JP2016006506A - Three-dimensional drive device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To irradiate a wide range of a three-dimensional space with light with a simple structure.SOLUTION: A three-dimensional drive device 1 comprises: a hollow shaft 10; a motor for rotating the hollow shaft 10 in a peripheral direction; a spur gear 12 having a central axis common to a central axis 11 of the hollow shaft 10 and disposed on a central part of the hollow shaft 10; a bevel gear 13 engaged with the spur gear 12 and disposed in the hollow shaft 10; and a spur gear 15 engaged with the bevel gear 13, disposed in the hollow shaft 10, and having a rotation axis 14 orthogonal to the central axis 11 of the hollow shaft 10. The spur gear 12 is immovable regardless of rotation of the hollow shaft 10, and the bevel gear 13 and the spur gear 15 move in the peripheral direction of the hollow shaft 10 with rotation of the hollow shaft 10 and rotate, and the central axis 11 of the hollow shaft 10 and the rotation axis 14 of the spur gear 15 are orthogonal to each other.

Description

  The present invention relates to a three-dimensional drive device.

  Three-dimensional optical scanning devices have been proposed for applications such as security area sensors and three-dimensional distance measurement for architectural civil engineering.

  For example, Patent Document 1 discloses an optical scanning device in which a resonance type galvano scanner having a mirror is supported by a galvano scanner having a rotation axis perpendicular to and intersecting with the rotation axis. Patent Document 2 discloses a three-dimensional distance measuring device having a light projecting unit and a light receiving unit.

JP 2003-344797 A JP 2009-236774 A

  However, when irradiating a three-dimensional space using the optical scanning device disclosed in Patent Document 1, it is necessary to install the light source separately and at another position, which complicates the device configuration. In addition, since the three-dimensional distance measuring device disclosed in Patent Document 2 has a light projecting unit at the upper part of the mirror, it cannot scan up to directly above the device itself in vertical scanning. In addition, a column portion for supporting the light projecting unit at the top prevents 360-degree scanning in the horizontal direction.

  The present invention has been made under such a background, and an object of the present invention is to provide a three-dimensional drive device that can irradiate light over a wide range of a three-dimensional space with a simple configuration.

  The present invention includes a hollow shaft, a motor that rotates the hollow shaft in the circumferential direction, a first spur gear that has a central axis common to the central axis of the hollow shaft, and is arranged at the center of the hollow shaft, A bevel gear that meshes with one spur gear and is disposed within the hollow shaft; a second spur gear that meshes with the bevel gear and is disposed within the hollow shaft and has a rotation axis that is orthogonal to the central axis of the hollow shaft; The first spur gear is immovable regardless of the rotation of the hollow shaft, and the bevel gear and the second spur gear rotate and rotate in the circumferential direction of the hollow shaft with the rotation of the hollow shaft. The three-dimensional drive device is characterized in that the central axis of the hollow shaft and the rotation axis of the second spur gear are orthogonal to each other.

  Furthermore, in the three-dimensional drive device of the present invention, the motor can be a hollow motor in which a rotor is coupled to a hollow shaft.

  Also, the central shaft side of the first spur gear has a hollow structure, and is attached to the light source that irradiates light in the axial direction of the central shaft and the rotation shaft of the second spur gear, and the second spur gear rotates. The angle of the reflecting surface can be changed by the mirror, and the mirror can reflect the light emitted from the light source.

  In this case, it is preferable that a part of the outer wall of the hollow shaft is provided with a notch so as not to obstruct the path of reflected light by the mirror.

  In addition, a light receiving unit that is provided together with the light source and receives the return light of the light emitted from the light source, and a direction in which the light emitted from the light source is radiated to the outside and the light emitted from the light source and the light receiving unit You may make it have an external condition detection part which detects an external condition from the comparison result with return light.

  Furthermore, you may make it have a wall surface in which height changes along the outer periphery of a hollow shaft according to the position of the circumferential direction.

  According to the present invention, it is possible to irradiate light over a wide range of a three-dimensional space with a simple configuration.

It is a figure which shows the principal part structure of the three-dimensional drive device which concerns on 1st embodiment of this invention. It is a figure which shows the arrangement | positioning relationship of the 1st spur gear of a three-dimensional drive device of FIG. 1, a bevel gear, a 2nd spur gear, a mirror, and a light source. It is a perspective view of the three-dimensional drive device of FIG. It is a figure which shows the principal part structure of the three-dimensional drive device which concerns on 2nd embodiment of this invention. It is a figure which shows the relationship between the height of the wall surface of FIG. 4, and a scanning direction.

(First embodiment)
A three-dimensional drive device 1 according to a first embodiment of the present invention will be described with reference to FIGS. In FIG. 3, the illustration of the gear shown in FIG. 1 is omitted.

  As shown in FIGS. 1 and 3, the three-dimensional drive device 1 has a hollow shaft 10, a hollow motor M that rotates the hollow shaft 10 in the circumferential direction, and a central shaft that is common to the central shaft 11 of the hollow shaft 10. The first spur gear 12 disposed at the center of the hollow shaft 10 and the spur gear 12 mesh with the bevel gear 13 and the bevel gear 13 disposed within the hollow shaft 10. And a second spur gear 15 having a rotation shaft 14 orthogonal to the central axis 11 of the hollow shaft 10, and the spur gear 12 is immovable regardless of the rotation of the hollow shaft 10. The gear 13 and the spur gear 15 move and rotate in the circumferential direction of the hollow shaft 10 as the hollow shaft 10 rotates, and the central axis 11 of the hollow shaft 10 and the rotation shaft 14 of the spur gear 15 are orthogonal to each other.

  Further, as shown in FIG. 1, the three-dimensional drive device 1 has a hollow structure 16 on the central shaft 11 side of the spur gear 12, and a light source 17 that irradiates light in the axial direction of the central shaft 11 of the spur gear 12. The mirror 18 is attached to the rotary shaft 14 of the spur gear 15, and the angle of the reflecting surface is changed with the rotation of the spur gear 15 to reflect the light emitted from the light source 17. The light source 17 is provided in the hollow structure of the hollow motor M or outside the motor, and is an LED (light emitting diode) or a laser. In addition, the mirror 18 has been described as being attached to the rotating shaft 14, but actually, the mirror 18 is attached to the shaft 20 including the rotating shaft 14 of the spur gear 15. As a method for attaching the mirror 18 to the shaft 20, for example, the mirror 20 can be attached by sandwiching the shaft 20 with two reflectors on the front and back of the mirror 18.

  FIG. 2 shows the positional relationship among the spur gear 12, the bevel gear 13, the spur gear 15, the light source 17, the mirror 18, and the shaft 20 when viewed from a direction different from FIG. 1 by 90 degrees in the vertical direction. The arrangement direction of the spur gear 12 and the arrangement direction of the spur gear 15 are different from each other by 90 degrees.

  For example, as shown in FIG. 3, the three-dimensional drive device 1 places the hollow shaft 10 on a rotor (not shown) of the hollow motor M and drives the hollow motor M to rotate the hollow shaft 10. be able to. The light source 17 can be disposed in the hollow structure 21 of the hollow motor M, for example. According to this, when the hollow shaft 10 is rotated by one hollow motor M, the spur gear 15 rotates about the rotating shaft 14 and rotates about the spur gear 12 via the bevel gear 13. In this way, two different rotational motions in which the central shaft 11 and the rotating shaft 14 are orthogonal to each other can be generated.

  Thus, when the hollow shaft 10 is rotated, the axial direction of the shaft 20 is set to the horizontal direction, and when the rotating direction of the mirror 18 (the rotating direction of the shaft of the shaft 20) is set to the vertical direction of the mirror 18, The horizontal direction is changed, and the spur gear 15 rotates, whereby the vertical direction of the mirror 18 is changed. At this time, the direction of the light emitted from the light source 17 toward the mirror 18 is simultaneously changed in the horizontal direction and the vertical direction, and is applied to the three-dimensional space.

  Note that by appropriately changing the gear ratio between the spur gear 12 and the spur gear 15, it is possible to change how many times the mirror 18 rotates in the vertical direction while the mirror 18 rotates once in the horizontal direction. For example, if the gear ratio between the spur gear 12 and the spur gear 15 is 2: 1, the mirror 18 is rotated halfway in the vertical direction while the mirror 18 is rotated once in the horizontal direction. If the gear ratio between the spur gear 12 and the spur gear 15 is 1: 1, the mirror 18 rotates once in the vertical direction while the mirror 18 rotates once in the horizontal direction. Alternatively, if the gear ratio between the spur gear 12 and the spur gear 15 is 1: 2, the mirror 18 rotates twice in the vertical direction while the mirror 18 rotates once in the horizontal direction.

  Further, in the above, for simplicity of explanation, a simple gear ratio of 2: 1 or 1: 2 is used as the gear ratio in the horizontal direction and the vertical direction, but different numerical values can be adopted depending on purposes. For example, a gear ratio such as 8: 7 or 30:29 can be used to irradiate light with a constant spatial density to a three-dimensional space. When such a gear ratio having a large least common multiple is used, it becomes possible to make the light irradiation to the space a fine mesh. As long as the gear is used, the gear ratio is an integer ratio. However, when a friction transmission (not shown) is used instead of the gear, the gear ratio can be an arbitrary value such as an irrational number. Further, the gear ratio may be greatly varied such as 100: 1 or 500: 1. This is because the hollow motor M can be normally used at a relatively high rotation speed, whereas the mirror 18 is preferably used at a relatively low rotation speed in consideration of durability and accuracy. When the gear ratio is extremely different as described above, a worm gear (not shown) may be used instead of the gear.

  Furthermore, a part of the outer wall of the hollow shaft 10 is provided with a notch 19 so as not to obstruct the path of reflected light by the mirror 18.

  As described above, according to the three-dimensional drive device 1, the hollow shaft 10, the spur gear 12 having a central axis common to the central axis 11 of the hollow shaft 10 and disposed at the center of the hollow shaft 10, The bevel gear 13 that meshes with the spur gear 12 and is disposed within the hollow shaft 10, and the rotation shaft 14 that meshes with the bevel gear 13 and is disposed within the hollow shaft 10 and orthogonal to the central axis 11 of the hollow shaft 10. Since it has the spur gear 15 which has, it can irradiate light to the wide range of three-dimensional space by simple structure. In particular, it can irradiate in the horizontal and vertical directions with a single power. Further, since the light source 17 is provided in the hollow structure 16 of the spur gear 12, the vertical scanning can be performed up to the own device, and the horizontal scanning is performed by the own device. Scanning in the entire circumferential direction (360-degree direction) is possible.

  Since the shaft 20 is orthogonal to the central axis 11, the light irradiated along the central axis 11 cannot reach directly above when the mirror 18 is upright. In order to cope with this problem, a hole (not shown) through which light can be transmitted when the mirror 18 is upright is provided at a position where the shaft 20 is orthogonal to the central axis 11, or light is transmitted through the corresponding part or the whole of the shaft 20. You may comprise with the member which can permeate | transmit.

  In the above description, the motor M is a hollow motor whose rotor is coupled to the hollow shaft and rotates in the circumferential direction. However, the motor M may be driven to rotate by a non-hollow motor. For example, the structure which couple | bonds the outer periphery of the hollow shaft 10 with a belt etc. and rotates may be sufficient.

  In the above description, the example in which light is emitted from the light source 17 to the three-dimensional space has been described. However, as illustrated in FIG. 3, the light receiving unit 31 that receives the reflected light of the light emitted from the light source 17 is provided. By providing the distance calculation unit 36 that calculates the reach distance based on the time when the irradiated light is reflected and returned by the calculation unit 36, a radar device or a distance measuring device can be obtained. In FIG. 3, the irradiation light path and the reflection light path are shown together. However, the light source and the light receiving unit are provided by providing an optical system in which the irradiation system and the reflection system have the same optical axis and a half mirror separates the irradiation light and the reflected light. Can be provided separately.

(Second embodiment)
A three-dimensional drive device 1a according to a second embodiment of the present invention will be described with reference to FIGS. The three-dimensional drive device 1a is partially different from the three-dimensional drive device 1. Therefore, the same or the same system members as those of the three-dimensional drive device 1 are denoted by the same or same reference numerals as those of the three-dimensional drive device 1.

  The three-dimensional drive device 1a is configured to further include a wall surface 30 whose height changes along the outer periphery of the hollow shaft 10 of the three-dimensional drive device 1 according to the position in the circumferential direction. In addition to the light source 17 of the three-dimensional drive device 1, the three-dimensional drive device 1 a includes a light receiving unit 31. Further, the external situation is detected based on the direction in which the light emitted from the light source 17 is radiated to the outside (that is, the scanning direction) and the comparison result between the light emitted from the light source 17 and the return light received by the light receiving unit 31. The external situation detection unit 32 that performs Thereby, the three-dimensional drive device 1a can have a function as a radar device or a distance measuring device. As an example of the comparison result described above, there is an elapsed time (time difference) until the light emitted from the light source 17 becomes recursive light and is received by the light receiving unit 31.

  A method of using the wall surface 30 in such a three-dimensional drive device 1a will be described below.

  The three-dimensional driving device 1a as a radar device or a distance measuring device is placed at a predetermined position in a space such as a room where the surrounding situation is to be observed, and the function as the radar device or the distance measuring device is operated. At this time, if the gear ratio is such that the spur gear 15 rotates at least twice while the hollow shaft 10 rotates once, the inner peripheral surface of the wall surface 30 is scanned four times in total, including the front and back of the mirror 18. . As a result, the external state detection unit 32 detects the state of the wall surface 30 immediately adjacent to the hollow shaft 10. That is, the external condition detection unit 32 detects the distance from a predetermined measurement reference point such as the arrangement position of the light source 17 to the inner peripheral surface of the wall surface 30. At that time, the height of the wall surface 30 (the upper edge of the wall surface 30) can be easily detected as a position where the measurement distance suddenly changes (becomes longer) in the vertical direction. At this time, the height of the wall surface 30 changes in the circumferential direction. Therefore, by examining the height of the wall surface 30, the location of the circumferential wall surface 30 having that height can be specified.

  FIG. 5 shows the detection result of the height of the wall surface 30 thus detected. In FIG. 5, the horizontal axis represents the scanning direction, and the vertical axis represents the height of the wall surface 30. In the example of FIG. 5, the scanning direction is 0 degree (= 360 degrees) at the lowest position (20 mm in FIG. 5) of the wall surface 30, and the scanning direction is 180 at the highest position (40 mm in FIG. 5). Suppose that it is degree. By doing in this way, the scanning direction with respect to the height of the wall surface 30 between 0 degree | times -180 degree | times or 180 degree | times -360 degree | times can be specified. Further, by checking whether the detection result of the wall surface 30 is gradually increasing or decreasing with the passage of time, it can be determined whether it is between 0 degree and 180 degrees or between 180 degrees and 360 degrees. .

  For example, as shown in FIG. 5, the scanning direction when the height of the wall surface 30 is 30 mm can be specified as 70 degrees or 290 degrees. Here, if the detection result of the height of the wall surface 30 is gradually increased with time, it is 70 degrees, and if it is gradually decreased, it is 290 degrees.

  Further, for example, by making the orientation indices 33 and 34 marked on the housing of the three-dimensional drive device 1a coincide with north and south, respectively, the scanning direction of the radar device or the distance measuring device is any direction of east, west, south, and north. It can be specified together. According to this, the position where the height of the wall surface 30 is the minimum is directly north of the magnetic pole (0 degree), and the position where the height of the wall surface 30 is maximum is the south of the magnetic pole (180 degrees).

  In addition, it is preferable to match the minimum value of the height of the wall surface 30 with the height of the lower edge of the notch 19, for example. According to this, it can avoid that the upper edge of the wall surface 30 is hidden behind the notch 19 and cannot be detected. In the example of FIG. 5, the maximum value of the height of the wall surface 30 is twice (40 mm) the minimum value (20 mm). The difference between the maximum value and the minimum value is preferably small. Therefore, the difference between the maximum value and the minimum value of the height of the wall surface 30 is preferably made as small as possible according to the resolution of the external situation detection unit 32.

  In this way, the external situation detection unit 32 can specify the scanning direction from the detection result of the height of the wall surface 30. As a result, the external situation detection unit 32 can detect the external situation from the scanning direction and the elapsed time (time difference) until the light emitted from the light source 17 becomes the return light and is received by the light receiving unit 31.

  Conventionally, in order to know the scanning direction of the radar device or the distance measuring device, a device such as a rotary encoder for detecting the light irradiation direction has to be prepared separately. On the other hand, according to the three-dimensional drive device 1a, by having the simple wall surface 30, it is possible to know the scanning direction of the radar device or the distance measuring device without providing an expensive device such as a rotary encoder.

(Other embodiments)
In the above-described embodiment, the light source 17 or the light receiving unit 31 is arranged in the hollow structure 16 of the motor M or in the axial direction of the central shaft 11. Such an arrangement of the light source 17 or the light receiving unit 31 is advantageous in terms of the manufacturing cost and manufacturing man-hour of the apparatus, but the arrangement position may be another position if the manufacturing cost and the manufacturing man-hour are not taken into consideration. . For example, a support column may be provided on the upper portion of the hollow shaft 10 and the light source 17 or the light receiving unit 31 may be disposed on the upper portion of the mirror 18. In this case, power can be supplied to the light source 17 or the light receiving unit 31 via a slip ring that supplies power to the rotating body.
Further, the arrangement of the light source 17 and the light receiving unit 31 may be outside the motor M (lower part of the drawing) on the extension of the lower part of the hollow shaft of the motor M. Furthermore, since the irradiation light and the return light only need to pass through the hollow structure of the spur gear 12, the light source 17 and the light receiving unit 31 can be provided at a position where the optical path is optically bent by a 45 ° mirror, a half mirror, or the like. It is.
By adopting such a structure, the hollow shaft 10 is shortened to be structurally robust and capable of high speed rotation. Furthermore, a plurality of sets of the light source 17 and the light receiving unit 31 can be prepared, and functions such as switching and replacement according to the application can be given, and generalization is possible.

DESCRIPTION OF SYMBOLS 1 ... Three-dimensional drive device, 10 ... Hollow shaft, 11 ... Center axis (Center axis of a hollow shaft, the center axis of a 1st spur gear), 12 ... Spur gear (1st spur gear), 13 ... Bevel gear, DESCRIPTION OF SYMBOLS 14 ... Center axis (center axis of 2nd spur gear), 15 ... Spur gear (2nd spur gear), 16, 21 ... Hollow structure, 17 ... Light source, 18 ... Mirror, 19 ... Notch, 20 ... Shaft , 30 ... Wall surface, 31 ... Light receiving part, 32 ... External condition detection part, 33 ... Direction index, 34 ... Direction index, 36 ... Distance calculation part, M ... Hollow motor

Claims (6)

A hollow shaft;
A motor for rotating the hollow shaft in the circumferential direction;
A first spur gear having a central axis in common with the central axis of the hollow shaft and disposed in a central portion of the hollow shaft;
Meshing with the first spur gear, and a bevel gear disposed in the hollow shaft;
A second spur gear meshing with the bevel gear and disposed within the hollow shaft and having a rotation axis orthogonal to the central axis of the hollow shaft;
Have
The first spur gear is immovable regardless of the rotation of the hollow shaft,
The bevel gear and the second spur gear move and rotate in the circumferential direction of the hollow shaft together with the rotation of the hollow shaft,
The center axis of the hollow shaft and the rotation axis of the second spur gear are orthogonal to each other,
A three-dimensional drive device characterized by that. The three-dimensional drive device according to claim 1,
The motor is a hollow motor in which a rotor is coupled to the hollow shaft. The three-dimensional drive device according to claim 1 or 2,
The central shaft side of the first spur gear has a hollow structure,
A light source that emits light in the axial direction of the central axis;
A mirror that is attached to the rotation shaft of the second spur gear, the angle of the reflecting surface is changed by the rotation of the second spur gear, and reflects the light emitted from the light source;
Having
A three-dimensional drive device characterized by that. The three-dimensional drive device according to claim 3, wherein
A part of the outer wall of the hollow shaft is notched so as not to obstruct the path of reflected light by the mirror.
A three-dimensional drive device characterized by that. The three-dimensional drive device according to claim 3 or 4,
A light receiving unit that is provided together with the light source and receives the return light of the light emitted from the light source;
An external situation detection unit that detects an external situation based on a direction in which light emitted from the light source is emitted to the outside and a comparison result between the light emitted from the light source and the return light received by the light receiving unit;
Having
A three-dimensional drive device characterized by that. The three-dimensional drive device according to claim 5, wherein
Along the outer periphery of the hollow shaft, it has a wall surface whose height changes according to the position in the circumferential direction.
A three-dimensional drive device characterized by that.

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