JP2001263330A - Gimbal mechanism and image pickup device having the gimbal mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a gimbal supporting mechanism to be capable of maintaining a sufficient rotation angle even when the size of an object to be supported is increased and to provide an image pickup device having the gimbal supporting mechanism. SOLUTION: An image pickup part 12 having an optical system is supported rotatably around an Y-axis and a Z-axis, extending orthogonally to each other, by a gimbal mechanism 11. A first support mechanism 13 of the gimbal mechanism is provided with a rotary shaft positioned on an T-axis, a motor, and an angle detector 38 and supports the image pickup part rotatably around the Y-axis. A second support mechanism 14 of the gimbal mechanism has an arcuate guide part 50 centering around the Z-axis and comprises a guide member 48 situated separately from the Y-axis, a support frame 30 supporting the first support mechanism and situated movably along the guide member, and a drive part 16 to move a support frame along the guide part.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gimbal mechanism for rotatably supporting a supported body about two orthogonal axes, and an imaging apparatus having the same.

[0002]

2. Description of the Related Art As an imaging device, for example, a guidance device provided on a flying object to capture a target and guide the flight direction of the flying object is known. The guidance device includes an imaging unit having an optical system such as a lens, and a gimbal mechanism that rotatably supports the imaging unit about two orthogonal axes.

[0003] The gimbal mechanism supports the image pickup unit rotatably about a first axis and drives the image pickup unit about a first axis.
A support mechanism, and a second support mechanism that rotatably supports the imaging unit and the entire first support mechanism around a second axis orthogonal to the first axis, and that drives around the second axis. Have.

The first support mechanism includes a first rotating shaft provided on the first shaft, a pair of bearings provided at both ends of the first rotating shaft, and an imaging unit provided at one end of the first rotating shaft. , And a first angle detector provided at the other end of the first rotation shaft. The second support mechanism includes a second rotating shaft provided on the second shaft, a pair of bearings provided at both ends of the second rotating shaft, and an imaging unit provided at one end of the second rotating shaft. A second motor driven around two axes, a second angle detector provided at the other end of the second rotating shaft,
have.

[0005] In the above-described guidance device, the imaging unit is connected to the first.
And by rotating about the second axis, the target is captured and imaged, and the flying object is guided toward the captured target.

[0006]

In order to improve the target capturing performance of the guide device having the above-described structure, the diameter of the optical system of the imaging unit must be increased, or the rotation angle of the imaging unit must be increased. Becomes effective. However, the first
When the bearing, motor, and angle detector of the second support mechanism are provided on the first rotation shaft and the second rotation shaft, respectively, the bearing, motor, and angle detector of the second support mechanism are provided in the first rotation shaft. It is located in the movement path of the imaging unit that rotates around the axis.

Therefore, when the aperture of the imaging unit is increased,
Alternatively, when the rotation angle is enlarged to the imaging unit, the imaging unit
It interferes with the bearing, motor, and angle detector of the support mechanism. Therefore, there is a great limitation in expanding the aperture of the imaging unit or the rotation angle of the imaging unit in a limited mounting space.

The present invention has been made in view of the above points, and has as its object to provide a gimbal support mechanism capable of maintaining a sufficient rotation angle even when a supported body is enlarged, and a gimbal support mechanism provided with the gimbal support mechanism. It is to provide an imaging device.

[0009]

In order to achieve the above object, a gimbal mechanism according to the present invention supports a supported member so as to be rotatable around a first axis, and at the same time, supports the supported body around a first axis. A first support mechanism to be driven, the above-mentioned supported body and the first
A second support mechanism that rotatably supports the support mechanism about a second axis orthogonal to the first axis and drives the support mechanism about a second axis. A guide member having an arc-shaped guide portion centered on the second axis and provided at a distance from the second axis, and supporting the first support mechanism and movably along the guide portion; It is characterized by comprising a supporting member provided, and a drive unit for moving the supporting member along the guide unit.

Further, an image pickup apparatus according to the present invention includes an image pickup section having an optical system for picking up an image of a subject, a light receiving section for detecting a subject image picked up by the optical system, and an image pickup section orthogonal to each other. A gimbal mechanism rotatably supported around first and second axes. The gimbal mechanism supports the imaging unit rotatably about the first axis, and A first support mechanism that is driven around one axis, and a second support mechanism that rotatably supports the imaging unit and the first support mechanism around the second axis and drives around the second axis. Wherein the second support mechanism has an arc-shaped guide portion centered on the second axis.
A guide member provided apart from the shaft, a support member supporting the first support mechanism and movably provided along the guide portion, and moving the support member along the guide portion And a drive unit that drives

According to the gimbal mechanism and the imaging device of the present invention, each of the guide portions has a plurality of guide surfaces formed in an arc shape centered on the second axis. And a plurality of roller bearings attached to the support member and rolled on the guide surface.

Further, according to the present invention, the guide portion has a substantially triangular cross-sectional shape, and has first, second, and third guide surfaces forming a base and a slope of the triangle, respectively. are doing. Further, the driving section includes a stator coil formed in an arc shape along the guide section, and a magnet fixed to the support member and provided adjacent to and facing the stator coil.

According to the gimbal mechanism and the imaging apparatus of the present invention configured as described above, the guide portion of the second support mechanism is an arc-shaped guide portion provided sufficiently away from the second shaft. Since the support member is rotatably supported by the guide portion, when the supported member or the imaging unit is rotated about the first axis, the second support mechanism does not interfere and the supported member is supported. Even when the size of the body or the imaging unit is increased, interference between the supported body or the imaging unit and the second support mechanism is prevented, and the supported body or the imaging unit is rotatably supported in a desired angle range. Can be.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a flying object guidance apparatus will be described in detail below with reference to the drawings. As shown in FIGS. 1 to 5, the guidance device is provided with a two-degree-of-freedom gimbal mechanism 11 provided on a base 10 constituting a part of a flying object, and is rotatably supported by the gimbal mechanism. An imaging unit 12. The gimbal mechanism 11 includes a first support mechanism 13 that rotatably supports the imaging unit 12 around the Y axis,
And a second support mechanism 14 that rotatably supports 2 around a Z axis orthogonal to the Y axis. Then, the imaging unit 12
The gimbal mechanism 11 is attached to the base 10 and is covered by a dome-shaped cover 18 made of transparent glass.

As shown in FIG. 2, the imaging section 12 includes an optical system 22 having a plurality of lenses 23, an infrared sensor 24, a cooler 26, and a case 20 accommodating them. Is converted into an electric signal by the infrared sensor 24.

As shown in FIG. 1 and FIGS. 3 to 5,
The first support mechanism 13 extends from the case 20 of the imaging unit 12, is connected to a first rotation shaft 32 positioned on the Y axis, and one end of the first rotation shaft, and connects the imaging unit 12 via the first rotation shaft. It has a motor 36 that rotates around the Y axis, and a first angle detector 38 that is attached to the other end of the first rotation axis and detects the rotation angle of the imaging unit 12 about the Y axis. I have.

The second support mechanism 14 is supported by a guide member 48 fixed on the base 10 and movably around the Z axis by the guide member.
A support frame 30 that supports the entire support mechanism 13 and the imaging unit 12, and a drive unit 16 that moves the support frame
And a second angle detector 60 for detecting a movement angle of the support frame, that is, a rotation angle around the Z axis.

As shown in FIG. 1 and FIGS. 4 to 6, the guide member 48 integrally has a guide portion 50 and a leg portion 51 formed in an arc shape centered on the Z axis.
The guide member 48 is connected to the base 1 via the leg 51.
0, and is located substantially perpendicularly to the Z axis, and is located sufficiently away from the Z axis. The guide section 50 has a substantially triangular cross-sectional shape, and has an arc-shaped first guide surface 50a facing the imaging section 12 side, and arc-shaped second and third arc faces facing the base 10 side.
It has guide surfaces 50b and 50c.

On the other hand, the support frame 30 functioning as a rotor and a support member is formed in a substantially U-shape.
2 is rotatably supported. An arcuate guide groove 31 centered on the Z axis is formed at the base of the support frame 30, and a part of the guide portion 50 is inserted into the guide groove 31.

The guide frame 5 is provided on the support frame 30.
0, a pair of track roller bearings 54a rolling in contact with the first guide surface 50a, a pair of track roller bearings 54b rolling in contact with the second guide surface 50b, and a pair of track roller bearings 54c rolling in contact with the third guide surface 50c. Each is rotatably mounted. Thereby, the support frame 30
Are movably supported along the guide portion 50 around the Z axis.

The guide portion 50 is sandwiched between the track roller bearings 54a, 54b, 54c from three directions, thereby receiving loads in the X, Y, and Z directions and moments around the X and Y axes. Also, by pressing the track roller bearings 54a, 54b, 54c against each guide surface of the guide portion 50 with an appropriate load,
It is possible to support the support frame 30 without play and with rigidity.

The driving unit 16 for rotating the support frame 30 around the Z axis includes a pair of stator coils 44 provided on the base 10 and a pair of magnets 42 fixed to the support frame 30 and functioning as a rotor. And
The pair of stator coils 44 are provided adjacent to the guide member 48 and are formed in an arc shape along the guide portion 50. Further, the magnet 42 is fixed to a protruding portion 40 protruding from the support frame 30, and a pair of stays is provided.
It is located between the coils 44. Therefore, by energizing the stator coil 44 to generate a magnetic field, the magnet 4
The support frame 30 can be driven by the interaction with the support frame 2.

The second angle detector 60 is disposed on the base 10 and extends in a circular arc shape along the guide portion 50. The second angle detector 60 is fixed to the projecting portion 40 of the support frame 30. And an angle sensor 62 which is movable in a state engaged with the angle sensor 64.

FIGS. 4 and 5 show the image pickup device 12 having the above configuration, in which the image pickup section 12 is oriented in the X-axis direction, that is, in the front direction. And FIG.
As shown in (a), by driving the drive unit 16 of the second support mechanism 14, the support frame 30 is
, And the imaging unit 12 and the entire first support mechanism 13 can be turned around the Z axis on both sides at a deflection angle of, for example, 45 degrees. Further, as shown in FIG. 7B, by driving the motor 34 of the first support mechanism 13, the imaging unit 12 is rotated in both directions around the Y axis at a deflection angle of, for example, 45 degrees. Can be. Therefore, the gimbal mechanism 11 supports the imaging unit 12 so as to be rotatable with two degrees of freedom and can capture an image of the target over a wide range.

According to the guiding device configured as described above, the support frame 30 of the second support mechanism 13 is rotatably supported by the arc-shaped guide portion 50 provided sufficiently away from the Z axis. Is performed, the imaging unit 12 is set to Y
When rotating around the axis, the second support mechanism does not become an obstacle, and even when the diameter of the imaging unit 12 is increased, interference between the imaging unit and the second support mechanism can be prevented.
Therefore, the imaging unit 12 is enlarged in diameter to enlarge the light receiving area,
It is possible to improve the detection performance of the guidance device, that is, extend the capture distance.

The present invention is not limited to the above-described embodiment, but can be variously modified within the scope of the present invention. For example, the gimbal mechanism according to the present invention is not limited to an infrared or visible light imaging unit as a supported body, and may be configured to support another supported body such as an antenna. Also,
The guide portion 50 of the guide member is not limited to a triangular cross-sectional shape, and may be configured to have a rectangular cross-section as shown in FIG. In addition, the configurations of the drive unit and the angle detector of the second support mechanism can be variously modified as needed.

[0027]

As described above in detail, according to the present invention, the guide portion of the second support mechanism for supporting the supported member is formed in an arc shape and provided sufficiently away from the second shaft. Further, it is possible to provide a gimbal support mechanism capable of maintaining a sufficient rotation angle of the supported body even when the supported body is enlarged, and an imaging apparatus including the same.

[Brief description of the drawings]

FIG. 1 is an exploded perspective view showing a guiding device including a gimbal mechanism according to an embodiment of the present invention.

FIG. 2 is a cross-sectional view schematically showing an imaging unit in the guidance device.

FIG. 3 is a plan view of the guidance device.

FIG. 4 is a side view of the guidance device viewed from a Z-axis direction.

FIG. 5 is a side view of the guidance device viewed from a Y-axis direction.

FIG. 6 is a perspective view showing a guide member of the gimbal mechanism.

FIG. 7 is a side view showing a state where the imaging unit of the guidance device is rotated around a Z axis and around a Y axis.

FIG. 8 is a diagram showing a modification of the guide portion of the gimbal mechanism.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Base 11 ... Gimbal mechanism 12 ... Imaging part 13 ... First support mechanism 14 ... Second support mechanism 16 ... Drive part 30 ... Support frame 32 ... Y axis 36 ... Motor 38 ... First angle detector 48 ... Guide member 50 ... Guide parts 50a, 50b, 50c ... First, second, and third guide surfaces 60 ... Second angle detector

Claims (8)

[Claims] A first support mechanism rotatably supporting the supported body about a first axis and driving about the first axis; and the supported body and the first support mechanism, A second support mechanism rotatably supported about a second axis orthogonal to the first axis and driven about the second axis, the second support mechanism including the second axis. A guide member having an arc-shaped guide portion having a center as a center and provided at a distance from the second shaft, and a support supporting the first support mechanism and movably provided along the guide portion. Components,
A drive unit for moving the support member along the guide unit. 2. The guide portion has a plurality of guide surfaces formed in an arc shape around the second axis, and the second support mechanism is attached to the support member and The gimbal mechanism according to claim 1, further comprising a plurality of roller bearings each of which is in rolling contact with the guide surface. 3. The guide portion has a substantially triangular cross-sectional shape, and has first, second, and third guide surfaces forming a base and a slope of the triangle, respectively. The gimbal mechanism according to claim 2, wherein 4. The drive section includes a stator coil formed in an arc shape along the guide section, and a magnet fixed to the support member and provided adjacent to and facing the stator coil. The gimbal mechanism according to any one of claims 1 to 3, wherein: 5. The apparatus according to claim 1, wherein the second support mechanism includes an angle detector for detecting a rotation angle of the supported body about the second axis, and the angle detector is formed in an arc shape along the guide. 5. An elongated rod-shaped stator, and an angle sensor fixed to said support member and movably provided in engagement with said stator. The gimbal mechanism according to any one of claims 1 to 4. 6. A rotating shaft provided on the supported member and located on the first shaft and rotatably supported by the supporting member via a bearing, and A motor coupled to one end of the rotating shaft for rotating the supported body about the first axis; and a rotation angle of the supported body provided at the other end of the rotating shaft about the first axis. The gimbal mechanism according to any one of claims 1 to 5, further comprising: an angle detector for detecting the gimbal. 7. An image pickup unit having an optical system for picking up an image of a subject, a light receiving unit for detecting a subject image picked up by the optical system, and first and second axes orthogonal to each other. A gimbal mechanism rotatably supported around the gimbal mechanism, wherein the gimbal mechanism supports the imaging unit rotatably around the first axis and drives around the first axis. A second support mechanism that rotatably supports the imaging unit and the first support mechanism about the second axis and drives the second support mechanism about the second axis. The support mechanism has an arc-shaped guide portion centered on the second axis, and has a guide member provided apart from the second axis, and supports the first support mechanism and the guide portion has A support member movably provided along;
An image pickup apparatus, comprising: a drive unit that moves the support member along the guide unit. 8. The guide section has a plurality of guide surfaces formed in an arc shape about the second axis, and the second support mechanism is attached to the support member and The imaging device according to claim 7, further comprising a plurality of roller bearings each of which is in rolling contact with the guide surface.