torque requirement of the motor is fluctuant, and accordingly the rotation of the motor become unstable, and the overall driving precision become degraded.

In order to address the above problem, another embodiment of the present disclosure provides an improved design based on the technical solution of the method of the above embodiment.

With reference toFIG. 4andFIG. 9(inFIG. 9, an example in which the FPC cable200is wound on the yaw motor120is shown), for the situation that the FPC cable200is a multilayer FPC provided in the form of stack, at least one of the first winding structure400, the second winding structure500, and the third winding structure600includes at least one force offsetting structure300.

The force offsetting structure300includes a force offsetting unit310, the force offsetting unit310includes a first bending part311and a second bending part312, and the first bending part311and the second bending part312are bent in opposite directions respectively.

When the FPC cable200is wound, various form of force offsetting units310can be obtained according to bending shape and running direction of the FPC cable200. The first bending part311and the second bending part312can form a spiral reverse shape, an S shape, a Z shape or a butterfly shape.

The FPC cable200is wound on the motor to form the force offsetting structure300, that is, the force offsetting unit310can be formed by winding the cable. When the motor is moved, because the first bending part311and the second bending part312are bent in opposite directions, internal forces produced at an inner side of the bent FPC cable200can be cancelled or offset with each other or alleviated, resistance upon the pursuit movement of the FPC cable200can be reduced, and the posture of the FPC cable200is enabled to be kept in a nature state when the motor is in a movement neutral position. At this time, the connection position of the FPC cable200with the motor does not suffer from any force, the motor is not acted by an additional torque, it is possible to enable the stability of the motor to be improved and the movement precision of the motor to be enhanced, and the FPC cable200cannot be wound in a disorder manner, and the overall structure can become well arranged.

In an embodiment of the present disclosure, the first winding structure400, the second winding structure500and the third winding structure all include the force offsetting structures. For example again, in the embodiment of the present disclosure, the first winding structure400, the second winding structure500and the third winding structure600are configured to include as not only force offsetting structures but also the rotation structures.

With reference toFIG. 4andFIG. 5, the first winding structure400includes a first force offsetting unit410, the first force offsetting unit410includes a fifth bending part411and a sixth bending part412that are bent in opposite directions. The fifth bending part411is connected with the second connection segment232. For example, the fifth bending part411and the sixth bending part412together form a Z shape. When the pitch motor110operates, the pitch rotor housing111is rotated and brings the camera module140to rotate around the axis of the pitch motor110, so that the FPC cable200is rotated following the rotation of the pitch rotor housing111, the first force offsetting unit410enables the internal forces generated at the inner side of the wires of the FPC cable200when the first winding structure400is rotated following the camera module140to be cancelled or offset with each other or alleviated, and the resistance upon pursuit movement to be reduced.

The second winding structure500includes a second force offsetting unit510, and the second force offsetting unit510includes a third bending part511and a fourth bending part512that are bent in opposite directions. The second winding structure500refers to the same structure as the rotation structure221, that is, the third bending part511is formed by bending at the connection position between the fixing end2211and the rotation part2212, and the fourth bending part512is formed by bending an end of the rotation part2212away from the fixing end2211. For example, the third bending part511and the fourth bending part512together form a Z shape. When the yaw motor120operates, the yaw rotor housing121is rotated and brings the pitch motor110and the camera module140to rotate around the axis of the yaw motor120together, and the second cable passage structure160is rotated around the axis of the yaw motor120with respect to the first cable passage structure150, so that the FPC cable200is rotated following the rotation of the yaw rotor housing121, the second force offsetting unit510enables the internal forces generated at the inner side of the wires of the FPC cable200when the second winding structure500is rotated following the yaw rotor housing121to be cancelled or offset with each other or alleviated and the resistance upon pursuit movement to be reduced.

The third winding structure600includes a third force offsetting unit610, and the third force offsetting unit610includes a seventh bending part611and a eighth bending part612bent in opposite directions. The seventh bending part611is connected with the second connection unit222, and the eighth bending part612is connected with the third connection end224. For example, the seventh bending part611and the eighth bending part612together form a butterfly shape. When the roll motor130operates, the yaw motor120and the first cable passage structure150are brought to rotate around the axis of the roll motor130, and the pitch motor110, the second cable passage structure160and the camera module140are also brought into movement together, so that the FPC cable200is rotated following the roll rotor housing131. The third force offsetting unit610enables the internal force generated at the inner side of the wires of the FPC cable200when the third winding structure600is rotated following the roll rotor housing131to be cancelled or offset with each other or alleviated and the resistance upon pursuit movement to be reduced.

In this way, when each of the three motors operates, there is a force offsetting unit310for cancelling or offsetting the force generated when the FPC cable200follows the rotation, and thus the resistance of the pursuit movement is reduced, and the overall movement precision is improved.

In addition, with reference toFIG. 7, the FPC cable200may further include a third connection segment700and a fourth connection segment800, and the third connection segment700and the fourth connection segment800are connected with the eighth bending part612, respectively. The third connection segment700has a fifth connection end710connected with a first PCB board. The fourth connection segment800has a sixth connection end810connected with a second PCB board. The first PCB board and the second PCB board may include electronic components, such as a controller, a memory, or the like, respectively.

In summary, in the method provided by an embodiment of the present disclosure, the PCB wire200can be wound on the gimbal100, and by the first connection branch210and the second connection branch220, the electrical connection among the three motors can be achieved. By the first connection unit211and the second connection unit212, it can be achieved that, when a motor operates, the FPC cable200is rotated following the rotation of the motor. When the motor rotates, by the rotation structure221, the PCB wire200is enabled to rotate following rotation of the motor, and thus the transition part is enabled to follow the rotation and is prevented from being wound in disorder manner. Thus, with the method of the embodiment of the present disclosure, the three motors can be ensured to normally operate, at same time, the routing of the FPC cable200can become more appropriate, the FPC cable200is prevented from being wound in a disorder manner when the motor(s) rotates, and the routing of the FPC cable200becomes more compact to be suitable for the minimized design of the gimbal100.

The gimbal according to the embodiment of the present embodiment can be fixedly provided on a post of road lamp, a wall of room, a roof of house, or the like, and also can be provided on mobile devices, such as an unmanned aerial vehicle, a boat, a mobilized vehicle, or the like.

What has been described above is only the particular embodiments of the present disclosure, is not intended to limit the present disclosure, and many modifications and variations can be easily conceived by the person skilled in the art from the teaching of the above disclosed embodiments. All the modifications, equivalent substitutions and improvements made within the spirit and principle of the present disclosure should be covered by the protection scope of the present disclosure.