JP2015159398A - optical device driving apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an optical device driving apparatus with simplicity and a light weight capable of quickly turning an optical device for photographing an object toward objects in a wide range.SOLUTION: The optical device driving apparatus comprises: a driving motor 14 for driving rotation; a linear object 16 which has its one end fixed to the rotary shaft of the driving motor and the other end fixed directly or indirectly to an optical device 12 for photographing an object, so as to apply a pulling force for turning the optical device 12 around a rotation axis; and an elastic member 18 which applies to the optical device an elastic force for turning the optical device in a direction opposite to the pulling force generated by the twisting of the linear object around the rotation axis.

Description

  The present invention relates to an optical device driving apparatus that drives an optical device such as a semiconductor camera.

  It is preferable to rotate the surveillance camera and the vision camera for the humanoid robot, rather than using the camera in a fixed state, and take a picture in the direction of interest or the direction of the object because the entire field of view of the camera is enlarged.

  For example, a micro intelligent eye is disclosed in which a small camera is embedded in a sphere, a spherical ultrasonic motor using the sphere as a rotor is controlled by a motor control unit, and a pointing device such as a joystick or a mouse is operated via the camera control unit. (See Patent Document 1).

  In addition, an actuator made of a material that bends when a voltage is applied, such as an ion conduction actuator, is provided, and the orientation of the monitoring camera fixed on the base attached to the substrate is changed by changing the orientation of the substrate by the actuator. A drive mechanism for changing is disclosed (see Patent Document 2).

Japanese Patent Laid-Open No. 9-54356 JP 2006-108793 A

  However, in the invention of Patent Document 1, since it is necessary to embed in a sphere, the camera is limited to a small size. If it is large, it is necessary to make the sphere larger in order to embed it, and the device becomes large.

  In the invention of Patent Document 2, various types of polymers using an ion conductive polymer compound, an electron conductive polymer compound, a nonionic gel or an elastomer as an actuator made of a material that bends when a voltage is applied. There is an actuator. This polymer actuator includes a film made of a polymer compound and electrodes formed on both surfaces of the film, and the film is bent and deformed by applying a voltage between the electrodes. At this time, for the plating for forming the electrode, for example, an electroless plating method is used, but it takes time and effort to repeat the number of times of plating. In addition, there is a problem that the cost is increased because the noble metal is used.

  SUMMARY OF THE INVENTION The present invention solves the above-described problems of the prior art, and provides a simple and lightweight optical device driving apparatus capable of quickly directing an optical device for photographing an object toward a wide range of objects. The purpose is to do.

  In order to solve the above-described problems, an optical device driving apparatus according to the present invention includes a drive motor (14) that rotates and an optical device that has one end fixed to the rotation shaft of the drive motor and the other end that captures an object. A linear body (16) fixed directly or indirectly so as to give the device (12) a pulling force for rotating the optical device about one rotation axis (C1); An elastic member (18) for biasing an elastic force that rotates the optical device in a direction opposite to a pulling force caused by twisting of the linear body around a rotation axis.

  In the optical device driving apparatus according to the present invention, since one end of the linear body is fixed to the rotation shaft of the drive motor and the other end is fixed to the optical device, the tensile force caused by the twisting of the linear body due to the rotation of the drive motor. The optical device rotates in a certain direction by force. When the pulling force of the linear body is weakened by rotating the drive motor in the reverse direction, the optical device rotates in the reverse direction due to the elastic force biased in the direction opposite to the pulling force, and the pulling force and the elastic force are The orientation of the optical device can be adjusted to a balanced position.

  In the optical device driving apparatus according to the present invention, the second drive motor (24) for rotational driving, one end is fixed to the rotation shaft of the second driving motor, and the other end is connected to the optical device (12). The elastic member (38) includes a second linear body (26) fixed directly or indirectly so as to apply a pulling force for rotating the optical device around the other rotation axis (C2). Preferably, the optical device is biased with an elastic force that rotates the optical device around the other rotation axis in the direction opposite to the tensile force caused by the twist of the second linear body.

  Thus, one end of the second linear body is fixed to the rotation shaft of the second drive motor, and the other end is fixed to the optical device. Therefore, the second linear shape is generated by the rotation of the second drive motor. The optical device rotates in a certain direction around the other rotation axis by the pulling force generated by the twist of the body. When the second drive motor is rotated in the reverse direction to weaken the pulling force of the second linear body, the optical device is rotated in the reverse direction by the elastic force biased in the direction opposite to the pulling force. The direction of the optical device can be adjusted around the other rotation axis at a position where the tensile force and the elastic force are balanced.

  In the optical device driving apparatus according to the present invention, a second drive motor (64) that is rotationally driven, and another optical device in which one end is fixed to the rotation shaft of the second drive motor and the other end photographs an object. The second linear body (66) fixed directly or indirectly so as to apply a pulling force to rotate the other optical device around the other rotation axis (C2) to (62). The elastic member (58) is applied to another optical device, and the other optical device is rotated around another rotation axis (C2) in a direction opposite to the tensile force due to the twist of the second linear body. It is fixed directly or indirectly so as to urge the elastic force to rotate.

As a result, the other optical device rotates around the other rotation axis in a certain direction by the pulling force generated by the twist of the second linear body caused by the rotation of the second drive motor. Then, since the elastic member is fixed to the optical device so as to bias the elastic force that rotates the other optical device in the direction opposite to the pulling force of the second linear body,
Since the optical device is rotated in the direction opposite to the other optical devices around one rotation axis by the elastic force of the elastic body, the distance between both ends of the linear body is extended. The extension of the linear body causes a force to return the optical device and other optical devices to their original positions. In this way, the two optical devices are stopped at a position where the tensile forces of the two linear bodies and the elastic force of the elastic member are balanced. That is, by controlling the two drive motors, the orientations of the two optical devices can be adjusted around each rotation axis.

  In the optical device driving apparatus according to the present invention, the optical device and the other optical device are arranged around the third rotation axis (C3) orthogonal to one rotation axis (C1) and the other rotation axis (C2). A connecting member (65) that is rotatably connected, a third drive motor (74) that is rotationally driven, one end is fixed to the rotating shaft of the third drive motor, and the other end is connected to the connecting member, A third linear body (76) fixed directly or indirectly so as to apply a pulling force for rotating the optical device and another optical device around a third rotation axis; A second elastic member (78) for urging an elastic force for rotating the optical device and the other optical device around a moving axis in a direction opposite to a tensile force caused by a twist of the third linear body; Is preferably provided.

  Thus, one end of the third linear body is fixed to the rotation shaft of the third drive motor, and the other end is fixed to the connecting member that connects the two optical devices around the third rotation axis. The two optical devices rotate around the third rotation axis in a certain direction by the pulling force generated by the twist of the third linear body due to the rotation of the third drive motor. When the third drive motor is rotated in the reverse direction to weaken the pulling force of the third linear body, the connecting member is rotated in the reverse direction by the elastic force biased in the direction opposite to the pulling force. The direction of the two optical devices can be adjusted around the third rotation axis at a position where the tensile force and the elastic force are balanced.

  In another aspect of the present invention, the optical device is connected to a drive motor (14) that is rotationally driven, and an optical device (12) that has one end fixed to the rotation shaft of the drive motor and the other end that captures an object. A linear body (16) fixed directly or indirectly so as to apply a pulling force to rotate around one rotational axis (C1), and a second drive motor (44) that rotationally drives. One end is fixed to the rotation shaft of the second drive motor, the other end is fixed to the optical device, and the optical device is opposite to the tensile force caused by twisting of the linear body around the rotation axis of the first. And a second linear body (46) fixed directly or indirectly so as to apply a pulling force to rotate in the direction of.

  In the optical device driving apparatus according to the present invention, each one end of the two linear bodies is fixed to the rotation shafts of the two drive motors, and each other end is fixed to the optical device. Since the tensile forces generated by the torsion of the body act in opposite directions, the optical device rotates in the direction in which the tensile force is applied. Therefore, the orientation of the optical device can be adjusted by controlling the rotation of the two drive motors.

  Preferably, the optical device motion detecting means (82) for detecting the rotational speed and angle of each optical device, and the rotational speed and angle of each optical device detected by the optical device motion detecting means and / or And a control arithmetic unit (86) for controlling the rotation speed and angle of each optical device based on information including the rotation speed and load current of each drive motor. Thereby, the rotation angular velocity and angle of each optical device are detected, and the rotation speed and angle of each optical device are calculated based on the information.

  According to the optical device driving apparatus according to the present invention, the optical device is rotated in a certain direction by the tensile force generated by the twist of the linear body due to the rotation of the drive motor, and the direction opposite to the tensile force by the elastic member. Therefore, the optical device for photographing an object can be quickly directed toward a wide range of objects at a position where the tensile force and the elastic force are balanced. Moreover, since it is comprised by the combination of a drive motor, a linear body, and an elastic member, it can be made simple and lightweight.

It is a perspective view which shows the optical device drive device of this invention. (Example 1) It is a perspective view which shows the optical device drive device of this invention. (Example 2) It is a perspective view which shows the optical device drive device of this invention. (Example 3) It is a perspective view which shows the optical device drive device of this invention. (Example 4) It is a perspective view which shows the optical device drive device of this invention. (Example 5) It is a perspective view which shows the optical device drive device of this invention. (Example 6) It is a perspective view which shows the optical device drive device of this invention. (Example 7)

Hereinafter, an optical device driving apparatus according to the present invention will be described in detail with reference to the drawings. In the following embodiments, the same members are denoted by the same reference numerals, and redundant description thereof is omitted.
In addition, the constituent elements in the following embodiments can be appropriately replaced with existing constituent elements and the like, and various variations including combinations with other existing constituent elements are possible. Therefore, the description of the embodiments does not limit the content of the invention described in the claims.

Example 1
FIG. 1 shows a schematic configuration of an optical device driving apparatus according to Embodiment 1 of the present invention.
As shown in FIG. 1, the optical device driving apparatus 10 of the present embodiment includes a drive motor 14 that is rotationally driven, one end fixed to the optical device 12 via a first support portion 13 a, and the other end driven to the drive motor 14. And a spring 18 that is an elastic member that urges an elastic force that returns the optical device 12 rotated by the linear body 16 to its original position.

The optical device is an apparatus that captures an image of an object such as a semiconductor camera (which may be simply referred to as “camera” in this specification) 12, and examples thereof include a USB camera and a web camera. The spring 18 is a tension coil spring having a characteristic of returning to the original state when the tip is pulled.
The camera 12 is fixed to a rotatable first support portion 13a, and one end of a linear body 16 made of a plurality of threads (lines / stripes) is detachably attached to the first support portion 13a. The support portion 13a is substantially L-shaped bent at an obtuse angle, and the camera has its one side facing the rotation axis (rotation axis) C1 and the other side facing the opposite surface of the camera 12 lens. 12 is attached.

  Further, the second support portion 13b is fixed to the lower portion of the camera 12 (on the opposite side of the mounting portion of the first support portion 13a) so as to be rotatable. The second support portion 13b is L-shaped, and is fixed by the camera 12 so that the center of one side thereof coincides with the rotation axis C1 and the tip of the other side faces the same direction as the lens surface of the camera 12. Yes. A spring 18 is detachably attached to the tip of the spring 18 in substantially the same direction as the linear body 16.

In the present invention, the linear body 16 (sometimes referred to as “line / strip”) refers to an elongated one that can be twisted, such as one or more lines or a plurality of strips, and includes a strip-shaped body. Preferably, a high-strength fiber such as carbon fiber, Kevlar, Zylon, or nylon having flexibility, excellent tensile strength, appropriate rigidity, and sufficient durability against repeated bending can be used.
Further, the cross-sectional shape of the linear body 16 can be a circle, a polygon, or a rectangle (ribbon). When a rectangular shape (ribbon) is used, a larger cross-sectional area can be obtained with the same torque-tensile force conversion ratio, and the force capacity that can be transmitted can be increased.

Further, in order to increase the durability of the linear body 16, it is preferable to apply a coating with a material having a small friction coefficient such as tetrafluoroethylene resin (registered trademark: Teflon) or nylon to reduce internal friction and friction between fibers. . Moreover, in order to reduce internal friction and improve durability, an appropriate lubricant can be applied to the wire / strip. For example, there are grease, oil, ethylene tetrafluoride resin powder, nylon powder, Molycoat, and combinations thereof.
Appropriate for both ends and / or intermediate portions of the wire / strip 16 in order to facilitate the fixing or replacement of the rotating shaft 14a of the drive motor 14 at one end of the linear body 16 and the first support portion 13a at the other end. Various shapes of hooks and loops can be fixed by bonding or molding.

In the optical device driving apparatus 10 configured as described above, when the drive motor 14 rotates, the linear body 16 fixed to the rotating shaft 14a is twisted. This twist generates a pulling force that tends to reduce the distance between both ends of the linear body 16. This pulling force pulls the first support portion 13a toward the rotation shaft 14a of the drive motor 14 at the connection point. The first support portion 13a is fixed to the camera 12 has a substantially L-shaped bent at an obtuse angle, the tip is oriented to the opposite surface of the lens of the camera 12, the linear body at its distal end 13a ₁ 16 Is attached, the camera 12 rotates (rotates) about the rotation axis C1 by the pulling force. As a result, the lens direction of the camera 12 can be moved in the rotating direction (horizontal direction).

When the drive motor 14 is rotated in the reverse direction, the linear body 16 is untwisted and the distance between both ends is increased, so that the pulling force in the direction of rotating the camera 12 is weakened. On the other hand, the camera 12 is fixed to the second supporting portion 13b which can be rotated, the camera 12 in the opposite direction to the twisting by tensile force of the spring 18 is linear body 16 on the end 13b ₁ of the support portion 13b of the L-shaped Is attached so as to urge the elastic force to rotate, so that it rotates in the direction returning to the original position around the rotation axis C1, and the tensile force of the linear body 16 and the elastic force of the spring 18 are Stop at the point of balance. Thus, the lens direction of the camera 12 can be adjusted by controlling the rotation of the drive motor 14.
As described above, the optical device driving apparatus 10 enables rotation of the camera with one degree of freedom without using a mechanism such as a gear reducer, a belt drive, or a rack and pinion.
In this embodiment, the two support portions 13a and 13b are attached so that the rotation axis C1 passes through the center of the camera 12. However, the support portions 13a and 13b may not pass through the center and may be inclined.

-Example 2-
Next, Example 2 will be described in detail. In the following description, detailed description of the same contents as those in the first embodiment will be omitted.
FIG. 2 shows a schematic configuration of an optical device driving apparatus according to Embodiment 2 of the present invention. As shown in FIG. 2, the optical device driving apparatus 20 includes a driving motor 14 and a second driving motor 24 that are rotationally driven, one end fixed to the rotating shaft 14 a of the driving motor 14, and the other end connected to the camera 22. A linear body 16 fixed via a rectangular frame 22a and a first support portion 23a, a spring 18 connected to the camera 22 via a frame 22a and a second support portion 23b, and a second drive motor at one end. 24, the other end of which is fixed to the camera 22 via a third support portion 23c provided on the back surface thereof, and the second linear body 26 and the pulling force of the second linear body 26 And a spring 28 connected to the third support portion 23c so as to bias the elastic force in the opposite direction.

The camera 22 is fixed in a quadrangular frame 22a so as to be rotatable about the second rotation axis C2, and the frame 22a has first and second support portions having an L-shaped cross section outside two opposing sides. 23a and 23b have the center line of one side thereof aligned with the first rotation axis C1, and the tip portions of the other sides are fixed in opposite directions along the two opposing sides of the frame 22a.
One end of the linear body 16 is fixed to the rotating shaft 14a of the drive motor 14 that is rotationally driven, and the other end is fixed to the first support portion 13a. The spring 18 is attached to the support portion 23b so as to be substantially parallel to the linear body 16 and removable in the same direction.
Further, a second linear body 26 and a spring 28 are attached to the tip of the third support portion 23 c fixed to the back surface of the camera 22 in opposite directions, and the other end of the second linear body 26 is attached. Is fixed to the rotating shaft 24 a of the second drive motor 24.

  In the optical device driving apparatus 20 configured as described above, the first and second support portions 13a and 13b are arranged on the outer sides of the two opposing sides of the quadrangular frame 22a with the first rotation axis C1 as the center. Since each other side fixed to be rotatable and connected to one end of the linear body 16 and the spring 18 faces in the opposite direction, the pulling force of the linear body 16 is the same as in the first embodiment. As a result, the camera 22 rotates about the first rotation axis C 1, and when the drive motor 14 rotates in the reverse direction and the torsion of the linear body 16 is restored, the camera 22 returns to the original direction by the elastic force of the spring 18. Rotate. Then, it stops at a position where the pulling force of the linear body 16 is balanced with the elastic force of the spring 18.

In addition, the relationship between the second linear body 26 and the spring 28 which are attached to the third support portion 23c provided on the back surface of the camera 22 so as to apply forces in the horizontal and opposite directions is as follows. That is, when a pulling force is generated in the second linear body 26 by the rotation of the drive motor 24, the camera 22 rotates in the horizontal direction around the second rotation axis C2, and the drive motor 24 rotates in the reverse direction. When the twist of the linear body 26 is restored, the camera 22 is rotated in the direction of returning to the original direction by the elastic force of the spring 28. Then, it stops when the tensile force of the second linear body 26 and the elastic force of the spring 28 are balanced.
When the first and second rotation axes C1 and C2 are orthogonal, for example, the camera can be driven horizontally and vertically (left and right and up and down, pan and tilt), and the camera 22 can be driven with two degrees of freedom. The movement of the human eyeball can be reproduced by driving the vision camera of the robot.

Example 3
FIG. 3 shows a schematic configuration of an optical device driving apparatus according to Embodiment 3 of the present invention. As shown in FIG. 3, the optical device driving device 30 is connected to two drive motors 14 and 24 that rotate and one end is connected to the camera 22 via a third support portion 23 c provided on the back surface, and the other The two linear bodies 16 and 26 whose ends are fixed to the rotary shafts 14a and 24a of the drive motors 14 and 24, respectively, and the force that urges the elastic force in the direction opposite to the tensile force by the linear bodies 16 and 26 The camera 22 includes a spring 38 that is detachably attached to a third support portion 23c provided on the back surface of the camera 22 so as to have a component.

The camera 22 is fixed in a quadrangular frame 22a so as to be rotatable around the first rotation axis C1, and is fixed to the frame 22a so as to be rotatable around the second rotation axis C2 together with the camera 22. Yes.
A third support portion 23c is fixed to the rear surface of the camera 22, and the linear bodies 16 and 26 have rotation shafts 14a and 24a of drive motors 14 and 24, respectively, one end of which is rotationally driven, and each other end is a third support portion. It is being fixed to the front-end | tip part of 23c. The tip of the third support portion 23c has a force component that biases the elastic force in the direction opposite to the tensile force caused by the torsion of the linear bodies 16 and 26 caused by the rotation of the drive motors 14 and 24. Thus, the spring 38 is detachably attached.

  In the optical device driving apparatus 30 configured as described above, when a pulling force is generated in the linear body 16 due to the rotation of the driving motor 14, the camera 22 rotates in the horizontal direction around the first rotation axis C1 and is driven. When the motor 14 rotates in the reverse direction and the twist of the linear body 16 returns, the camera 22 rotates in a direction to return to the original direction by the elastic force of the spring 38 in the horizontal direction. And it stops when the horizontal component of the tensile force of the linear body 16 and the elastic force of the spring 38 is balanced.

The same applies to the rotation around the second rotation axis C2, and when a pulling force is generated in the linear body 26 by the rotation of the drive motor 24, the camera 22 rotates around the second rotation axis C2 and is driven. When the motor 24 rotates in the reverse direction and the twisting of the linear body 26 returns, the camera 22 rotates in the direction of returning to the original direction by the elastic force in the vertical (up and down) direction of the spring 38, and the tensile force of the linear body 26. It stops when the vertical component of the elastic force of the spring 38 is balanced.
Although not shown, the spring 38 can be separated into two independent springs in each direction, but in this embodiment, since there is one spring 38, there is an advantage that the number of parts is small.
As described above, the optical device driving apparatus 30 enables rotational driving of a two-degree-of-freedom camera without using a mechanism such as a gear reducer, a belt drive, or a rack and pinion.

Example 4
FIG. 4 shows a schematic configuration of an optical device driving apparatus according to Embodiment 4 of the present invention. As shown in FIG. 4, the optical device driving device 40 includes two drive motors 14 and 44 that are rotationally driven, one end fixed to the rotation shaft of the drive motors 14 and 44, and the other end framed to the camera 32. The two linear bodies 16 and 46 fixed to both ends 45a and 45b of the front end portion of the connecting member 45 having a T-shaped cross section connected through 32a and the side facing the side of the frame 32a through which the connecting member has passed Are provided with springs 48 attached to both linear bodies 16 and 46 substantially in parallel and in the same direction.

  In the optical device driving apparatus 40 configured as described above, the linear body 16 is twisted by the rotation of the driving motor 14, so that the distance between both ends thereof is reduced. The camera 32 rotates (rotates) about the first rotation axis C1 via the connecting member 45 by the tensile force generated at this time. When the linear body 46 is twisted by the rotation of the drive motor 44, a pulling force is generated when the distance between both ends of the linear body 46 is reduced, and this force causes the camera 32 to pass through the connecting member 45 to the first rotation axis. It rotates (rotates) in the reverse direction around C1. In this manner, the rotation of the camera 32 around the first rotation axis C1 can be controlled by the differential antiphase operation of the rotation axes of the two drive motors 14 and 44.

  Further, when the two drive motors 14 and 44 are operated in phase to change the distance between both ends due to twisting of the two linear bodies 16 and 46 to the same length, the tensile force generated in the two linear bodies 16 and 46 is generated. And the camera 32 rotates in the horizontal direction around the second rotation axis C2. Next, when the drive motors 14 and 44 are operated in phase in the reverse direction to return the twists of the linear bodies 16 and 46, the elastic force of the spring 48 rotates the camera 32 in a direction to return to the original direction. It stops when the tensile force of the linear bodies 16 and 46 and the elastic force of the spring 48 are balanced.

As described above, the optical device driving apparatus 40 enables rotational driving of a camera with two degrees of freedom without using a mechanism such as a gear reducer, a belt drive, or a rack and pinion.
When the first and second rotation axes C1 and C2 are orthogonal, for example, the camera can be driven horizontally and vertically (left and right and up and down, pan and tilt), and the camera 32 can be driven with two degrees of freedom. The movement of the human eyeball can be reproduced by driving the vision camera of the robot.

-Example 5
FIG. 5 shows a schematic configuration of an optical device driving apparatus according to Embodiment 5 of the present invention. As shown in FIG. 5, the optical device driving apparatus 50 includes drive motors 54 and 64 that are rotationally driven, one end fixed to the camera 52 via the first support portion 53 a, and the other end the rotation shaft of the drive motor 54. A linear body 56 fixed to the camera 62, one end fixed to the camera 62 via the third support portion 63 b, and the other end fixed to the rotating shaft of the drive motor 64, and one end to the first 2 support part 53b, and the other end with a spring 58 removably attached to each end part of the third support part 63b.

Here, the first support portion 53a is L-shaped, the surface of one side thereof is such that the center coincides with the rotation axis C1 of the camera 52, the rear surface of the front end portion 53a ₁ of the other side camera 52 (lens The one end of the linear body 66 is attached to the tip of the camera 52 so as to face the opposite direction.
Further, the second support portion 53b is L-shaped, and the tip end portion (not shown) of the other side is the first support portion 53a so that one side of the second support portion 53b coincides with the rotation axis C1 of the camera 52. It is attached to the lower part of the camera 52 so as to face the direction opposite to the tip part 53a ₁ (the direction of the lens of the camera 52), and one end of the linear body 66 is attached to the tip part.
The third support part 63b has the same configuration as the second support part 53b, the center of which is the opposite (lower) part of the support part 63a through which the second rotation axis C2 of the camera 62 passes, and the second support part 53b is the camera. Similarly to being fixed to 52, it is fixed to the camera 62.

In the optical device driving apparatus 50 configured as described above, when a pulling force is generated in the linear body 56 by the rotation of the driving motor 54, the camera 52 rotates (rotates) in the horizontal direction around the first rotation axis C1. To do. At the same time, since the second support portion 53b fixed to the lower portion of the camera 52 also rotates by that angle, the spring 58 extends by the amount of rotation of the tip of the second support portion 53b. At this time, since an elastic force is exerted on the spring 58 so as to return to the original position, the camera 62 and the third support portion 63b fixed to the lower portion are horizontally arranged around the second rotation axis C2 and the same as the camera 52. Rotate (rotate) in the direction.
At this time, the linear body 66 fixed to the end of the third support portion 63b opposite to the spring 58 mounting portion extends, so that the linear body 66 is returned to the original length at both ends thereof. Pulling force works. Then, at the position where the pulling force of the linear body 66 and the elastic force of the spring 58 are balanced, the two cameras 52 and 62 each stop in a certain direction.

Conversely, when a pulling force is generated in the linear body 66 by the rotation of the drive motor 64, the camera 62 rotates in the horizontal direction about the second rotation axis C2. At the same time, since the third support portion 63b fixed to the lower portion of the camera 62 rotates by that angle, the spring 58 extends by the amount of rotation of the tip of the third support portion 63b. At this time, since an elastic force is exerted on the spring 58 so as to return to the original position, the camera 52 and the second support portion 53b fixed to the lower part are horizontally arranged around the first rotation axis C1 and the same as the camera 62. Rotate in the direction.
Further, the first support portion 53 a fixed to the upper part of the camera 52 also rotates around the first rotation axis C <b> 1 together with the camera 52. Since this direction is a direction in which the linear body 56 is extended, a pulling force that returns the linear body 56 to its original length acts on both ends thereof. Then, at the position where the pulling force of the linear body 56 and the elastic force of the spring 58 are balanced, the two cameras 52 and 62 respectively stop in a certain direction. Further, by adjusting the two drive motors 54 and 64, the horizontal directions of the two cameras 52 and 62 can be independently adjusted.

As described above, the optical device driving apparatus 50 can independently drive optical devices such as two semiconductor cameras with one degree of freedom.
As a variant, the spring 58 of FIG. 5 can be replaced by two independent springs (not shown) that reversely drive the two cameras 52, 62. However, when the two cameras 52 and 62 are used as a stereo camera used for obtaining a three-dimensional image such as a robot vision, the two cameras often move substantially in the same manner, so that one spring 58 is illustrated. When used in this manner, there is an advantage of obtaining a substantially constant tension over the entire operating range.

-Example 6
FIG. 6 shows a schematic configuration of an optical device driving apparatus according to Embodiment 6 of the present invention. In this embodiment, the two cameras 52 and 62 in the optical device driving apparatus 50 of the fifth embodiment are connected by a connecting member 65. Further, a rod-like support portion 65 a fixed to the connecting member 65, a drive motor 74 that rotates, one end is fixed to one end portion of the support portion 65 a, and the other end is fixed to the rotation shaft of the drive motor 74. And a second spring 78 having one end detachably attached to the other end of the support portion 65a.

In the optical device driving apparatus 60 configured as described above, when a pulling force is generated in the linear body 76 by the rotation of the driving motor 74, the connecting member 65 installed horizontally is centered on the rotation center (rotation axis C3). Therefore, the two cameras 52 and 62 fixed to the connecting member 65 so as to be rotatable also rotate in the same direction around the rotation axis C3.
When the drive motor 74 is rotated in the reverse direction and the twist of the linear body 76 is released, the pulling force for rotating the connecting member 65 is weakened. Therefore, the two cameras 52 and 62 fixed to the connecting member 65 so as to be rotatable are Together with the connecting member 65, it rotates in the direction pulled by the elastic force of the spring 78. Then, when the tensile force of the linear body 76 and the elastic force of the spring 78 are balanced, the operation stops.

Thus, by adjusting the rotation of the drive motor 74, the lens directions of the two cameras 52 and 62 to be photographed can be simultaneously adjusted in the vertical (up and down) direction.
By controlling the rotation of the drive motors 54 and 64 to rotate the cameras 52 and 62 in the horizontal direction around the rotation axes of the cameras 52 and 62 in the vertical direction, As described in the fifth embodiment, the lens direction can be adjusted to the horizontal direction at the same time.
As described above, the optical device driving apparatus 60 can drive two optical devices such as semiconductor cameras independently in the first rotation direction, and can drive in common in the second rotation direction.

As a variant, the spring 58 of FIG. 6 can be replaced by two independent springs (not shown) that reversely drive the two cameras 52, 62. However, when the two cameras 52 and 62 are used as a stereo camera used for obtaining a three-dimensional image such as a robot vision, the two cameras often move substantially in the same manner, so that one spring 58 is illustrated. When used in this manner, there is an advantage of obtaining a substantially constant tension over the entire operating range.
Further, when the rotation axes C1, C2 and the rotation axis C3 of the cameras 52, 62 are orthogonal to each other, for example, the camera can be driven horizontally and vertically (left and right, up and down, pan and tilt), and the surveillance camera And the movement of the human eyeball can be reproduced by driving the vision camera of the robot.

-Example 7-
FIG. 7 shows a schematic configuration of an optical device driving apparatus according to Embodiment 7 of the present invention.
In this embodiment, the movement of the camera 12 of the optical device driving apparatus 10 of the first embodiment is controlled. In addition to the configuration shown in FIG. 1, the camera movement detection for detecting the rotation speed and angle of the camera 12 is performed. , A motor motion detector 84 that detects the rotational speed and load current of the drive motor 14, an external command unit 88 that transmits an external motion command, and a control arithmetic device 86 that performs a control calculation.

  In the optical device driving device 70 configured as described above, the rotational speed (angular velocity) and direction (angle) of the camera 12 are detected by the camera motion detector 82 and transmitted to the control arithmetic device 86. The rotation speed (number of rotations), voltage, current, etc. of the drive motor 14 are detected by the motor motion detector 84 and transmitted to the control arithmetic unit 86. Further, an external command such as a motion command generated according to an algorithm or a motion pattern programmed in the host computer or a signal (value) representing a target motion of the optical device generated by a human operation is sent to the external command unit 88. To the control arithmetic unit 86. Based on these pieces of information, the control arithmetic unit 86 calculates an appropriate signed application voltage to be supplied to the drive motor 14 and supplies it to the drive motor 14.

At this time, the control arithmetic unit 86 selects any of the information transmitted from the camera motion detector 82, the motor motion detector 84, and the external command unit 88 to control the rotation speed and angle of the camera. Can do.
This enables more precise control of the camera 12.
In the present embodiment, an example applied to the optical device driving apparatus 10 of the first embodiment has been described, but the present invention can also be applied to the optical device driving apparatuses 20 to 60 of the second to sixth embodiments.
As a modification, the camera motion detector 82 can detect the rotational speed and angle of the camera 12 based on image information received from the camera 12. Other than that is the same as Example 7.

As a result, the rotation angle, rotation speed, and the like can be obtained from the output image of the camera 12, so that the mechanism becomes simpler and more advantageous in terms of size and cost.
In the optical device driving apparatus shown in the seventh embodiment and the modification, the dynamic performance is improved by control, and the performance equivalent to or higher than the movement of the human eye, that is, the rotation speed of the optical device is 900 degrees / second. This can be done.

  As described above, the optical device driving apparatus according to the present invention has a simple structure that enables rotational driving of an optical device such as a semiconductor camera without using a mechanism such as a gear reducer, a belt drive, and a rack and pinion. It is a lightweight and inexpensive drive unit. In addition, since there is no backlash, no noise is generated, and since the moment of inertia of the rotating shaft of the drive motor is not increased, the response is excellent.

10, 20, 30, 40, 50, 60, 70 Optical device drive unit 12, 22, 32, 42, 52, 62 Camera (optical device)
13a, 13b, 23a, 23b, 23c, 53a, 53b, 63a, 63b Support portion 14, 24, 34, 44, 54, 64, 74 Drive motor 14a, 24a Rotating shaft 16, 26, 36, 46, 56, 66 , 76 Linear body 18, 28, 38, 48, 58, 78 Spring (elastic member)
22a, 32a Frame 45, 65 Connecting member 82 Camera motion detector (optical device motion detection means)
84 Drive motor motion detector 86 Control arithmetic unit 88 External command section C1, C2, C3 Rotation axis

In order to solve the above-mentioned problems, an optical device driving apparatus (60) according to the present invention includes a first driving motor (54) and a second driving motor ( 64 ) that are rotationally driven, and one end of the first driving motor. fixed to the rotary shaft, the first optical device and the other end to shoot an object (5 2), so as to impart a tensile force to rotate the optical device about the first pivot axis (C1) , the first linear member that is directly or indirectly fixed (5 6), one end is fixed to the rotating shaft of the second driving motor, a second optical device and the other end to shoot an object (62) A second linear body (66) fixed directly or indirectly so as to apply a pulling force for rotating the optical device about the second rotation axis (C2); raw it's the first optical device around the pivot axis to the torsion of the first linear member Flip that tensile forces are rotated in the opposite direction to the, and the tensile force caused by torsion of the second of the said second optical device about the pivot axis second linear member rotates in the opposite direction a first elastic member (5 8) for urging the elastic force Ru is, the third driving motor for rotationally driving the (74), the second optical device and the first optical device, the first pivot axis and A connecting member (65) that is rotatably connected around a third rotation axis (C3) perpendicular to the second rotation axis, and one end fixed to the rotation shaft of the third drive motor A third linear body (73) fixed directly or indirectly so that the other end provides a pulling force for rotating the connecting member to the connecting member, and the connecting member is connected to the third wire. The first force that urges the elastic force to rotate in the direction opposite to the tensile force generated by the twist of the rod Characterized in that it comprises an elastic member (78).

In the optical device driving apparatus according to the present invention, one end of the first linear body and the second linear body is respectively on the rotation shafts of the first drive motor and the second drive motor, and each other end is the first optical device and the second optical body . Since it is fixed to the optical device, the first optical device and the second optical device are each rotated in a certain direction by the pulling force generated by the twist of each linear body due to the rotation of the first drive motor and the second drive motor. . Or strengthen tensile force of each driving motor forward or reverse rotation is allowed by the linear body, when weaken, the first optical device by the elastic force of the first elastic member urges the opposite direction to the said tensile force The second optical device is rotated, and the first optical device and the second optical device are stopped when the tensile force of the first linear body and the second linear body balances with the elastic force of the elastic member . That is, the angle and speed of the optical device can be adjusted by controlling the rotation of the drive motor .

Further, one end of the third linear body to a rotary shaft of the third drive motor, the other end is fixed to the connecting member for connecting the first optical device and the second optical device, the rotation of the third drive motor The connecting member rotates in one direction due to the tensile force generated by the twist of the third linear body due to. When the third drive motor is rotated in the reverse direction to weaken the tensile force of the third linear body, the connecting member rotates in the reverse direction by the elastic force of the second elastic member biased in the direction opposite to the tensile force. rolling, and tensile strength and the elastic force are balanced way coupling member, i.e. it is possible to adjust the orientation of the first optical device and a second optical device coupled with the connecting member around the third rotation axis.

Preferably, an optical device motion detection means (82) for detecting the rotational speed and angle of the first optical device and the second optical device, and the rotation of each optical device detected by the optical device motion detection means. A control arithmetic device (86) for controlling the rotational speed and angle of each optical device based on information including the moving speed and angle and / or the rotational speed and load current of each of the first to third drive motors. It is characterized by providing. Thereby, the rotation angular velocity and angle of each optical device are detected, and the rotation speed and angle of each optical device are calculated based on the information.

According to the optical device driving apparatus according to the present invention, two optical devices, a rotating tension caused by the torsion of the linear body due to force of the driving motor, the said pulling force to urge the opposite direction elastic Rotate to balance forces . Further, the connecting member that connects the two optical devices in a direction perpendicular to the rotation line urges the tensile force generated by the twist of the linear body due to the rotation of the drive motor and the direction opposite to the tensile force. since rotate to resiliently force has balances, can be directed quickly two optical devices in longitudinal and lateral directions, can you to track a wide range of objects. Moreover, since it is comprised by the combination of a drive motor, a linear body, and an elastic member, it can be made simple and lightweight.

Camera 22, 4 a second rotation axis C2 is pivotally secured around in rectangular frame 22a, first and second supporting L-shaped cross-section on the outside of two opposing sides to the frame 22a parts 23a, 23b is, the center line of one side thereof to match the first pivot axis C1, the tip portion of the other side is fixed to the opposite directions to each other along two opposite frame 22a.
One end of the linear body 16 is fixed to the rotating shaft 14a of the drive motor 14 that is rotationally driven, and the other end is fixed to the first support portion 13a. The spring 18 is attached to the support portion 23b so as to be substantially parallel to the linear body 16 and removable in the same direction.
Further, a second linear body 26 and a spring 28 are attached to the tip of the third support portion 23 c fixed to the back surface of the camera 22 in opposite directions, and the other end of the second linear body 26 is attached. Is fixed to the rotating shaft 24 a of the second drive motor 24.

Configuration In the optical device driving apparatus 20 of the above, mainly quadrangular frame 22a opposing the first and second supporting portions 13a on the outside of the two sides, 13b each one side of the first rotation axis C1 of Since each other side to which one end of the linear body 16 and the spring 18 is connected is directed in the opposite direction, as in the first embodiment, the linear body 16 is pulled. the camera 22 is rotated about the first rotation axis C1 by the force, when the drive motor 14 to return the torsion of the reverse rotation to linear body 16 by the elastic force of the spring 18, the camera 22 returns to the original orientation Rotate in the direction. Then, it stops at a position where the pulling force of the linear body 16 is balanced with the elastic force of the spring 18.

In addition, the relationship between the second linear body 26 and the spring 28 which are attached to the third support portion 23c provided on the back surface of the camera 22 so as to apply forces in the horizontal and opposite directions is as follows. That is, when the second linear member 26 to a pulling force by the rotation of the drive motor 24 occurs, the camera 22 is rotated in the horizontal direction about the second rotation axis C2, the reverse rotation of the drive motor 24 When the twist of the second linear body 26 is returned, the camera 22 rotates in a direction to return to the original direction by the elastic force of the spring 28. Then, it stops when the tensile force of the second linear body 26 and the elastic force of the spring 28 are balanced.
Incidentally, when the first and second pivot axis C1, C2 are orthogonal, for example, a camera of horizontal and vertical (left and right vertical, pan and tilt) enables driving of two-degree-of-freedom drive the camera 22 And the movement of the human eyeball can be reproduced by driving the vision camera of the robot.

Camera 22, 4 about the first rotation axis C1 in rectangular frame 22a is rotatably fixed, rotatably fixed around the second rotation axis C2 with the camera 22 to the frame 22a Has been.
A third support portion 23c is fixed to the rear surface of the camera 22, and the linear bodies 16 and 26 have rotation shafts 14a and 24a of drive motors 14 and 24, respectively, one end of which is rotationally driven, and each other end is a third support portion. It is being fixed to the front-end | tip part of 23c. The tip of the third support portion 23c has a force component that biases the elastic force in the direction opposite to the tensile force caused by the torsion of the linear bodies 16 and 26 caused by the rotation of the drive motors 14 and 24. Thus, the spring 38 is detachably attached.

In the optical device driving apparatus 30 of the above configuration, the tensile force in the linear body 16 by the rotation of the drive motor 14 occurs, the camera 22 is rotated in the horizontal direction about the first pivot axis C1, When the drive motor 14 rotates in the reverse direction and the twist of the linear body 16 returns, the camera 22 rotates in a direction to return to the original direction by the elastic force of the spring 38 in the horizontal direction. And it stops when the horizontal component of the tensile force of the linear body 16 and the elastic force of the spring 38 is balanced.

The same applies to the second rotation axis C2 around the pivot, the force pulling the linear body 26 by the rotation of the drive motor 24 occurs, the camera 22 is rotated around the second rotation axis C2 When the drive motor 24 rotates in the reverse direction and the twist of the linear body 26 returns, the camera 22 rotates in the direction of returning to the original direction by the elastic force of the spring 38 in the vertical (up and down) direction, and the linear body 26 is pulled. It stops when the vertical component of the force and the elastic force of the spring 38 is balanced.
Although not shown, the spring 38 can be separated into two independent springs in each direction, but in this embodiment, since there is one spring 38, there is an advantage that the number of parts is small.
As described above, the optical device driving apparatus 30 enables rotational driving of a two-degree-of-freedom camera without using a mechanism such as a gear reducer, a belt drive, or a rack and pinion.

In the optical device driving apparatus 40 configured as described above, the linear body 16 is twisted by the rotation of the driving motor 14, so that the distance between both ends thereof is reduced. Camera 32 by a tension force generated at this time is rotated (rotated) about the first rotation axis C1 through the connecting member 45. By linear body 46 by the rotation of the drive motor 44 is twisted, the pulling force distance shrinks across occurs linear body 46, the camera 32 by the force first rotation through a coupling member 45 It rotates (rotates) in the reverse direction about the axis C1. Thus it is possible to control the first rotation axis C1 around the rotating camera 32 by the difference dynamic phase operation of the rotary shaft of the two drive motors 14, 44.

Further, when the two drive motors 14 and 44 are operated in phase to change the distance between both ends due to twisting of the two linear bodies 16 and 46 to the same length, the tensile force generated in the two linear bodies 16 and 46 is generated. There cooperate, camera 32 is rotated in the horizontal direction about the second pivot axis C2. Next, when the drive motors 14 and 44 are operated in phase in the reverse direction to return the twists of the linear bodies 16 and 46, the elastic force of the spring 48 rotates the camera 32 in a direction to return to the original direction. It stops when the tensile force of the linear bodies 16 and 46 and the elastic force of the spring 48 are balanced.

As described above, the optical device driving apparatus 40 enables rotational driving of a camera with two degrees of freedom without using a mechanism such as a gear reducer, a belt drive, or a rack and pinion.
Incidentally, when the first and second pivot axis C1, C2 are orthogonal, for example, a camera of horizontal and vertical (left and right vertical, pan and tilt) enables driving of two-degree-of-freedom drive the camera 32 And the movement of the human eyeball can be reproduced by driving the vision camera of the robot.

Here, the first support portion 53a is L-shaped, the surface of one side thereof is such that the center coincides with the rotation axis C1 of the camera 52, the rear surface of the front end portion 53a ₁ of the other side camera 52 (lens The one end of the linear body 66 is attached to the tip of the camera 52 so as to face the opposite direction.
Further, the second support portion 53b is L-shaped, and the tip end portion (not shown) of the other side is the first support portion 53a so that one side of the second support portion 53b coincides with the rotation axis C1 of the camera 52. It is attached to the lower part of the camera 52 so as to face the direction opposite to the tip part 53a ₁ (the direction of the lens of the camera 52), and one end of the linear body 66 is attached to the tip part.
The third support portion 63b has the same configuration as the second supporting portion 53b, its center to the opposite (lower) portion of the second supporting portion 63a which passes through the rotation axis C2 of the camera 62, the second support portion 53b Similarly to being fixed to the camera 52, it is fixed to the camera 62.

In the optical device driving apparatus 50 of the above configuration, the tensile force in the linear body 56 by the rotation of the drive motor 54 occurs, the camera 52 is horizontally rotated about the first pivot axis C1 (rotation ) At the same time, since the second support portion 53b fixed to the lower portion of the camera 52 also rotates by that angle, the spring 58 extends by the amount of rotation of the tip of the second support portion 53b. At this time, since the spring 58 elastic force of returning to the original works, the camera 62 in the horizontal direction about the second rotation axis C2 with the third supporting part 63b which is fixed to the lower, and a camera 52 Rotate (rotate) in the same direction.
At this time, since the spring 58 mounting portion of the third support portion 63b linear body 66 which is fixed to the opposite end extends, it tends to return the linear body 66 at both ends original in length The pulling force that works. Then, at the position where the pulling force of the linear body 66 and the elastic force of the spring 58 are balanced, the two cameras 52 and 62 each stop in a certain direction.

Conversely, when the tensile force in the linear body 66 by the rotation of the drive motor 64 occurs, the camera 62 is rotated in the horizontal direction about the second pivot axis C2. At the same time, since the third support portion 63b fixed to the lower portion of the camera 62 rotates by that angle, the spring 58 extends by the amount of rotation of the tip of the third support portion 63b. At this time, since the spring 58 elastic force of returning to the original works, the camera 52 in the horizontal direction about the first rotation axis C1 together with the second supporting portion 53b which is fixed to the lower, and a camera 62 And rotate in the same direction.
Also together with the first supporting portion 53a is also a camera 52 fixed to the top of the camera 52 rotates about the first pivot axis C1. Since this direction is a direction in which the linear body 56 is extended , a pulling force that tries to return the linear body 56 to its original length is applied to both ends thereof. Then, at the position where the pulling force of the linear body 56 and the elastic force of the spring 58 are balanced, the two cameras 52 and 62 respectively stop in a certain direction. Further, by adjusting the two drive motors 54 and 64, the horizontal directions of the two cameras 52 and 62 can be independently adjusted.

Claims (7)

A drive motor for rotational driving;
One end is fixed to the rotation shaft of the drive motor, and the other end is directly or directly applied to an optical device that takes an image of an object so as to apply a pulling force that rotates the optical device about one rotation axis. A linear body fixed indirectly;
An optical device driving apparatus comprising: an elastic member that urges an elastic force that rotates the optical device in a direction opposite to a pulling force caused by twisting of the linear body around one rotation axis. . A second drive motor for rotational driving;
One end is fixed to the rotation shaft of the second drive motor, and the other end is directly or indirectly applied to the optical device so as to apply a pulling force to rotate the optical device around another rotation axis. A second linearly fixed body,
The elastic member biases the optical device with an elastic force that causes the optical device to rotate around another rotation axis in a direction opposite to a tensile force caused by torsion of the second linear body. 2. An optical device driving apparatus according to 1. A second drive motor for rotational driving;
One end is fixed to the rotation shaft of the second drive motor, and the other end has a pulling force that rotates the other optical device around another rotation axis on the other optical device that images the object. A second linear body fixed directly or indirectly to give,
The elastic member applies an elastic force to the other optical device to rotate the other optical device around another rotation axis in a direction opposite to a pulling force due to the twist of the second linear body. 2. The optical device driving apparatus according to claim 1, wherein the optical device driving apparatus is fixed directly or indirectly. A connecting member that rotatably connects the optical device and the other optical device around a third rotation axis that is orthogonal to the one rotation axis and the other rotation axis;
A third drive motor for rotational driving;
One end is fixed to the rotation shaft of the third drive motor, and the other end is applied to the connecting member with a pulling force that rotates the optical device and the other optical device around a third rotation axis. A third linear body fixed directly or indirectly;
A second elastic member that urges an elastic force that rotates the optical device and another optical device around a third rotation axis in a direction opposite to a tensile force caused by twisting of the third linear body; An optical device driving apparatus according to claim 3. A drive motor for rotational driving;
One end is fixed to the rotation shaft of the drive motor, and the other end is directly or directly applied to an optical device that takes an image of an object so as to apply a pulling force that rotates the optical device about one rotation axis. A linear body fixed indirectly;
A second drive motor for rotational driving;
One end is fixed to the rotation shaft of the second drive motor, the other end is attached to the optical device, and the optical device is rotated in the direction opposite to the pulling force due to the twist of the linear body around the rotation axis. An optical device driving apparatus comprising: a second linear body fixed directly or indirectly so as to apply a pulling force for rotating the optical device. Optical device motion detection means for detecting the rotation speed and angle of each optical device;
The rotation speed and angle of each optical device are controlled based on information including the rotation speed and angle of each optical device and / or the rotation speed and load current of each drive motor detected by the optical device motion detection means. An optical device driving apparatus according to claim 1, further comprising:   The optical device driving apparatus according to claim 6, wherein the optical device motion detection unit detects a rotation speed and an angle of the optical device based on image information received from the optical devices.

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