JP2017184306A - Turning drive device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a miniaturized turning drive device with a vibration type actuator which has excellent controllability.SOLUTION: A monitor camera 100 includes: an imaging device 110; a supporting body 120 that rotatably supports the imaging device 110 around a tilt rotation axis L1; a pan driving motor 140 having a vibrator 142 and a driven body 143; a tilt driving motor 150 having a vibrator 152 and a driven body 153; and a tilt drive shaft 160 that is engaged with the imaging device 110, and is movably provided to a direction of a pan rotation axis L2 at a position almost coincide with the pan rotation axis L2. The imaging device 110 and the supporting body 120 are integrally rotated around the pan rotation axis L2 by a rotation output of the driven body 143 when driving the pan driving motor 140. The imaging device 110 is rotated around the tilt rotation axis L1 by advancing the tilt drive shaft 160 to a direction of the pan rotation axis L2 by the output from the tilt driving motor 150.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a turning drive device using a vibration type actuator that brings a vibrating body and a driven body into pressure contact and moves the vibrating body and the driven body relatively by vibration excited by the vibrating body.

  A turning drive device is known that utilizes the high-precision and silent drive that is characteristic of a vibration actuator (see Patent Document 1). FIG. 11 is a side view showing a schematic configuration of a stage device 400 which is an example of a known turning drive device. In stage device 400, case 420 is fixed to the drive shaft of vibration actuator 401a for pan driving, and vibration actuator 401b for tilt driving is fixed to case 420. A turning stage 410 as a driving target is fixed to the drive shaft of the vibration actuator 401b for tilt driving. With such a configuration, by driving the vibration type actuator 401b, it is possible to perform tilt driving in which only the turning stage 410 is rotated about the first rotation axis L1. Then, by driving the vibration type actuator 401a, it is possible to perform pan driving in which the case 420, the vibration type actuator 401b, and the turning stage 410 are integrally rotated around the second rotation axis L2.

  As another example of the swivel driving device, a sphere that can be rotated around each of two axes that are substantially orthogonal to each other is a driving object, and a rotational driving device that includes two or more piezoelectric driving units to rotationally drive the sphere. An apparatus has been proposed (see Patent Document 2). Each of the two or more piezoelectric drive units is driven in a first operation mode in which the sphere is rotated and in a second operation mode in which the frictional force between the non-rotation piezoelectric drive unit and the sphere is reduced by longitudinal vibration. Is possible.

JP 2005-37724 A JP 2001-211676 A

  However, in the stage device 400 described above, not only the turning stage 410 but also the vibration actuator 401b for tilt driving and the case 420 rotate together around the second rotation axis L2 during pan driving. For this reason, a large torque is required for the vibration actuator 401a for driving the pan, and there is a problem that the vibration actuator 401a for driving the pan is increased in size, and the entire stage device 400 is increased in size. Further, since the vibration actuator 401b for tilt driving rotates around the second rotation axis L2, it is necessary to use a slip ring or the like for feeding power to the vibration actuator 401b for tilt driving, and the stage accordingly. The device becomes large. Further, since the vibration type actuator 401b for tilt driving is arranged on the outer diameter side of the turning stage 410, the inertia at the time of pan driving increases, and the positioning accuracy and responsiveness of the turning stage 410 may be lowered. is there. In addition, it is necessary to secure a space where the vibration actuator 401b for tilt driving can be moved at a place where the stage apparatus 400 is installed, and there is a problem that the installation place is limited.

  The rotational drive device described in Patent Document 2 has a configuration in which a sphere is driven using a plurality of piezoelectric drive units, and thus the above-described problem with respect to the stage device 400 does not occur. However, in order to rotate the sphere in a predetermined direction, one of the plurality of piezoelectric drive units is driven in the first operation mode, and the rest is used to reduce the frictional force between the sphere and the second. Since it is necessary to drive in an operation mode, there exists a problem that power consumption increases. Further, since the sphere is in contact with the piezoelectric drive unit on the surface thereof, high-precision processing is required on the surface of the sphere, and the production cost increases. Furthermore, the sphere has a problem that the shape and size of a member (for example, a camera) attached to the turning stage is greatly limited as compared with a flat plate stage.

  An object of the present invention is to provide a small-sized swivel drive device using a vibration type actuator and having excellent controllability.

  A swivel drive device according to the present invention includes a first rotating body, a second rotating body that rotatably supports the first rotating body around an axis of a first shaft, a first vibrating body, A first vibration-type actuator having a first driven body that rotates around an axis of a second axis orthogonal to the first axis by vibration excited in the first vibrating body; and the first rotation A shaft member provided so as to be movable in the axial direction of the second shaft at a position substantially engaged with the second shaft, and excited by the second vibrating body and the second vibrating body. A second vibration type actuator having a second driven body that is driven by the generated vibration, and the first rotation body and the second rotation body according to the rotation output of the first vibration type actuator. Are integrally rotated around the axis of the second shaft, and the second vibration type actuator is rotated. The output is characterized by rotating said first rotary member by straight the shaft member in the axial direction of the second axis about the axis of said first shaft.

  According to the present invention, it is possible to realize a small-sized swivel drive device using a vibration type actuator and having excellent controllability.

It is the perspective view and exploded perspective view which show schematic structure of the surveillance camera which concerns on 1st Embodiment of this invention. FIG. 2 is a perspective view and a partially enlarged view showing the cross section of the structure of the surveillance camera of FIG. 1. FIG. 2 is a perspective view and an exploded perspective view showing a schematic configuration of a tilt drive shaft driven by a tilt drive motor included in the surveillance camera of FIG. 1. FIG. 3 is a perspective view illustrating a state of a monitoring camera in which the imaging device is driven with a tilt angle of −30 degrees / + 30 degrees in the monitoring camera of FIG. 1. FIG. 3 is a perspective view illustrating a state of the monitoring camera that drives the imaging device with the panning angle of −30 degrees and the tilt angle and panning angle of −30 degrees in the monitoring camera of FIG. 1. It is a perspective view which shows schematic structure of the stage apparatus which is one of the modifications of the surveillance camera of FIG. It is the perspective view and sectional drawing which show schematic structure of the surveillance camera which concerns on 2nd Embodiment of this invention. It is a perspective view which shows schematic structure of the drive part of the motor for a pan drive which comprises the surveillance camera of FIG. It is a disassembled perspective view which shows schematic structure of the motor for tilt drive which comprises the surveillance camera of FIG. It is a figure explaining the structure of another pressurization means for making a vibration body and a to-be-driven body press-contact in the tilt drive motor which comprises the surveillance camera of FIG. It is a side view which shows schematic structure of a well-known turning drive device.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Here, a surveillance camera is taken up as the turning drive device according to the present invention. Fig.1 (a) is a perspective view which shows schematic structure of the surveillance camera 100 which concerns on 1st Embodiment of this invention. FIG. 1B is an exploded perspective view of the monitoring camera 100. The monitoring camera 100 includes an imaging device 110 (first rotating body), a support body 120 (second rotating body), a first vibration type actuator (hereinafter referred to as “pan driving motor”) 140, and a second vibration type. An actuator (hereinafter referred to as “tilt driving motor”) 150 is provided. The surveillance camera 100 includes a base 130 and an output conversion mechanism. The output conversion mechanism includes an external gear 157 coupled to the tilt drive motor 150 and a tilt drive shaft 160 (axis) driven by the external gear 157. Member).

  For convenience of explanation, as shown in FIG. 1, an X direction (X axis), a Y direction (Y axis), and a Z direction (Z axis) orthogonal to each other are defined. FIG. 1 shows a state in which the monitoring camera 100 is in the initial position (home position). The imaging device 110 includes a lens unit 111, and when the monitoring camera 100 is in the initial position, the optical axis L3 of the lens unit 111 is substantially parallel to the X axis. As will be described later, the monitoring camera 100 has a structure capable of rotating the imaging device 110 around a tilt rotation axis L1 that is a first axis substantially orthogonal to the optical axis L3. When in position, the tilt rotation axis L1 is substantially parallel to the Y axis. In addition, the monitoring camera 100 has a structure capable of rotating the imaging device 110 around the pan rotation axis L2, which is a second axis substantially orthogonal to the optical axis L3, and the monitoring camera 100 is in the initial position. The pan rotation axis L2 is substantially parallel to the Z axis. Details of tilt driving and pan driving of the imaging device 110 will be described later.

  Note that the surveillance camera 100 does not require the pan rotation axis L2 to be orthogonal to the horizontal direction and the tilt rotation axis L1 to be orthogonal to the vertical direction. Also, “substantially orthogonal” means that two directions (axes) can be considered to be substantially orthogonal, and “substantially parallel” means that two directions (axes) are substantially parallel. It can be done. For example, the tilt rotation axis L1 and the pan rotation axis L2 are substantially orthogonal, but this does not require that the tilt rotation axis L1 and the pan rotation axis L2 are strictly orthogonal. That is, it is only necessary that the tilt rotation axis L1 and the pan rotation axis L2 can be regarded as being orthogonal to each other in consideration of the dimensional accuracy and assembly accuracy of various components constituting the surveillance camera 100.

  FIG. 2A is a perspective view showing the cross section of the structure of the surveillance camera 100. FIG. 2B is an enlarged view of the region W in FIG. The imaging device 110 includes two guide groove portions 112 and two rotation shaft portions 113. Each of the two rotation shaft portions 113 is a round bar-shaped shaft having the tilt rotation axis L <b> 1 as a central axis, and is fitted into two later-described tilt bearings 121 provided on the support body 120. Thus, the imaging device 110 is attached to the support 120 so as to be rotatable around the tilt rotation axis L1. The two guide groove portions 112 have a long hole shape extending in the direction of the optical axis L3.

  The support body 120 includes a ring-shaped base portion 120a and two standing wall portions 120b that protrude from the base portion 120a in the direction of the pan rotation axis L2. A tilt bearing 121 is provided in each of the two standing wall portions 120b. The tilt bearing 121 is a rolling bearing or a sliding bearing, and rotatably supports the rotating shaft portion 113 of the imaging device 110. The base portion 120a is connected to the driven body 143 (first driven body) of the pan driving motor 140 on the lower surface (the surface opposite to the surface on which the standing wall portion 120b is provided). As will be described later, the pan driving motor 140 rotates the driven body 143 around the pan rotation axis L2, and the support body 120 rotates integrally with the driven body 143 around the pan rotation axis L2, thereby supporting the pan driving motor 143. The imaging device 110 supported by the body 120 is driven to pan. The base 130 fixes the pan driving motor 140 and the tilt driving motor 150, and has sufficient rigidity (strength) to enable the imaging device 110 to perform a stable turning operation. A space S is provided in a portion of the base 130 that becomes a movable region of the tilt drive shaft 160.

  The pan driving motor 140 is configured in a ring shape, and includes a vibrating body 142, a driven body 143, a damping rubber 144, and a pressure member 145. The vibrating body 142 includes a ring-shaped elastic body 142b and a piezoelectric element 142a that is an electro-mechanical energy conversion element. The elastic body 142b is made of a metal material such as stainless steel, and a protrusion 142c is formed on the upper surface (surface on the driven body 143 side). The tip surface of the protrusion 142c is in pressure contact with the driven body 143. It becomes a friction sliding surface. The tip surface of the protrusion 142c is subjected to nitriding treatment (hardening treatment) for enhancing durability (wear resistance), plating treatment containing hard particles, or the like. The piezoelectric element 142a is bonded to the lower surface of the elastic body 142b using an adhesive.

  By applying a predetermined drive voltage (alternating voltage) to the piezoelectric element 142a using a flexible wiring board (not shown) or the like, a progressive vibration wave due to bending vibration in the out-of-plane direction is excited on the vibration body 142, and an elastic body Elliptical motion is generated on the surface of the driven body 143 side of 142b. As a result, the driven body 143 is frictionally driven by the vibrating body 142 and rotates around the pan rotation axis L <b> 2 to change the relative position with respect to the vibrating body 142. Since the principle of generating a progressive vibration wave in the vibrating body 142 is well known, detailed description thereof is omitted here.

  The driven body 143 includes a ring-shaped main body portion 143a formed of an elastic material, a contact spring portion 143c having a frictional sliding surface that comes into pressure contact with the protrusion 142d of the vibrating body 142, and the main body portion 143a and the contact spring. It has the connection part 143b which connects the part 143c. The driven body 143 is made of, for example, hardened stainless steel or hardened anodized aluminum alloy. The connecting portion 143b and the contact spring portion 143c are formed with a thickness having a spring property, so that the contact spring portion 143c can be stably brought into contact with the protruding portion 142c.

  The annular damping rubber 144 disposed between the driven body 143 and the support 120 is formed of a resin material such as butyl rubber or silicone rubber having high vibration damping performance. The vibration damping rubber 144 plays a role of reducing unnecessary vibration generated in the driven body 143 while the pan driving motor 140 is driven, and also plays a role of connecting the driven body 143 and the support body 120. During the driving of the pan driving motor 140 (during the pan driving of the imaging device 110), the vibration damping rubber 144 suppresses the transmission of vibration from the driven body 143 to the support body 120, so that the imaging device 110 can be driven stably. Can be realized. Further, by providing the vibration damping rubber 144, it is possible to suppress the generation of abnormal noise and a decrease in output when the pan driving motor 140 is driven. The pressure member 145 includes a felt 145a, a pressure receiving plate 145b, and a pressure spring 145c. The pressure spring 145c presses the vibrating body 142 against the driven body 143 via the felt 145a so that an appropriate pressure is generated between the contact spring portion 143c and the protrusion 142c.

  The tilt driving motor 150 is fixed to the base 130 in a space inside the pan driving motor 140 (a space formed on the inner diameter side of the driven body 143 and the vibrating body 142). The tilt driving motor 150 includes a vibrating body 152, a driven body 153 (second driven body), an internal gear 154, a pressure spring 155, and a flange 156.

  The vibrating body 152 includes a laminated piezoelectric element 152a, a first elastic body 152b, a second elastic body 152c, a shaft 152d, an upper nut 152e, and a lower nut 152f. The piezoelectric element 152a, the first elastic body 152b, and the second elastic body 152c are fastened in the thrust direction of the shaft 152d with a predetermined pressure by a flange portion and an upper nut 152e provided on the shaft 152d. The thrust axis of the shaft 152d is substantially parallel to the pan rotation axis L2. The piezoelectric element 152a is formed by laminating a plurality of plate-shaped piezoelectric ceramics sandwiching electrodes, and each electrode layer has two electrodes, and an alternating voltage having a different phase is applied to the two electrodes. Two bending vibrations having the same shape perpendicular to each other are excited by the vibrating body 152. As a result, elliptical motion can be generated on the lower end surface of the first elastic body 152b (contact surface with the contact spring portion 153c described later of the driven body 153).

  The driven body 153 has a ring-shaped main body portion 153a and a contact spring portion 153c, and the contact spring portion 153c is fixed to the main body portion 153a. The upper end surface of the contact spring portion 153c is in pressure contact with the first elastic body 152b by the urging force of the pressure spring 155. The contact area of the contact spring portion 153c with respect to the first elastic body 152b is small, and the contact spring portion 153c has an appropriate spring property. When the vibrating body 152 is driven as described above and the elliptical motion is excited on the lower end surface of the first elastic body 152b, the contact spring portion 153c is frictionally driven in the tangential direction. Thereby, the driven body 153 (the contact spring portion 153c and the main body portion 153a) rotates around the central axis (thrust axis) of the shaft 152d. At this time, the internal gear 154 is attached to the lower portion of the main body portion 153a, and thus the internal gear 154 also rotates integrally with the driven body 153.

  The internal gear 154 is an output transmission member for transmitting the rotation output of the tilt driving motor 150 to the external gear 157. The internal gear 154 is fitted to the flange 156 via a flange cap 156a. The flange 156 has a position in the thrust direction of the shaft 152d determined by a different diameter portion provided on the lower nut 152f and the shaft 152d, and is fixed to the base 130. The flange cap 156 a is press-fitted into the flange 156 and suppresses wear of the flange 156 due to rotation of the internal gear 154. The pressure spring 155 is disposed between the internal gear 154 and the main body portion 153a, and applies pressure to the driven body 153 in the thrust direction of the shaft 152d, whereby the contact spring portion 153c is The first elastic body 152b is brought into pressure contact. The rotation output of the driven body 153 is transmitted to the external gear 157 via the internal gear 154 that rotates integrally with the driven body 153. The external gear 157 is rotatably supported by a bearing 131 provided on the base 130 so that the central axis of rotation of the external gear 157 substantially coincides with the pan rotation axis L2. A rotation restricting member 149 for restricting the rotation of a later-described lifting shaft main body 159 a constituting the tilt drive shaft 160 is attached to the base 130 immediately below the bearing 131.

  FIG. 3A is a perspective view showing a schematic configuration of a tilt drive shaft 160 driven by the tilt drive motor 150. FIG. 3B is an exploded perspective view of the tilt drive shaft 160. The tilt drive shaft 160 includes a lifting shaft 159 and a connecting body 158. The lifting shaft 159 has a lifting shaft body 159a and a retaining ring 159c. A female screw (not shown) is cut in a predetermined range of the inner peripheral surface of the external gear 157, and a male screw (not shown) is cut in a predetermined range of the outer peripheral surface of the elevating shaft body 159a. doing. The screwing range between the external gear 157 and the lift shaft body 159a can be set according to the lift amount (movement amount in the pan rotation axis L2 direction) of the lift shaft body 159a accompanying the tilt drive of the imaging device 110. Further, a flat portion 159a-1 in which a part of the outer peripheral surface is cut out is provided on the external gear 157 side of the lifting shaft main body 159a, and the portion where the flat portion 159a-1 is formed is a rotation restricting member. 149 is slidably inserted into the inner hole 149. The shape of the inner hole of the rotation restricting member 149 is matched to the shape of the portion where the flat portion 159a-1 is formed, and the rotation restricting member 149 is attached to the base 130 as described above.

  The rotation restricting member 149 restricts the rotation of the elevating shaft main body 159a around the pan rotation axis L2. Therefore, when the rotation output of the internal gear 154 is transmitted to the external gear 157, the lifting shaft body 159a moves around the pan rotation axis L2 as the external gear 157 rotates according to the screwed state of the female screw and the male screw. It moves in the direction of the pan rotation axis L2 without rotating. If the rotation direction of the external gear 157 is reversed, the direction in which the elevating shaft body 159a goes straight is reversed. As described above, in the surveillance camera 100, the rotational driving force of the driven body 153 of the tilt driving motor 150 is converted into the straight driving force in the direction of the pan rotation axis L2 of the tilt driving shaft 160 by the external gear 157 and the lifting shaft body 159a. Has been converted.

  The connecting body 158 includes a guide member 158a, a holding member 158b, a bearing 158c, a fixing ring 158d, and a fixing screw 158e. Two guide pins 158a-1 are formed in the vicinity of one end of the guide member 158a in the longitudinal direction (a direction parallel to the pan rotation axis L2). Here, in the imaging device 110, the two guide groove portions 112 are provided apart in the tilt rotation axis L1 direction by a distance equivalent to the thickness of the guide member 158a (Y-direction thickness in FIG. 3) (FIG. 1). reference). The guide pin 158a-1 is inserted into each of the two guide groove portions 112, so that the guide member 158a engages with the imaging device 110. At this time, between the outer periphery of the guide pin 158a-1 and the inner wall of the guide groove portion 112 so that the two guide groove portions 112 can receive a driving force from the tilt driving motor 150 via the guide pin 158a-1. There is a moderate frictional force. On the other hand, the guide pin 158a-1 can slide in the longitudinal direction in the guide groove portion 112. The guide member 158a is also a member that supports the weight of the imaging device 110. In other words, the tilt drive shaft 160 is a member that drives the tilt of the image pickup apparatus 110 while supporting the weight of the image pickup apparatus 110, as will be described later.

  Near the other end in the longitudinal direction of the guide member 158a, a hole 158a-2 is provided substantially in parallel with the guide pin 158a-1, and the end surface of the guide member 158a on the hole 158a-2 side is formed in a flat shape. Has been. On the other hand, the holding member 158b is provided with a recess for fitting the guide member 158a. In a state where the hole 158a-2 side of the guide member 158a is fitted to the holding member 158b, the end surface of the guide member 158a on the hole 158a-2 side abuts on the bottom surface of the recess (see FIG. 2A). Further, the holding member 158b is provided with a hole 158b-1, and the hole 158a-2 and the holding member 158b provided in the guide member 158a in a state where the guide member 158a is fitted to the holding member 158b. It communicates with the provided hole 158b-1. The fixing screw 158e (not shown in FIG. 3B) is inserted into the hole 158a-2 and the hole 158b-1, and fastens the guide member 158a and the holding member 158b. Thus, the guide member 158a is fixed to the holding member 158b by contact between the end face of the guide member 158a on the hole 158a-2 side and the bottom surface of the concave portion of the holding member 158b and fastening by the fixing screw 158e. The guide member 158a and the holding member 158b may be bonded with an adhesive or the like, or may be integrally configured as one member.

  The bearing 158c and the fixing ring 158d are rotatably accommodated in a cylindrical hollow portion provided at the tip of the lifting shaft body 159a, and the holding ring 159c is fixed to the tip of the lifting shaft body 159a, so that the hollow portion It has a structure that does not escape. The holding member 158b is connected to the elevating shaft 159 by being pivotally supported by the bearing 158c and fixed to the fixing ring 158d at a shaft portion formed on the opposite side of the concave portion. Therefore, the guide member 158a and the holding member 158b are integrally restricted from moving in the direction of the pan rotation axis L2 with respect to the lifting shaft 159, while being rotatable about the pan rotation axis L2.

  Next, a driving method of the tilt driving motor 150 when the imaging device 110 is tilt-driven in the monitoring camera 100 will be described for each of the case where the tilt angle of the imaging device 110 is −30 degrees and the case where the tilt angle is +30 degrees. . However, the tilt angle of the imaging device 110 is not limited to this. The initial position of the surveillance camera 100 is as shown in FIG. 1, and the optical axis L3 is substantially parallel to the X axis when the surveillance camera 100 is in the initial position.

  FIG. 4A is a perspective view illustrating a state of the monitoring camera 100 in which the imaging apparatus 110 is tilt-driven from the initial state with a tilt angle of −30 degrees. In FIG. 4A, the tilt driving motor 150 is shown in cross section in order to explain the movement of the elevating shaft 159. The tilt driving motor 150 rotates the driven body 153 in one direction and rotates the external gear 157 in a predetermined direction via the rotation of the internal gear 154, thereby moving the lifting shaft 159 in the direction of the arrow M1 (pan rotation axis). (L2 direction minus direction). Thereby, the imaging device 110 receives a force in the direction of the arrow M1 from the tilt drive shaft 160 (guide member 158a) via the guide groove portion 112. At this time, the support 120 supports the imaging device 110 so that the tilt rotation axis L1 is located at a position away from the pan rotation axis L2 in the radial direction of the pan rotation axis L2. That is, the position of the guide pin 158a-1 engaged with the guide groove portion 112 of the imaging device 110 is away from the tilt rotation axis L1 that is the central axis of the rotation shaft portion 113 of the imaging device 110 in the optical axis L3 direction. . Therefore, the force that the imaging device 110 receives from the tilt drive shaft 160 (guide member 158a) acts as a moment around the tilt rotation axis L1. Therefore, when the tilt drive shaft 160 is moved in the direction of arrow M1, the guide pin 158a-1 slides along the guide groove 112 while pulling the imaging device 110 in the direction of arrow M1. Thereby, only the tilt angle of the imaging device 110 can be driven by −30 degrees. At this time, the tilt drive shaft 160 is maintained on the pan rotation axis L2.

  FIG. 4B is a perspective view illustrating a state of the monitoring camera 100 in which the imaging apparatus 110 is tilt-driven from the initial state with a tilt angle of +30 degrees. In FIG. 4B as well, the tilt driving motor 150 is shown in cross section in order to explain the movement of the elevating shaft 159. When the driven body 153 is rotated in the direction opposite to that in the case of FIG. 4A, the tilt driving motor 150 rotates the internal gear 154 and the external gear 157 in the case of FIG. 4A. Can be rotated in the opposite direction. As a result, the elevating shaft 159 moves in the direction of arrow M2 (plus direction of the pan rotation axis L2 direction), and the imaging device 110 receives force in the direction of arrow M2 from the tilt drive shaft 160 via the guide groove 112, and rotates tilt. A moment around the axis L1 is generated. Therefore, when the tilt drive shaft 160 is moved in the direction of the arrow M2, the guide pin 158a-1 slides along the guide groove 112 while pushing up the imaging device 110 in the direction of the arrow M2. Thereby, only the tilt angle of the imaging device 110 can be driven by +30 degrees. Also at this time, the tilt drive shaft 160 is maintained on the pan rotation axis L2. As described above, the surveillance camera 100 can realize the tilt drive of the imaging apparatus 110 by moving the tilt drive shaft 160 in a predetermined direction in the axial direction of the pan rotation axis L2 by driving the tilt drive motor 150. It has a structure that can be done.

  Next, a driving method of the pan driving motor 140 when the imaging device 110 is pan-driven in the monitoring camera 100 will be described in the case where the pan angle of the imaging device 110 is −30 degrees. However, the pan angle of the imaging device 110 is not limited to this. FIG. 5A is a perspective view showing a state of the monitoring camera 100 when the imaging apparatus 110 is pan-driven from the initial state with a pan angle of −30 degrees. When the driven body 143 of the pan driving motor 140 is rotated 30 degrees in the direction of the arrow M3 around the pan rotation axis L2, the imaging device 110 and the support body 120 can be integrally rotated in the direction of the arrow M3. Only the pan angle can be changed by -30 degrees. If it is desired to drive the imaging device 110 by only +30 degrees in the pan angle from the initial state, the driven body 143 of the pan driving motor 140 may be rotated by 30 degrees in the reverse direction of the arrow M3.

  In the surveillance camera 100, since the connecting body 158 is engaged with the imaging device 110, the panning drive is integrally performed with the imaging device 110 and the support body 120. Here, since the connecting body 158 is connected to the elevating shaft 159 disposed so that the central axis thereof substantially coincides with the pan rotation axis L2, the pan driving of the connecting body 158 is performed by the pan of the imaging device 110 and the support body 120. It does not hinder driving. Further, the connecting body 158 is rotatable around the pan rotation axis L2 relative to the lifting shaft 159. Therefore, since the lifting shaft 159 does not rotate due to the movement of the connecting body 158 during pan driving in the surveillance camera 100, the tilt driving motor 150 is not affected at all during pan driving of the imaging device 110.

  FIG. 5B illustrates the monitoring camera 100 when the imaging device 110 is pan-driven from the state of FIG. 4A in which only the tilt angle of the imaging device 110 is −30 degrees and the pan angle is −30 degrees. It is a perspective view which shows a state. Even when the pan driving motor 140 is driven in a state in which the imaging device 110 is tilted by a predetermined angle, the coupling body 158 rotates together with the imaging device 110 around the pan rotation axis L2 independently of the lifting shaft 159. Can do. That is, in the surveillance camera 100, the tilt driving of the imaging device 110 does not hinder the driving of the pan driving motor 140. Therefore, by rotating the imaging device 110 whose tilt angle is only −30 degrees by 30 degrees integrally with the support body 120 in the direction of the arrow M3, the pan angle is further set to −30 degrees. Can do.

  In the above description, a mode in which one of the pan driving motor 140 and the tilt driving motor 150 is driven independently has been described. However, since the tilt driving motor 150 is not affected by the pan driving, it is obvious that the pan driving motor 140 and the tilt driving motor 150 can be driven simultaneously.

  As described above, the surveillance camera 100 can independently and arbitrarily drive the pan driving motor 140 and the tilt driving motor 150 fixed to the base 130, and the tilt driving motor 140 can drive the tilt driving by driving the pan driving motor 140. There is no need to pan the motor 150. Therefore, in the surveillance camera 100, it is not necessary to increase the torque of the vibration actuator for driving the pan, which has been a problem with the conventional surveillance camera (see FIG. 11), and thus the size can be reduced. In addition, the surveillance camera 100 can reduce inertia during pan driving, thereby enabling high-precision drive control with improved positioning accuracy and responsiveness of the imaging device 110. Further, the surveillance camera 100 can be further downsized by arranging the tilt driving motor 150 inside the pan driving motor 140.

  The surveillance camera 100 has a structure in which the vibrating body 142 of the pan driving motor 140 and the vibrating body 152 of the tilt driving motor 150 do not move relative to the base 130. Power can be supplied with a simple structure using Therefore, the surveillance camera 100 can be miniaturized because the conventional structure does not require a slip ring that is necessary for supplying power to the vibration actuator for tilt driving. Further, since the pan driving motor 140 and the tilt driving motor 150 can be arbitrarily driven independently, the frictional force between the sphere and the vibration type actuator as in the conventional turning driving device for driving the sphere. There is no need to drive to reduce the above. Therefore, in the monitoring camera 100, the electric energy supplied to the pan driving motor 140 and the tilt driving motor 150 can be efficiently used for driving the imaging device 110, thereby reducing power consumption. it can. In addition, in the pan driving motor 140, the contact portion between the vibrating body 142 and the driven body 143 has a flat shape, and the same applies to the tilt driving motor 150. Therefore, in the surveillance camera 100, it is possible to improve productivity and reduce costs compared to a structure that drives a sphere that requires high-precision and complicated machining.

  The pan driving motor 140 and the tilt driving motor 150 have a holding force with respect to the imaging device 110 in order to drive the imaging device 110 using a frictional force. Therefore, even if an unexpected external force acts on the monitoring camera 100 when the monitoring camera 100 is not energized, the imaging device 110 can be prevented from moving. Therefore, the surveillance camera 100 can be reduced in size and weight by eliminating the need for a brake or the like that is required in a configuration in which the imaging apparatus is driven by a DC motor or the like.

  In the monitoring camera 100, the guide member 158a and the holding member 158b are integrally configured to be rotatable around the pan rotation axis L2 with respect to the lifting shaft 159 by the bearing 158c. However, as long as the guide member 158a and the holding member 158b can rotate around the pan rotation axis L2 with respect to the lifting shaft 159, the configuration is not limited. In the monitoring camera 100, the guide member 158a is movable in the direction of the optical axis L3 by engaging the guide pin 158a-1 with the guide groove portion 112 of the imaging device 110. However, the present invention is not limited to this, and the guide member 158a may be attached to the imaging device 110 using a spring member, a linear guide, or the like that can be deformed in the optical axis L3 direction.

  Next, a modified example of the monitoring camera 100 will be described. FIG. 6 is a perspective view illustrating a schematic configuration of a stage apparatus 200 that is one of the modified examples of the monitoring camera 100. The stage device 200 is obtained by replacing the imaging device 110 of the monitoring camera 100 with a stage 210. Therefore, the same constituent elements of the stage apparatus 200 as the constituent elements of the monitoring camera 100 are denoted by the same reference numerals, and description thereof is omitted here.

  The stage 210 is formed in a flat plate shape, and is attached to the tilt bearing 121 of the support 120 so as to be rotatable around the tilt rotation axis L1. Screw holes 214 are provided at a plurality of locations on the surface of the stage 210. Driven members of various shapes and sizes can be attached to the stage 210 using the plurality of screw hole portions 214. Thereby, the versatility of the stage apparatus 200 can be improved. For example, the stage apparatus 200 can be used as a pan head for fixing an imaging apparatus such as a digital camera. In addition, when the stage apparatus 200 is used, even when a camera is attached to the stage 210 and used as a monitoring camera, the direction of the optical axis of the camera can be changed according to the actual mounting position of the base 130. Can be realized.

  Next, a second embodiment of the present invention will be described. FIG. 7A is a perspective view showing a schematic configuration of a monitoring camera 300 according to the second embodiment of the present invention. FIG. 7B is an exploded perspective view of the monitoring camera 300. The surveillance camera includes an imaging device 310, a support 320, a base 330, a pan driving motor 340, and a tilt driving motor 350. The imaging device 310 having the lens unit 311 is pivotally supported by the support 320 so as to be rotatable around the tilt rotation axis L1. The imaging device 310 is provided with a guide rail 312 substantially parallel to the optical axis L3 in place of the guide groove 112 in the portion where the guide groove 112 is provided in the imaging device 110 of the monitoring camera 100 according to the first embodiment. It differs from the imaging device 110 by the point. The support body 320 is the same as the support body 120 that constitutes the monitoring camera 100 according to the first embodiment.

  The pan driving motor 340 includes a ring-shaped drive unit 341, a ring-shaped driven body 343, and a damping rubber 344. The vibration damping rubber 344 is the same as the vibration damping rubber 144 used in the pan driving motor 140 constituting the surveillance camera 100 according to the first embodiment. FIG. 8 is a perspective view showing a schematic configuration of the drive unit 341 of the pan driving motor 340. The drive unit 341 includes three vibrator units V1, V2, and V3 having the same structure, and a ring-shaped holding base 347 that holds the vibrator units V1 to V3. In FIG. 8, one vibrating body unit V1 is disassembled and shown. The vibrating body units V1 to V3 are disposed at positions that divide the circumference of the holding table 347 into approximately three equal parts. Note that the number of vibrator units constituting the drive unit 341 is not limited to three, and may be determined according to necessary output characteristics, and may be one or two, or four. It may be the above. The holding table 347 is fixed to the base 330.

  Since the three vibrating body units V1 to V3 have the same structure, the vibrating body unit V1 will be described below. The vibrating body unit V1 includes a vibrating body 342, a support member 346, a felt 345a, and an equalizing plate 345b. The vibrating body 342 includes an elastic body 342b, two protrusions 342c provided on one surface of the elastic body 342b, and a piezoelectric element provided on the surface of the elastic body 342b opposite to the surface on which the protrusion 342c is provided. 342a. The elastic body 342b is substantially rectangular and has a flat plate shape. For example, the elastic body 342b is made of a metal material such as martensitic stainless steel and is subjected to a hardening process such as a quenching process as a process for improving durability. . The protruding portion 342c is formed with a thickness (height) having a spring property, and is formed integrally with the elastic body 342b by, for example, pressing a plate material constituting the elastic body 342b. However, the present invention is not limited to this, and the protrusion 342c may be joined to the elastic body 342b by welding or the like. Since the tip surface (upper surface) of the protrusion 342c slides frictionally with the driven body 343, a hardening process such as a quenching process is performed as a process for improving wear resistance. The driven body 343 is made of a metal material such as stainless steel, and the friction sliding surface with the protrusion 342c is subjected to a hardening process such as a nitriding process as a process for improving the wear resistance.

  The piezoelectric element 342a is bonded to the elastic body 342b with an adhesive. The piezoelectric element 342a has a structure in which electrodes of a predetermined shape are formed on both surfaces of a plate-like piezoelectric ceramic. An alternating voltage having a predetermined frequency is applied to the electrode of the piezoelectric element 342a to excite vibrations in the first bending vibration mode and the second bending vibration mode in the vibrating body 342. As a result, an elliptical motion is generated in the two protrusions 342c in a plane including the direction connecting the two protrusions 342c and the protrusion direction of the protrusion 342c, and the driven body 343 is frictionally driven by the protrusion 342c. . At this time, the vibrating body units V <b> 1 to V <b> 3 are attached to the holding base 347 so that the direction connecting the two protrusions 342 c is the tangential direction of the circumference around the central axis of the driven body 343. As a result, the driven body 343 can be rotated with the pan rotation axis L <b> 2, which is the center axis thereof, as the rotation center. Note that the driven body 343 can be driven as long as there is at least one protrusion 342c. Since the principle of causing the vibrating body 342 to generate an elliptical motion as described above is well known, detailed description thereof is omitted here.

  The support member 346 is a thin plate-like metal member (elastic member) and has an arc shape. One end of the support member 346 in the length direction is joined to a part of the elastic body 342b of the vibrating body 342 by welding or the like. Further, a hole 346 a is provided in the vicinity of the other end in the length direction of the support member 346, and the support member 346 is fastened to the holding table 347 by a fixing screw 349 in the hole 346 a. The vibrating body 342 sandwiched between the two support members 346 is supported by a recess 347a provided in the holding table 347 via a felt 345a. An equalizing plate 345b is disposed between the felt 345a and the recess 347a. The supporting member 346, the felt 345a, and the equalizing plate 345b press the vibrating body 342 (protruding portion 342c) against the driven body 343. Let By driving the pan driving motor 340, the driven body 343 rotates around the pan rotation axis L2, and the support body 320 (imaging device 310) is pan-driven via the damping rubber 344.

  The tilt driving motor 350 is disposed in a space on the inner diameter side of the ring-shaped pan driving motor 340. FIG. 9 is an exploded perspective view showing the configuration of the tilt drive motor 350. The tilt driving motor 350 includes a vibrating body 352, a lifting shaft 353, and a connecting body 358. Since the vibrating body 352 is the same as the vibrating body 342 used in the pan driving motor 340, the description of the structure and the driving method is omitted here. The vibrating body 352 is fixed to a wall portion 332 protruding from the base 330 so that the direction connecting the two protrusions is substantially parallel to the axial direction of the pan rotation axis L2.

  The elevating shaft 353 is a driven body that is frictionally driven by the vibrating body 352. The elevating shaft 353 is a substantially round bar-shaped member made of a metal material such as stainless steel, and the central axis (thrust axis) thereof is disposed at a position substantially coincident with the pan rotation axis L2. The elevating shaft 353 is provided with a magnet (not shown) such as a neodymium magnet or a ferrite magnet, and is in pressure contact with the vibrating body 352 with a predetermined applied pressure by the magnet's attractive force. Therefore, by driving the vibrating body 352, the elevating shaft 353 can be linearly moved in the pan rotation axis L2 direction (Z direction in FIG. 9). The elevating shaft 353 includes a contact portion 353 c that is a friction sliding surface with the vibrating body 352 and a spherical surface portion 353 d that is a sliding surface with the coupling body 358. The contact portion 353c is a portion where the surface on the vibrating body 352 side of the elevating shaft 353 is flattened by pressing or cutting, and lapped so as to be a smoother surface. Abrasion resistance is enhanced by performing a curing treatment such as a treatment.

  The coupling body 358 has a guide part 358a and a holding part 358b (see FIG. 7B). The holding portion 358b is connected to the spherical portion 353d of the elevating shaft 353, and around each axis of the tilt rotation axis L1, the pan rotation axis L2, and an axis (X axis in FIG. 9) orthogonal to these relative to the spherical portion 353d. It is configured to be rotatable while sliding. The guide portion 358 a has a width that engages with a guide rail 312 provided in the imaging device 310, and can move relative to the imaging device 310 in the direction of the optical axis L 3 of the lens portion 311. Yes. Therefore, when the lifting shaft 353 moves linearly in the direction of the pan rotation axis L2, the coupling body 358 also moves integrally with the lifting shaft 353 in the direction of the pan rotation axis L2.

  In the monitoring camera 300, the tilt driving of the imaging device 110 can be realized by driving the tilt driving motor 350 to linearly move the lifting shaft 353 in the direction of the pan rotation axis L2. Further, by rotating the driven body 343 of the pan driving motor 340 around the pan rotation axis L2, the pan driving of the imaging device 110 can be realized. At that time, similarly to the surveillance camera 100 described in the first embodiment, the pan driving motor 340 and the tilt driving motor 350 can be driven independently, and the pan driving motor 340 can be used for tilt driving. There is no need to drive the motor 350 to rotate. Similarly to the surveillance camera 100, the vibrating body 342 of the pan driving motor 340 and the vibrating body 352 of the tilt driving motor 350 do not rotate or go straight. Therefore, even with the monitoring camera 300, the same effect as that obtained with the monitoring camera 100 can be obtained.

  In the surveillance camera 300, the linear drive type vibration actuator is used for the tilt drive motor 350, thereby driving the lift shaft 353 in the pan rotation axis L2 direction. Therefore, the external gear 157 for converting the rotation output used in the surveillance camera 100 to the straight output is not required, and the configuration for screwing the external gear 157 and the lifting shaft body 159a is not required. Thus, the structure can be simplified and the weight can be further reduced. In the surveillance camera 300, since the external gear 157 and the like are not necessary, a meshing sound is not generated, and a quiet operation is possible. Further, in the surveillance camera 300, the imaging device 310 can be directly driven by the pan driving motor 340 and the tilt driving motor 350, so that backlash or the like that may occur in the structure using the external gear 157 does not occur. Therefore, in the monitoring camera 300, it is possible to control the imaging device 310 with higher accuracy and higher responsiveness.

  Since the monitoring camera 300 uses the spherical surface portion 353d to connect the imaging device 310 and the tilt drive motor 350, the rotation around the tilt rotation axis L1 and the rotation around the pan rotation axis L2 can be realized by one component. Can do. Therefore, in the surveillance camera 300, in addition to simplifying the structure and reducing the weight, the cost can be reduced by reducing the number of parts.

  By the way, in the tilt drive motor 350, the configuration using the magnet as the pressurizing unit for pressurizing and contacting the vibrating body 352 and the lifting shaft 353 with a predetermined pressurizing force has been described. It is not limited. FIG. 10 is a diagram illustrating the configuration of another pressurizing unit for bringing the vibrating body 352 and the lifting shaft 353 into press contact. Here, the vibrating body 352 and the elevating shaft 353 are brought into pressure contact with each other using a pressure member 355 having a pressure spring 355a, a pressure receiving member 355b, and a driven portion 355c.

  The pressure spring 355a is a coil spring or the like, and has a spring constant that allows the vibrating body 352 and the elevating shaft 353 to contact with each other with a desired pressure. The pressure receiving member 355b receives the pressure from the pressure spring 355a and presses the lifting shaft 353 to the vibrating body 352 via the driven portion 355c. The driven portion 355c is formed in a spherical shape or a roller shape and is rotatable. Therefore, even if the elevating shaft 353 moves in the direction of the pan rotation axis L2, the driven portion 355c does not move in the direction of the pan rotation axis L2, and can continue to apply pressure to the vibrating body 352.

  In addition, since using a magnet for the pressurization means leads to an increase in cost, the cost can be reduced by using a pressurization spring 355a instead of the magnet. Further, as another pressurizing means that does not use the magnet and the pressurizing member 355, a structure in which two vibrating bodies 352 face each other so as to sandwich the elevating shaft 353 may be used. With such a configuration, driving force and holding force can be increased.

  Although the present invention has been described in detail based on preferred embodiments thereof, the present invention is not limited to these specific embodiments, and various forms within the scope of the present invention are also included in the present invention. included. Moreover, each embodiment mentioned above only shows one Embodiment of this invention, It is also possible to combine each embodiment suitably.

DESCRIPTION OF SYMBOLS 100,300 Surveillance camera 110,310 Image pick-up device 120 Support body 130,330 Base 140,340 Pan drive motor 150,350 Tilt drive motor 160 Tilt drive shaft 157 External gear 200 Stage device 210 Stage 410 Turning stage

Claims (11)

A first rotating body;
A second rotating body that rotatably supports the first rotating body around the axis of the first axis;
A first vibration type actuator having a first driven body and a first driven body that rotates around an axis of a second axis orthogonal to the first axis by vibration excited by the first vibrating body; ,
A shaft member that engages with the first rotating body and is movable in the axial direction of the second shaft at a position substantially coincident with the second shaft;
A second vibration type actuator having a second vibrating body and a second driven body driven by vibration excited by the second vibrating body;
The rotation output of the first vibration type actuator causes the first rotation body and the second rotation body to rotate integrally around the axis of the second shaft, and the output of the second vibration type actuator. The swivel drive device characterized in that the first rotary body is rotated about the axis of the first axis by moving the shaft member straight in the axial direction of the second axis.   The second rotating body pivotally supports the first rotating body so that the first axis is located at a position away from the second axis in the radial direction of the second axis. The swivel drive device according to claim 1. A base on which the first vibration type actuator is fixed;
3. The turning drive device according to claim 1, wherein the second vibration type actuator is fixed to the base in a space on an inner diameter side of the first vibration type actuator. The second vibration type actuator outputs a rotational driving force around an axis substantially parallel to the second axis;
4. The apparatus according to claim 1, further comprising an output conversion unit configured to convert a rotational driving force of the second vibration type actuator into a linear driving force of the shaft member in the axial direction of the second shaft. 5. The turning drive device according to Item 1. The second vibration type actuator includes an internal gear that outputs the rotational driving force,
The output conversion means includes an external gear provided so as to rotate about the axis of the second shaft so as to be engaged with the internal gear while being screwed with the shaft member,
The turning drive device according to claim 4, wherein a direction in which the shaft member moves straight in an axial direction of the second shaft changes according to a rotation direction of the external gear.   The shaft member is slidable with respect to the first rotating body in the radial direction of the first shaft, and is rotatable about the axis of the second shaft together with the first rotating body. The turning drive device according to claim 4, wherein the turning drive device is provided. The second vibration type actuator is a linear drive type vibration type actuator in which the second vibration body linearly drives the second driven body in the axial direction of the second axis,
The turning drive device according to any one of claims 1 to 3, wherein the second driven body is the shaft member. The second driven body includes a magnet;
The swivel drive device according to claim 7, wherein the second vibrating body and the second driven body are in pressure contact with each other by an attractive force of the magnet.   The shaft member does not rotate about the axis of the second shaft, and the first rotating body is slid so as to be rotatable about the axis of the second shaft relative to the shaft member. The swivel drive device according to claim 7 or 8, wherein the swivel drive device is movably engaged and slidable with respect to the first rotating body in a radial direction of the first shaft.   The turning drive device according to claim 1, wherein the first rotating body is an imaging device.   The turning drive device according to any one of claims 1 to 9, wherein the first rotating body is a flat stage.