JP2007334626A - Electric limit mechanism of gimbal - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an electric limit mechanism of a gimbal for setting the limit angle of the gimbal by detecting the limit angle by a rotational angle sensor provided on the gimbal, and stopping the rotation of the gimbal when the detected limit angle agrees with or exceeds the set angle set by a limit angle setting switch. <P>SOLUTION: In the electric limit mechanism of the gimbal, a rotational angle sensor (9) is provided on the gimbal (1) to be turned by a motor (7). When the rotational angle data (9a) from the rotational angle sensor (9) agrees with or exceeds the preset limit angle data (14), a relay circuit (18) is operated to stop the motor (7). <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an electric limit mechanism for a gimbal, and in particular, the rotation of the gimbal is detected by a rotation angle sensor, and when the angle matches or exceeds the set angle set by the limit angle setting switch, the rotation of the gimbal is stopped. The present invention relates to a new improvement for allowing the gimbal limit angle to be freely set.

  Conventionally, as this kind of mechanism for setting the limit angle of the gimbal only for single axis rotation of this kind, it is only in-house production, and there is no patent document etc. that disclose the mechanism, and it is not disclosed. A configuration has been adopted in which a range of the rotation angle is detected using a mechanical sensor such as a limit switch.

Since the conventional mechanism for setting the limit angle of the gimbal is configured as described above, the following problems exist.
That is, in order to change the limit angle in the mechanical sensor, it is necessary to change the mounting position of the mechanical sensor with respect to the shaft support portion of the gimbal.

  The electric limit mechanism for a gimbal according to the present invention rotates a frame-shaped uniaxial rotation gimbal provided rotatably by a pair of first and second shaft support portions, and the first shaft of the first shaft support portion. A rotation angle sensor provided on the second shaft of the second shaft support portion, a first input circuit to which rotation angle data from the rotation angle sensor is input, and a rotation angle of the gimbal are set. A second input circuit to which limit angle data from a limit angle setting switch is input; a comparison circuit connected to each of the input circuits to which the rotation angle data and limit angle data are input; comparison data from the comparison circuit; A subtracting unit to which a command value is input; a servo amplifier connected to the subtracting unit; and a relay circuit connected to the comparison circuit for turning on / off between the servo amplifier and the motor; When the rotation angle data matches or exceeds the preset limit angle data, the relay circuit is activated and the drive signal from the servo amplifier is not supplied to the motor, and the gimbal rotates. The limit angle setting switch is composed of a digital switch.

Since the electric limit mechanism of the gimbal according to the present invention is configured as described above, the following effects can be obtained.
That is, the rotation angle of the gimbal is detected by a rotation angle sensor, and this rotation angle data is compared with the limit angle data of a preset limit angle setting switch. When the limit angle data and the rotation angle data match or exceed Since the motor for driving the gimbal is configured to be stopped, the gimbal limit angle can be achieved only by the setting operation of the limit angle setting switch, and the setting change of the gimbal limit angle can be performed very easily.

  The present invention detects the rotation of the gimbal with a rotation angle sensor, stops the gimbal rotation when it matches or exceeds the set angle set with the limit angle setting switch, and allows the limit angle of the gimbal to be set freely. An object of the present invention is to provide an electric limit mechanism for a gimbal.

A preferred embodiment of an electric limit mechanism for a gimbal according to the present invention will be described below with reference to the drawings.
In FIG. 1, reference numeral 1 denotes a gimbal as a single shaft that has a rectangular frame shape as a whole, and first and second shaft support portions 2 and 3 are provided on opposite sides of the gimbal 1. Via the first and second shafts 4 and 5 of the support portions 2 and 3, the gimbal 1 is configured to be able to reciprocate only in the uniaxial rotation direction indicated by the arrows.

  A gear 6 is provided on the first shaft 4, and the gear 6 is engaged with a motor gear 8 provided on a motor 7, and the gimbal 1 is reciprocally rotated by the rotation of the motor 7.

  The second shaft 5 is provided with a rotation angle sensor 9 including an encoder or the like for detecting a rotation angle when the gimbal 1 is reciprocally rotated.

  The rotation angle data 9a from the rotation angle sensor 9 is input to the first input circuit 11 of the interface circuit 10, and the second input circuit 12 of the interface circuit 10 is supplied from a limit angle setting switch 13 such as a digital switch. The preset limit angle data 14 is input.

  The rotation angle data 9a and limit angle data 14 from the first and second input circuits 11 and 12 are input to the comparison circuit 15 for comparison, and the comparison data 16 as the comparison result has a switching unit 17. It is input to the circuit 18.

  A servo amplifier 19 for driving the motor 7 is connected to the switching unit 17, and a drive signal 20 is supplied to the motor 7 through the switching unit 17.

  The servo amplifier 19 is connected to a subtracting unit 22 to which a command value 21 that is a motor command for rotating the motor 7 by a predetermined angle is input. The subtracting unit 22 is connected to the subtracting unit 22 from the first input circuit 11. The rotation angle data 9a is input.

  Next, the operation will be described. First, when the command value 21 is input, the drive signal 20 from the servo amplifier 19 is sent to the motor 7 based on the command value 21, and the gimbal 1 is rotated by a predetermined angle.

  In the above-described state, since the limit angle which is the rotation angle of the gimbal 1 is inputted in advance by the limit angle setting switch 13, the limit angle data 14 and the rotation angle data 9a obtained by rotating the gimbal 1 are compared with each other. When the rotation angle data 9a, which is the current angle, matches or exceeds the limit angle data 14, the relay circuit 18 is turned on, and the switching unit 17 is switched from the solid line to the dotted line. 7 is stopped, and the rotation of the gimbal 1 is stopped.

Since the limit angle setting switch 13 is constituted by a digital switch or the like, the limit angle data 14 can be set and changed very easily.
Further, the combination of the motor gear 8 and the gear 6 described above is not limited to a gear, and other configurations such as a friction roll can be used.

It is a block diagram which shows the electric limit mechanism of the gimbal by this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Gimbal 2 1st axis support part 3 2nd axis support part 4 1st axis 5 2nd axis 6 Gear 7 Motor 8 Motor gear 9 Rotation angle sensor 9a Rotation angle data 10 Interface circuit 11 1st input circuit 12 2nd input circuit 13 Limit angle Setting switch 14 Limit angle data 15 Comparison circuit 16 Comparison data 17 Switching unit 18 Relay circuit 19 Servo amplifier 20 Drive signal 21 Command value 22 Subtraction unit

Claims (2)

A frame-shaped uniaxially rotating gimbal (1) provided rotatably by a pair of first and second shaft support portions (2, 3), and a first shaft (4) of the first shaft support portion (2) , A rotation angle sensor (9) provided on the second shaft (5) of the second shaft support (3), and rotation angle data from the rotation angle sensor (9) The first input circuit (11) to which (9a) is input and the second input circuit to which limit angle data (14) from the limit angle setting switch (13) for setting the rotation angle of the gimbal (1) is input (12), a comparison circuit (15) connected to each of the input circuits (11, 12) to which the rotation angle data (9a) and limit angle data (14) are input, and from the comparison circuit (15) The subtraction unit (22) to which the comparison data (16) and the command value (21) are input, the servo amplifier (19) connected to the subtraction unit (22), the servo amplifier (19), and the motor (7 ) To turn on / off 15) and a relay circuit (18) connected to
When the rotation angle data (9a) matches or exceeds the preset limit angle data (14), the relay circuit (18) is activated and the drive signal (20) from the servo amplifier (19) is generated. The electric limit mechanism for the gimbal, characterized in that the rotation of the gimbal (1) is stopped without being supplied to the motor (7).   2. The electric limit mechanism for a gimbal according to claim 1, wherein the limit angle setting switch (13) is a digital switch.

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