CN101725803A - Rotatable platform - Google Patents
Rotatable platform Download PDFInfo
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- CN101725803A CN101725803A CN200810216748A CN200810216748A CN101725803A CN 101725803 A CN101725803 A CN 101725803A CN 200810216748 A CN200810216748 A CN 200810216748A CN 200810216748 A CN200810216748 A CN 200810216748A CN 101725803 A CN101725803 A CN 101725803A
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Abstract
The invention provides a rotatable platform, which comprises a base, a first motor, a first platform, a second motor, a rotary component and a second platform fixed relative to the first platform. The first motor can drive the first platform and further drive the second platform to rotate around a first axis relative to the base; and the second motor can drive the rotary component to rotate around a second axis relative to the second platform, wherein the first motor and/or the second motor is a piezo motor. The rotatable platform can rotate in a wider range in different directions.
Description
Technical field
Embodiments of the invention relate to a kind of rotatable platform.
Background technique
Can operate that to come the omnirange camera system of the scene in the scope of ratio broad of imaging different direction with directed photographic camera be more common, and be used to many different purposes.For example, they can be used to monitor and/or alarm system, and be used for robot vision.
Usually, these systems comprise the electromagnetic motor that is connected to photographic camera by the transmission system of more complicated.Motor and transmission system are controllable, with the optical axis of position cameras on than the direction of relative broad range so that photographic camera can imaging fully greater than the scene in the expansion visual field of camera coverage.
U. S. Patent 7,274,805 have described a kind of comprising the omnirange camera system of " the electronics rotating machinery that is used to horizontally rotate photographic camera (shaking photographic camera so that it pans) ".This electronic mechanism utilizes the axle and the reduction gear of one group of more complicated to be connected to photographic camera.
U. S. Patent 7,268,819 have described a kind of " scanning camera; comprising: the image device that is used for capturing video with image pickup element; be used to change the back shaft that is secured to image device of filming direction; support the frame of image device by back shaft; be secured to frame and be used for the driver of rotation tomography device; and be electrically connected to image pickup element and have the flexible connector of two planar sections, described two planar sections away from each other extend to frame from least two positions of image device along diagonal at opposite side with respect to the axis of back shaft, thereby the parallel axes ground of two planar sections of flexible connector and back shaft is arranged.”
Some monitors and scanning system is used the optical system that offers photographic camera expansion visual field.US 7,190, and 259 have described a kind of monitoring system that is used on the moving body with the optical system that is used to provide the expansion visual field.This system have " the omnirange vision sensor, comprise with reflex to the optical system of predetermined direction from maximum 360 degree around the light of field of view incident and be used for imaging from the light of this optical system reflection to obtain the imaging moiety of image data ".
Summary of the invention
The invention provides a kind of rotatable platform, comprise pedestal, first motor, first platform, second motor, rotary component and second platform fixing with respect to described first platform, described first motor can drive described first platform and then drive described second platform and rotate around first axle with respect to described pedestal, and described second motor can drive described rotary component and rotate around second axis with respect to described second platform.Wherein, the type of described first motor and/or second motor is a piezo-electric motor.
Because piezo-electric motor has the characteristic of low speed high torque, can directly drive by rubbing contact, need not to slow down by gear-box, gear train or reducing gears such as worm gear, worm screw, structure is simplified greatly.Simultaneously, the torque density of piezo-electric motor is higher than traditional d.c. motor or stepper motor far away, promptly uses very little piezo-electric motor can obtain big relatively torque output, thereby the further miniaturization of the rotatable platform of applying piezoelectric motor driven, microminiaturization.
The beneficial effect of the embodiment of the invention is: by the direct driving of piezo-electric motor, save complicated reducing gear, simplified the structure of rotatable platform, can realize in different directions rotation in a big way, and can make the further miniaturization of rotatable platform.
Description of drawings
Accompanying drawing 1 illustrates rotatable platform 100 according to an embodiment of the invention;
Accompanying drawing 2 illustrates rotatable platform 200 according to an embodiment of the invention;
Accompanying drawing 3 illustrates rotatable platform 300 according to an embodiment of the invention;
Accompanying drawing 4 illustrates rotatable platform 400 according to an embodiment of the invention;
Accompanying drawing 5 illustrates rotatable platform 500 according to an embodiment of the invention;
Accompanying drawing 6 illustrates rotatable platform 600 according to an embodiment of the invention;
Accompanying drawing 7 illustrates rotatable platform 700 according to an embodiment of the invention;
Accompanying drawing 8 illustrates rotatable platform 800 according to an embodiment of the invention;
Accompanying drawing 9 illustrates rotatable platform 900 according to an embodiment of the invention.
Embodiment
Accompanying drawing 1 illustrates the rotatable platform 100 according to first embodiment of the invention, and this rotation platform comprises pedestal 10, first motor 20, first platform 30, second motor 40, rotary component 50 and second platform of fixing with respect to first platform 30 60.First motor 20 can drive first platform 30 and then drive second platform 60 with respect to pedestal 10 rotations, but the object that is rotated that second motor, 40 rotary driving parts 50 and then drive are installed on this rotary component 50 rotates with respect to second platform 60.
Rotatable platform also comprises the axle 71 with first axle 70, and an end of axle 71 is fixed in first platform 30, and the other end is rotatably mounted in pedestal 10.Pedestal 10 has the center and is in circle contact wheel rim 11 on the first axle 70.The type of first motor 20 can be a piezo-electric motor, can utilize any known suitable scaffold (not shown) in related domain that first motor 20 is installed to first platform 30, make that this motor can be with respect to 30 rotations of first platform, and can operate to apply force to wheel rim 11, this power produces and makes first platform 30 and therefore make the moment of torsion of second platform 60 around first axle 70 rotations.
Alternatively, first motor 20 is a kind of piezo-electric motors described in U.S. Patent application US2008/007399A1, and its disclosure is incorporated herein by reference at this.This motor comprises length and is L, highly is arranged on the oscillator for the piezoelectric board form oscillator of H and one or two and with respect to the brake pad of the rubbing surface elasticity extruding of the parts of wanting passive movement, its piezoelectric board is divided into two same sections by the cross section of extending perpendicular to big surface, wherein at least one described part comprises the asymmetric generator of asymmetric standing acoustic waves, it generates asymmetric 2 D standing wave after excitation, make the friction element of the long end face central authorities be arranged on plate carry out motion, can be passed to the element of passive movement thereby move with respect to end slope.Its piezoelectric board simultaneously is single large electrode, and one side is divided into two arrays of electrodes in addition, constitutes two asymmetric standing acoustic waves generators.The electrode of an asymmetric generator of not shown controller driving oscillator, then oscillator produces vibration, brake pad 22 just can produce the motion with respect to end slope, thereby the wheel rim 11 that promotes to contact with it moves to a direction, and produces the moments of torsion that make first and second platforms 30 and 60 center on first axle 70 rotations.The excitation of the electrode by controlling different asymmetric generators can make first and second platforms 30 and 60 around first axle 70 optionally clockwise or be rotated counterclockwise.
Rotary component 50 has an axle 51 that is rotatably mounted in the jack of offering on second platform 60, and it is optionally mutual vertical with first axle 70 that axle 51 has second axis, 80, the second axis 80.The type of second motor 40 can be a piezo-electric motor, can utilize any known suitable scaffold (not shown) in related domain that second motor 40 is installed to second platform 60, make that this motor can be with respect to 60 rotations of second platform, and can operate and make its brake pad 41 apply force to the surface of axle 51, this power produces and makes the moment of torsion of rotary component 50 around 80 rotations of second axis, thereby makes rotary component 50 around 80 rotations of second axis.Wherein, can according to actual needs second motor 40 be installed to second platform 60 side (as shown in the figure) of first axle 70 dorsad, or second platform 60 is towards a side of first axle 70.
Accompanying drawing 2 illustrates rotatable platform 200 according to another embodiment of the present invention, it is a kind of distortion of rotatable platform 100, the difference part is, in the present embodiment, pedestal 10 does not have wheel rim 11, and first motor 20 is not to be installed to first platform 30, but is installed to pedestal 10 and makes its brake pad 22 flexibly by the surface that is pressed in axle 71.Not shown controller is controlled first motor 20, encourages and produces vibration on its brake pad 22, to apply power to axle 71, rotates around first axle 70 thereby make first platform 30 and then drive second platform 60.
Accompanying drawing 3 illustrates rotatable platform 300 according to another embodiment of the present invention, it is a kind of distortion of rotatable platform 100, the difference part is that in the present embodiment, first motor 20 is installed to first platform 30 and makes its brake pad 22 flexibly by the surface that is pressed in pedestal 10.Not shown controller is controlled first motor 20, encourages and produces vibration on its brake pad 22, to apply power to pedestal 10, rotates around first axle 70 thereby make first platform 30 and then drive second platform 60.
Accompanying drawing 4 illustrates according to another embodiment of the present invention can revolve platform 400, it is a kind of distortion of rotatable platform 100, the difference part is that in the present embodiment, first motor 20 is installed to pedestal 10 and makes its brake pad 22 flexibly by the surface that is pressed in first platform 30.Not shown controller is controlled first motor 20, encourages and produces vibration on its brake pad 22, to apply power to first platform 30, rotates around first axle 70 thereby make first platform 30 and then drive second platform 60.
Please refer to accompanying drawing 5, rotatable platform 500 according to another embodiment of the present invention, itself and rotatable platform 100,200,300, arbitrary rotatable platform similar (accompanying drawing 5 only illustrates a kind of distortion based on rotatable platform 200) in 400, the difference part is, in the present embodiment, rotary component 50 also have parallel with second platform 60 and with the disc-shaped part 52 of axle 51 fixed-site, these parts 52 optionally are positioned at the side of second platform 60 towards first axle 70, second motor 40 is not to be installed to second platform 60, make its brake pad 41 apply force to the surface of this disc-shaped part 52 but be installed to first platform 30 and can operate, this power produces and makes the moment of torsion of rotary component 50 around 80 rotations of second axis, thereby makes rotary component 50 around 80 rotations of second axis.
Please refer to accompanying drawing 6, rotatable platform 600 according to another embodiment of the present invention, itself and rotatable platform 100,200,300, arbitrary rotatable platform similar (accompanying drawing 6 only illustrates a kind of distortion based on rotatable platform 200) in 400, the difference part is, in the present embodiment, second motor 40 is not to be installed to second platform 60, make its brake pad 41 apply force to the surface of second platform 60 but be installed on the rotary component 50 and can operate, this power produces and makes the moment of torsion of rotary component 50 around 80 rotations of second axis, thereby makes rotary component 50 around 80 rotations of second axis.Wherein, can as shown in Figure 6 second motor 40 be installed to the side of second platform 60 towards first axle 70, perhaps also can according to actual needs second motor 40 be installed to second platform 60 side of first axle 70 dorsad.
Please refer to accompanying drawing 7, rotatable platform 700 according to another embodiment of the present invention, itself and rotatable platform 100,200,300, arbitrary rotatable platform similar (accompanying drawing 7 only illustrates a kind of distortion based on rotatable platform 200) in 400, the difference part is, in the present embodiment, rotary component 50 also have parallel with second platform 60 and with the disc-shaped part 52 of axle 51 (not shown) fixed-site, these parts 52 optionally are positioned at second platform 60 side of first axle 70 dorsad, second motor 40 is not to be installed to second platform 60, but be installed to this disc-shaped part 52, and in the present embodiment, second platform 60 has the center and is in wheel rim 61 on second axis 80, can operate second motor 40 applies force on the wheel rim 61 of second platform 60 its brake pad 41, this power produces and makes the moment of torsion of rotary component 50 around 80 rotations of second axis, thereby makes rotary component 50 around 80 rotations of second axis.
Accompanying drawing 8 illustrates rotatable platform 800 according to another embodiment of the present invention, and this rotation platform comprises pedestal 10, first motor 20, first platform 30, second motor 40, rotary component 50 and second platform of fixing with respect to first platform 30 60.First motor 20 can drive first platform 30 and then drive second platform 60 with respect to pedestal 10 rotations, but the object that is rotated that second motor, 40 rotary driving parts 50 and then drive are installed on this rotary component 50 rotates with respect to second platform 60.
Wherein, platform 30 has the direction that optional edge is arranged essentially parallel to the running shaft of first platform 30, and the motor seat 31 that extends from this platform along the direction of pedestal 10 dorsad, motor seat 31 has fluting 32, first motor 20 is installed in this fluting 32, optionally, in the fluting 32 elastic device 33 (as spring) is installed also, thereby be used for to first motor 20 flexibly the application of force make surface that 22 frictions of its brake pad are connected to pedestal 10 applying power to pedestal 10, thereby make first platform 30 and then drive second platform 60 around first axle 70 rotations.
Rotary component 50 has an axle 51 that is rotatably mounted in the jack of offering on second platform 60, and it is optionally mutual vertical with first axle 70 that axle 51 has second axis, 80, the second axis 80.Also be provided with the fluting that is communicated with jack on second platform 60, second motor is installed in this fluting, elastic device (as spring) also is installed in the fluting, thereby be used for to second motor 40 flexibly the application of force make 41 frictions of its brake pad be connected to the surface of axle 51, this power produces and makes the moment of torsion of rotary component 50 around 80 rotations of second axis, thereby makes rotary component 50 around 80 rotations of second axis.
Alternatively, first motor and/or second motor also can be U. S. Patents 5,453, a kind of piezo-electric motor of describing in 653, and its disclosure is incorporated herein by reference at this.This motor comprises thin rectangular piezoelectric ceramics vibrator, and brake pad (nub) is positioned on the minor face of vibrator.Alternatively, four quadrant electrodes on the upper surface of piezo-electric motor with the checkerboard pattern setting of symmetry.Single large electrode (not shown) is positioned on the rear surface.The ration the power supply utmost point energising of not shown controller object producing vibration on the vibrator of piezo-electric motor, thereby produces vibration on brake pad, drive the passive movement element with its contact.
Please refer to accompanying drawing 9, rotatable platform 900 according to another embodiment of the present invention, itself and rotatable platform 100,200,300, arbitrary rotatable platform similar (accompanying drawing 9 only illustrates a kind of distortion based on rotatable platform 100) in 400, the difference part is, rotary component 50 is provided with fluting 53, second motor is installed in this fluting 53, optionally, in the fluting 53 elastic device 54 (as spring) is installed also, thereby be used for to second motor 40 flexibly the application of force make 41 frictions of its brake pad be connected to the internal surface at jack place of second platform 60 to apply power to this platform, this power produces and makes the moment of torsion of rotary component 50 around 80 rotations of second axis, thereby makes rotary component 50 around 80 rotations of second axis.
The rotatable platform that various embodiments of the present invention provide can be used for carrying and is rotated object and realizes in different directions in a big way rotation.For example, when being applied to rig camera or monitoring camera system, photographic camera can be installed on the rotary component 50, by controlling first motor 20, make first and second platforms 30,60 around first axle 70 rotations, by second motor, make the rotation of rotary component 50 lines second axis 80, thereby can realize any substantially direction position cameras optical axis in the 4 π sphericity solid angles.
The present invention has been described above with reference to providing and be not used in the embodiment who limits the scope of the invention as an example.The embodiment who describes comprises different features, is not all to require all features in all embodiments of the present invention.Some embodiment of the present invention only utilizes some features or the possible combination of these features.The distortion of described inventive embodiment with comprise that the inventive embodiment with described embodiment puts down in writing different characteristics combination expects to one skilled in the art easily.
Claims (10)
1. rotatable platform, it is characterized in that, this rotation platform comprises pedestal, first motor, first platform, second motor, rotary component and second platform fixing with respect to described first platform, described first motor can drive described first platform and then drive described second platform and rotate around first axle with respect to described pedestal, and described second motor can drive described rotary component and rotate around second axis with respect to described second platform; Wherein, the type of described first motor and/or second motor is a piezo-electric motor.
2. rotatable platform according to claim 1, it is characterized in that, described rotatable platform also comprises the axle that has with the axis of described first axle conllinear, this a end be fixed in described first platform or described pedestal one of them, the other end is rotatably mounted in another among both.
3. rotatable platform according to claim 2 is characterized in that, an end of described axle is fixed in described first platform, and the other end is rotatably mounted in described pedestal; Described first motor is installed on described pedestal and friction is connected to this axle to apply power to this axle, and this power produces around described first axle rotates the moment of torsion that therefore this also rotate described first platform.
4. rotatable platform according to claim 2 is characterized in that:
Described first motor is installed on described first platform and friction is connected to described pedestal to apply power to pedestal, and this power produces the moment of torsion that rotates described first platform around described first axle; Or,
Described first motor is installed on described pedestal and friction is connected to described first platform to apply power to this platform, and this power produces the moment of torsion that rotates described first platform around described first axle; Or,
Described pedestal has the center and is in wheel rim on the described first axle, and described first motor is installed on described first platform and friction is connected to described wheel rim to apply power to this wheel rim, and this power produces the moment of torsion that rotates described first platform around described first axle.
5. rotatable platform according to claim 1, it is characterized in that, described first platform is provided with the motor seat, described first motor is installed in the fluting of this motor seat, elastic device also is installed in the described fluting, thereby be used for to described first motor flexibly the application of force make the friction of its brake pad be connected to described pedestal to apply power to pedestal, this power produces the moment of torsion that rotates described first platform around described first axle.
6. according to each described rotatable platform of claim 1 to 5, it is characterized in that described rotary component is rotatably mounted in the jack of described second platform.
7. rotatable platform according to claim 6 is characterized in that:
Described second motor is installed on described first or second platform and friction is connected to described rotary component to apply power to these parts, and this power produces the moment of torsion that rotates described rotary component around described second axis; Or,
Described second motor is installed on described rotary component and friction is connected to second platform to apply power to this platform, and this power produces the moment of torsion that rotates described rotary component around described second axis; Or,
Described second platform has the wheel rim of center on described second axis, and described second motor is installed on described rotary component and friction is connected to this wheel rim to apply power to this wheel rim, and this power produces the moment of torsion that rotates described rotary component around described second axis.
8. rotatable platform according to claim 6, it is characterized in that, described rotary component is provided with fluting, described second motor is installed in this fluting, elastic device also is installed in this fluting, thereby be used for to described second motor flexibly the application of force make the internal surface at jack place that the friction of its brake pad is connected to described second platform to apply power to this platform, this power produces the moment of torsion that rotates described rotary component around described second axis.
9. rotatable platform according to claim 6, it is characterized in that, described rotary component comprises the axle in the jack that is rotatably mounted in described second platform, and parallel with described second platform and with the fixing disc-shaped part of described axle position, described second motor is installed on surface that described first platform and friction be connected to described disc-shaped part to apply power to these parts, and this power produces the moment of torsion that rotates described rotary component around described second axis.
10. rotatable platform according to claim 6, it is characterized in that, described rotary component comprises the axle in the jack that is rotatably mounted in described second platform, and parallel with described second platform and with the fixing disc-shaped part of described axle position, described second platform has the wheel rim of center on described second axis, described second motor is installed on described disc-shaped part and friction is connected to this wheel rim to apply power to this wheel rim, and this power produces the moment of torsion that rotates described rotary component around described second axis.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810216748 CN101725803B (en) | 2008-10-17 | 2008-10-17 | Rotatable platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200810216748 CN101725803B (en) | 2008-10-17 | 2008-10-17 | Rotatable platform |
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| CN101725803A true CN101725803A (en) | 2010-06-09 |
| CN101725803B CN101725803B (en) | 2012-12-05 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102954173A (en) * | 2011-08-24 | 2013-03-06 | 财团法人金属工业研究发展中心 | Bearing platform and flexible element applied to bearing platform |
| CN103217859A (en) * | 2012-01-19 | 2013-07-24 | 孙德名 | Full-angle shooting pan-tilt |
| WO2013186675A1 (en) | 2012-06-13 | 2013-12-19 | Aselsan Elektronik Sanayi Ve Ticaret Anonim Sirketi | A motion-controlled platform for electro-optical devices |
| CN104883493A (en) * | 2015-04-13 | 2015-09-02 | 李玉平 | Method and apparatus for remote control of mobile phone to take panorama selfie |
| CN105099067A (en) * | 2015-09-17 | 2015-11-25 | 哈尔滨工业大学 | Double-freedom degree rotation device driven by ultrasonic motor |
| CN107654823A (en) * | 2017-10-27 | 2018-02-02 | 航宇救生装备有限公司 | Onboard high-speed camera biaxially adjusting supporting device |
| CN108957277A (en) * | 2018-07-26 | 2018-12-07 | 北京无线电计量测试研究所 | A kind of crystal oscillator test device |
| CN112997024A (en) * | 2019-12-31 | 2021-06-18 | 深圳市大疆创新科技有限公司 | Motion sensor module and movable platform |
| CN113007546A (en) * | 2021-03-26 | 2021-06-22 | 宁波市鄞州区迦叶智能科技有限公司 | Wireless touch multimedia interaction device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102954173A (en) * | 2011-08-24 | 2013-03-06 | 财团法人金属工业研究发展中心 | Bearing platform and flexible element applied to bearing platform |
| CN102954173B (en) * | 2011-08-24 | 2015-07-08 | 财团法人金属工业研究发展中心 | Bearing platform and flexible element applied to bearing platform |
| CN103217859A (en) * | 2012-01-19 | 2013-07-24 | 孙德名 | Full-angle shooting pan-tilt |
| WO2013186675A1 (en) | 2012-06-13 | 2013-12-19 | Aselsan Elektronik Sanayi Ve Ticaret Anonim Sirketi | A motion-controlled platform for electro-optical devices |
| CN104883493A (en) * | 2015-04-13 | 2015-09-02 | 李玉平 | Method and apparatus for remote control of mobile phone to take panorama selfie |
| CN105099067A (en) * | 2015-09-17 | 2015-11-25 | 哈尔滨工业大学 | Double-freedom degree rotation device driven by ultrasonic motor |
| CN107654823A (en) * | 2017-10-27 | 2018-02-02 | 航宇救生装备有限公司 | Onboard high-speed camera biaxially adjusting supporting device |
| CN108957277A (en) * | 2018-07-26 | 2018-12-07 | 北京无线电计量测试研究所 | A kind of crystal oscillator test device |
| CN112997024A (en) * | 2019-12-31 | 2021-06-18 | 深圳市大疆创新科技有限公司 | Motion sensor module and movable platform |
| CN113007546A (en) * | 2021-03-26 | 2021-06-22 | 宁波市鄞州区迦叶智能科技有限公司 | Wireless touch multimedia interaction device |
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| CN101725803B (en) | 2012-12-05 |
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