JP2018205494A - Rotation drive device - Google Patents

Abstract

To provide a rotation drive device capable of suppressing deterioration of position detection accuracy with a simple configuration.SOLUTION: A camera 100 being a rotation drive device rotatably holds a pan-unit 30 by a base cover 210, and is rotationally driven around a rotation axis P by bringing a pair of the contact parts 251e of the pan drive unit 250 into contact with a friction sliding surface 330a. The pan unit 30 includes: a pan reflection scale 331 concentrically facing a friction sliding plane 330a at a gap Dp with a pan optical sensor 263 available in the base cover 210; and a sliding plane 330b. A pan optical sensor 263 has a detection point 263a through which a virtual straight line L3 passes through a center C between the pair of contacts part 251e and the rotation axis P. A base cover 210 has a pair of protrusions 261a interposing the pan optical sensor 263 therebetween and facing the sliding plane 330b in a gap dp (<Dp).SELECTED DRAWING: Figure 4

Description

  The present invention relates to a turning drive device, and more particularly to a turning drive device having a movable body that drives without affecting the operation of a mounted body.

  In recent years, small cameras called action cams and wearable cameras have become widespread. This kind of camera can be worn on the body and photographed hands-free. Moreover, it can also mount | wear with apparatuses, such as a bicycle and a drone (unmanned aircraft), and can also image | photograph (for example, refer patent document 1).

  FIG. 6 is a perspective view of a drone 1 to which a conventional camera 2 is mounted. FIG. 6A is an exploded perspective view of a gimbal 3 used for mounting the camera 2 on the drone 1. FIG. 2 shows a state in which the drone 1 is attached by the gimbal 3.

  The drone 1 has a plurality of propellers. The number of propellers varies depending on the size, weight, and usage of the drone. The drone 1 shown in the figure is what is called a quadcopter having four propellers. The drone 1 can float by generating lift by rotating the propeller. The aircraft can be stably held (hovered) in the air by maintaining all the propellers at the same rotational speed. Further, if the propeller rotational speed balance is deliberately adjusted, the attitude of the drone 1 can be changed in the direction in which the nose is tilted. The camera 2 is a small camera called an action cam. The camera 2 is configured to be small and lightweight in order to emphasize portability. Further, the camera 2 is equipped with an optical lens unit that can shoot at a relatively wide angle, and can record a viewpoint-based video of a device (drone 1) to which the camera 2 is attached.

  The camera 2 is held by a gimbal 3 in order to attach the camera 2 to the drone 1. The gimbal 3 is fixed to the drone 1 with screws 4 together. The camera 2 is fixed to the gimbal 3 by a fixing component (not shown). For example, an adhesive double-sided tape or a binding band is applied to the fixed part. The gimbal 3 has a built-in mechanism for maintaining the posture of the camera 2 to be held constant. Specifically, the camera 2 is controlled by controlling three axes of pan (horizontal / left / right) direction / tilt (vertical / vertical) direction / roll (rotation) direction with respect to a stage installed to hold the camera 2. An operation is performed to cancel the shaking generated by the device (drone 1) to which the device is attached. As a result, the camera 2 can record an image with little image shake.

  In the conventional configuration described above, the direction in which an image can be recorded is only the front direction indicated by the optical axis of the camera 2. And when switching the direction which records an image, the posture of a to-be-attached body must be directed to the intended direction, and the movement of a to-be-attached body will be controlled. For example, when the image recording direction is switched while the camera 2 is attached to the bicycle handle via the gimbal 3, the front of the bicycle handle that is the attached body must be directed to the next image recording direction. The direction will change. In addition, when a person is walking with the camera 2 wearing the gimbal 3, if the user tries to switch the image recording direction of the camera 2 without changing the walking direction, an unnatural walking posture is obtained. Walking speed becomes unstable. Eventually, problems such as an increase in image shake of the recorded image occur.

  As a method for arbitrarily controlling the image recording direction of the camera 2 without restricting the movement of the mounted body, for example, a turning drive device capable of turning the optical unit (for example, see Patent Document 2). Are known. Specifically, this turning drive device has a pulley attached to one of the rotating shafts that rotates a movable body (optical unit) including a lens barrel, and a driving force is transmitted to the pulley by winding a timing belt around the pulley. Then, the movable body is driven to rotate relative to the mounted body. Furthermore, on the other rotating shaft for rotating the movable body, a pattern plate that rotates together with the movable body, a predetermined distance (gap) from the pattern plate, and a fixed body are arranged and printed on the pattern plate in a radial pattern. Position detecting means comprising an optical sensor for counting the number of patterns is provided. With this configuration, it is possible to drive the movable body while detecting the rotation angle with high accuracy.

  When this turning drive device is attached to the mounted body, only the optical unit can switch the shooting direction, so that shooting can be performed without affecting the operation of the mounted body.

Japanese Patent Laid-Open No. 2006-82463 JP 2010-11199 A

  However, in Patent Document 2, when the movable body is tilted by the tension of the timing belt wound around the pulley, the gap between the pattern plate and the optical sensor fluctuates, and the rotation angle detection accuracy decreases. In particular, when the pitch of the pattern printed on the pattern plate is made finer in pursuit of high-accuracy driving, the rotation angle detection accuracy error given by the gap variation becomes significant. In the worst case, there is a concern that a defect such as physical damage between the pattern plate and the optical sensor may occur.

  In view of the above problems, an object of the present invention is to provide a turning drive device that can perform turning drive with high accuracy while suppressing deterioration of position detection accuracy with a simple configuration.

  A turning drive device according to the present invention includes a driven body, a holding member that rotatably holds the driven body, an actuator that generates a driving force for rotating the driven body, and a rotational position of the driven body. A position detection unit having a detection point for detecting the rotation point, and a turning drive device having the detection point, wherein the driven body receives a driving force from the actuator concentrically around a rotation axis P around which the driven body rotates. A surface to be transmitted, a position detection unit whose rotational position is detected by the detection point, and a sliding plane are arranged, and the actuator has a transmission unit that transmits a driving force to the outside, and the transmission unit A pair of contact portions formed in a convex shape are fixed to the holding member in a state of being in pressure contact with the transmitted surface of the driven body, and the position detection unit is fixed to the holding member, and Parallel to the rotation axis P Direction projection view, a virtual straight line L3 passing through the center C on the virtual straight line L1 connecting the centers of the pair of contact portions formed in a convex shape on the transmission portion and the center of the rotation axis P is obtained. The position detector is disposed so as to pass over the detection point, and the holding member has a pair of protrusions sandwiched between the position detector and protruding toward the sliding plane. And an interval Dp between the position detection unit and the position detection unit is set longer than an interval dp between the sliding plane and the pair of protrusions.

  ADVANTAGE OF THE INVENTION According to this invention, the turning drive device which can suppress deterioration of position detection accuracy with a simple structure and can perform turning drive with high accuracy can be provided.

It is a perspective view of the drone with which the camera as a turning drive device of the present invention is installed. It is an external appearance perspective view of the camera in FIG. It is a disassembled perspective view of a camera. It is a schematic diagram of the principal part cross section in the assembly state of a camera. It is the figure which looked at the bread | pan rotation board in FIG. 4 from the front. It is a perspective view of the drone with which the conventional camera is mounted | worn.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  Here, an imaging device (hereinafter referred to as “camera”) attached to an unmanned aerial vehicle (hereinafter referred to as “drone”) is taken up as a turning drive device according to the present invention. However, the turning drive device according to the present invention is not limited to this, and can be widely applied to a turning drive device having a movable body whose drive angle is controlled, such as a joint of a robot arm. It is done.

  FIG. 1 is a perspective view of a drone 10 provided with a camera 100 as a turning drive device of the present invention. FIG. 1A shows a state where the drone 10 is landing, and FIG. 1B shows a state where the drone 10 is in flight. Represents.

  The drone 10 is called a quadcopter having four propellers 11a, 11b, 11c, and 11d (hereinafter collectively referred to as “propeller 11”). However, the number of propellers 11 of the drone 10 as the mounted body of the camera 100 according to the present invention is not limited to four, and may be different depending on the size, weight, usage, and the like of the drone 10.

  The drone 10 can float by generating lift when the propeller 11 rotates. The aircraft can be stably held (hovered) in the air by maintaining all the propellers 11 at the same rotational speed. Moreover, if it adjusts so that the balance of the rotation speed of the propeller 11 may be destroyed intentionally, the attitude | position of the drone 10 can be changed to the direction which the nose intended to incline.

  A camera 100 is attached to the drone 10. The attachment method is not particularly limited. For example, a method such as sandwiching an adhesive double-sided tape between the drone 10 and the camera 100 or tying the camera 100 to the drone 10 with a binding band or the like is employed. In addition, an attachment for attaching the camera 100 to the drone 10 may be prepared separately. The camera 100 is roughly divided into a fixed part and a movable part. The movable part is configured to be capable of turning driving, specifically panning driving and tilting driving with respect to the fixed part. Details of the internal configuration of the camera 100 will be described later.

  Furthermore, the drone 10 includes skids 12a and 12b (hereinafter collectively referred to as “skid 12”). The skid 12 is a mechanism that supports the drone 10 on the ground. The skid 12 of the present invention is configured to be retractable (movable). Specifically, the attachment portion to the drone 10 is configured to be rotatable by a certain amount. With this configuration, when the drone 10 takes off, the skid 12 can be pulled from the position shown in FIG. 1A to the position shown in FIG. For this reason, it is possible to prevent problems such as the skid 12 entering the angle of view when the camera 100 performs panning driving during flight. On the other hand, since the skid 12 can be pulled out from the position shown in FIG. 1B to the position shown in FIG. 1A when landing, it prevents the drone 10 and the camera 100 from coming into contact with the ground and being damaged. be able to.

  FIG. 2 is an external perspective view of the camera 100 in FIG.

  As shown in FIG. 2, in the camera 100, a panning unit (hereinafter referred to as a “pan unit”) 30 as a driven body that is a panning movable portion is placed on a base unit 20 horizontally with respect to the base unit 20. It is mounted so that it can rotate (in the direction of the solid arrow), that is, can be panned.

  Further, the camera 100 includes a tilting unit (hereinafter referred to as “tilt unit”) 40 as another holding member including a camera unit 50 having an imaging element and an optical lens on the pan unit 30. As shown in FIG. 2, the tilt unit 40 holds the optical axis of the camera unit 50 with respect to the pan unit 30 so that the optical axis of the camera unit 50 can be rotated vertically (in the direction of the broken arrow), that is, tiltable.

  With the configuration as described above, the camera 100 can rotate the tilt unit 40 having the camera unit 50 horizontally (panning) and vertically rotate (tilting) relative to the base unit 20 in various directions, Angle shooting is possible.

  Below, the structure of the camera 100 is demonstrated using FIGS. 3-5 suitably.

  3A and 3B are exploded perspective views of the camera 100. FIG. 3A shows the camera 100 from a viewpoint in which the pan driving unit 250 is in front, and FIG. 3B is from a viewpoint in which the pan optical sensor 263 is in front. The camera 100 is shown.

  FIG. 4 is a schematic diagram of a cross-section of the main part of the camera 100 in the assembled state.

  It should be noted that parts that are unnecessary for the explanation of the present invention and are complicated are not shown.

  The camera 100 mainly includes a pan unit 30, a tilt unit 40 including the camera unit 50, and a base unit 20 including a base cover 210 as a holding member, an internal structure 220, and a bottom cover 230.

  P indicates a rotation axis in the horizontal rotation (panning) direction of the pan unit 30 with respect to the base unit 20, and T indicates a rotation axis in the vertical rotation (tilting) direction of the tilt unit 40 with respect to the pan unit 30. In this embodiment, the optical axis, the rotation axis P, and the rotation axis T of the camera unit 50 are orthogonal to each other, but they are not necessarily orthogonal to each other.

  The internal structure 220 includes a control board 221.

  The control board 221 is mounted with a system control circuit (CPU), a memory, and a driver IC that performs drive control of the pan unit 30 and the tilt unit 40, and controls the entire camera 100.

  The internal structure 220 is fixed inside the base cover 210 via the main chassis 240, and is then casing by fixing the bottom cover 230 to the lower part of the base cover 210.

  A power input terminal (not shown) is provided on the bottom surface of the bottom cover 230. By using this power input terminal, power can be supplied from the external power supply means to the camera 100.

  Furthermore, an attachment that can be attached to the drone 10 described above with reference to FIG.

  In the pan unit 30, the pan shaft portion 312 a of the pan base 310 is slidably fitted into the pan rotation support hole 21 a of the pan bearing member 21 provided in the base cover 210. An annular rib 21b is provided inside the pan rotation support hole 21a.

  Further, the pan unit 30 fastens the pan rotation plate 330 having an annular shape to the pan base 310 with screws or the like from the inside of the base cover 210. Accordingly, the pan unit 30 is also sandwiched between the annular ribs 21b in the thrust direction, and is supported in a state in which it can be horizontally rotated (panned) with respect to the base cover 210.

  A friction sliding surface 330a disposed on the main chassis 240 in the base unit 20 is provided on the opposite surface of the pan rotating plate 330 to the side on which the pan base 310 is attached (see FIGS. 4 and 5). . The frictional sliding surface 330a functions as a transmitted surface to which the driving force from the pan driving unit 250 is transmitted.

  The pan driving unit 250 is an actuator called a so-called ultrasonic motor that uses an ultrasonic vibration to frictionally drive the pan unit 30 that is a driven body.

  On the friction sliding surface 330a, a pair of contact portions 251e formed in a convex shape on the vibrator 251a functioning as a transmission portion for transmitting the driving force of the pan driving unit 250 to the outside is provided with a constant pressure in the assembled state. Contact. Specifically, as shown in FIG. 4, it is urged by a spring member (not shown) in a direction (arrow B direction) parallel to the rotation axis P that is a pan rotation axis.

  It should be noted that the position where the urging force is applied by a spring member (not shown) is arranged at a center C indicated by a black circle on an imaginary straight line L1 connecting the centers of the pair of contact portions 251e as shown in FIG. desirable. Thereby, a pair of contact part 251e can be made to press-contact uniformly with respect to the friction sliding surface 330a.

  In this pressure contact state, when a high frequency voltage is applied from the flexible printed circuit board (hereinafter referred to as “FPC”) 251c to the piezoelectric element 251b by a control signal from the driver IC, the pair of contact portions 251e are used. The ultrasonic vibration excited by the vibrator 251a is transmitted to the friction sliding surface 330a.

  When this ultrasonic vibration is transmitted to the frictional sliding surface 330 a, the pan rotating plate 330 is frictionally driven, and the pan base 310 integrated with the pan rotating plate 330 is relative to the base cover 210. Driven by horizontal rotation.

  On the other hand, the tilt unit 40 is supported so as to be vertically rotatable (tilted) with respect to the pan unit 30 and is driven to rotate relative to the pan unit 30 by an actuator (not shown).

  The above-described pan bearing member 21 is a member formed by injection molding a resin (for example, polyacetal (POM)) having low friction and excellent slidability.

  In addition, the friction sliding surface 330a of the pan rotating plate 330 described above is subjected to a predetermined process for improving wear resistance.

  For example, a stainless steel material is used for the pan rotating plate 330, and the friction sliding surface 330a is subjected to a hardening process such as a nitriding process.

  Further, the friction sliding surface 330a is smooth and is subjected to a surface treatment such as lapping so that warpage is extremely small in order to maintain a stable contact state with the pair of contact portions 251e of the vibrator 251a of the pan driving unit 250. The surface is smooth.

  Reference numeral 263 denotes a pan optical sensor such as a rotary encoder, which is mounted on an FPC 262 fixed to the main chassis 240 via a spacer 261. The pan optical sensor 263 is fixed to the pan rotating plate 330, and is combined with a pan reflection scale 331 which is a position detection unit that is mounted so as to face each other with a predetermined distance Dp (FIG. 4). This functions as a pan position detector.

  As shown in FIG. 5, the panning reflection scale 331 is provided with an optical grating (brightness / darkness pattern) 331a as a reflection pattern arranged in the circumferential direction at a constant cycle as shown in FIG.

  The pan optical sensor 263 includes a detection point 263a in which a light emitting unit that irradiates light to the pan reflection scale 331 and a light receiving unit that receives the reflected light from the pan reflection scale 331 are integrally packaged. Have. For example, a light emitting diode is used as the light emitting unit, and a phototransistor is used as the light receiving unit, for example. The light receiving unit is set at a plurality of positions where reflected light obtained by reflecting the light emitted from the light emitting unit to the optical grating (bright / dark pattern) 331a of the pan reflection scale 331 is incident, and is received by each light receiving unit. The reflected light is converted into an electrical signal. When the pan optical sensor 263 and the pan reflection scale 331 move relative to each other, the amount of reflected light incident on each light receiving portion from the optical grating (bright / dark pattern) 331a periodically changes. The value of the electric signal to be changed periodically changes.

  As described above, the “rotation position”, “rotation direction”, “rotation speed”, and the like of the pan reflection scale 331 that moves relative to each other can be known using the phase of the periodic signal output from each light receiving unit. That is, the “rotation position”, “rotation direction”, “rotation speed” and the like of the pan unit 30 integrated with the pan reflection scale 331 can be known with high accuracy.

  Since the spacer 261 is finished with high thickness, the predetermined distance Dp between the pan optical sensor 263 and the pan reflection scale 331 can be accurately determined in the assembled state. Further, as shown in FIG. 3A, the spacer 261 is a pair of elements disposed so as to sandwich the pan optical sensor 263 in a state where the FPC 262 is fixed to the main chassis 240 via the spacer 261. It has a protrusion 261a.

  The pair of protrusions 261 a have the same height from the surface where the spacer 261 is attached to the main chassis 240 toward the pan rotation plate 330. Further, in the assembled state, it is arranged to face a rail-like sliding plane 330b (see FIGS. 4 and 5) provided on the pan rotating plate 330. That is, the pair of protrusions 261a are configured to protrude toward the sliding plane 330b.

  Then, as shown in FIG. 4, in the assembled state, the pair of protrusions 261a and the sliding plane 330b are arranged to face each other with a predetermined distance dp.

  In the present embodiment, the sliding plane 330b has a ring-shaped plane, but is not limited to this configuration as long as the pair of protrusions 261a are always at positions facing the sliding plane 330b. For example, when the pan unit is restricted to rotate only up to a certain angle, the sliding plane 330b may have a flat surface formed in an arc shape.

  Here, the predetermined distance Dp between the pan optical sensor 263 and the pan reflection scale 331 and the predetermined distance dp between the pair of protrusions 261a and the sliding plane 330b in the assembled state described above are Dp. > Dp is set.

  FIG. 5 is a view of the pan rotating plate 330 in FIG. 4 as viewed from the front. That is, it is a diagram viewed from a direction parallel to the rotation axis P.

  As shown in FIG. 5, the pan rotating plate 330 is provided with a friction sliding surface 330a, a pan reflection scale 331, and a sliding plane 330b concentrically around a rotation axis P extending in the front direction of the drawing.

  Further, as described above, a biasing force is applied to the vibrator 251a by a spring member (not shown) at the center C indicated by the black circle on the virtual straight line L1 connecting the centers of the pair of contact portions 251e.

  As shown in FIG. 5A, the pair of protrusions 261a provided on the spacer 261 are arranged so as to sandwich the optical sensor 263 for bread between them at a position overlapping the sliding plane 330b.

  The virtual straight line L2 connecting the centers of the pair of protrusions 261a is parallel to the virtual straight line L1 connecting the centers of the pair of contact portions 251e, and the virtual straight line L3 connecting the centers of the virtual straight lines L1 and L2. Are arranged so as to pass through the center of the rotation axis P. The virtual straight lines L1 and L2 are orthogonal to a virtual straight line L3 that passes through the center of the rotation axis P.

  The detection point 263a of the pan optical sensor 263 is arranged at a position where the virtual straight line L3 passes on the projection.

  By the way, the pan unit 30 is rotationally driven while receiving a constant pressure from the pan drive unit 250 in the direction of arrow B parallel to the rotation axis P as shown in FIG. For this reason, as the camera 100 is used, the pan rotation support hole 21a and the annular rib 21b of the pan bearing member 21 may be gradually worn.

  As the wear of the pan rotation support hole 21a and the annular rib 21b of the pan bearing member 21 progresses, the pan shaft portion 312a has an arbitrary angle (for example, the angle shown in FIG. 4) with respect to the initial rotation axis P. a slope of θ).

  In other words, the pan unit 30 is gradually displaced in the direction in which the pan reflection scale 331 and the pan optical sensor 263 approach each other (the predetermined interval Dp decreases).

  When the wear further progresses and the pan unit 30 is tilted by a predetermined distance dp between the pair of protrusions 261a and the sliding plane 330b (that is, the angle θ in FIG. 4), The protruding portion 261a contacts the sliding plane 330b.

  Accordingly, the predetermined distance Dp between the pan optical sensor 263 and the pan reflection scale 331 is restricted to be equal to or less than a predetermined distance, and deterioration of pan position detection accuracy due to the fluctuation of the predetermined distance Dp is prevented. Can do.

  Specifically, as shown in FIG. 5A, when the rotation axis P is the center, the distance R1 to the center C indicated by the black circle between the pair of contact portions 251e and the pair of protrusions 261a are slid. The distance R2 slidably contacting the moving plane 330b is arranged so as to satisfy the relationship R1 <R2.

  Thus, before the pan shaft portion 312a is inclined to the angle θ with respect to the initial rotation axis P, a gap having a size of dp or less can be formed, and the sliding plane 330b can be prevented from being worn. On the other hand, when the pan shaft portion 312a is inclined to the angle θ, each of the pair of protrusions 261a is brought into contact with the sliding plane 330b quickly, so that the pan optical sensor 263 and the pan reflection scale 331 are physically connected. Can be surely prevented from touching.

  Preferably, as shown in FIG. 5A, the distance R3 to the detection point 263a of the pan optical sensor 263 when the rotation axis P is the center, and the pair of protrusions 261a slide. The distance R2 slidably contacting the plane 330b is arranged so that R3 <R2.

  Furthermore, as described above, the predetermined distance Dp between the pan optical sensor 263 and the pan reflection scale 331 and the predetermined distance dp between the pair of protrusions 261a and the sliding plane 330b are Dp>. It is set so as to have a relationship of dp.

  With such a configuration, when the inclination generated in the pan unit 30 due to wear of the pan bearing member 21 becomes the angle θ, the pair of pairs of the pan rotating plate 330 is separated from the rotation axis P to the detection point 263a. The protrusion 261a abuts on the sliding plane 330b and regulates.

  Therefore, when the pair of protrusions 261a abut against the sliding plane 330b, the amount of decrease in the predetermined distance Dp between the pan optical sensor 263 and the pan reflection scale 331 caused by the displacement of the pan unit 30 is reduced. can do.

  Therefore, it is possible to effectively suppress the deterioration of the pan position detection accuracy caused by the approach of the predetermined distance Dp between the pan optical sensor 263 and the pan reflection scale 331.

  Further, when the pan unit 30 is displaced due to wear of the pan bearing member 21, the pair of projections 261a and the sliding plane 330b always come into contact with each other first, so that the pan optical sensor 263 and the pan reflection scale 331 are physically connected. Without contact.

  With such a configuration, when the pan unit 30 is displaced and the pair of protrusions 261a and the sliding plane 330b are in contact with each other, it is possible to stably receive the pressure applied from the pan drive unit 250 at all times. The pan unit 30 can be stably supported.

  Therefore, even if the pan bearing member 21 is worn with the use of the camera 100 and the predetermined distance Dp between the pan optical sensor 263 and the pan reflection scale 331 is changed, the rotational position of the pan unit 30 is changed. It becomes possible to maintain the detection accuracy stably.

  Further, preferably, as shown in FIG. 5B, the center C indicated by the black circle between the pair of contact portions 251e and the pair of protrusions 261a are equidistant (120 in the circumferential direction around the rotation axis P). (° interval).

  With such a configuration, the pan unit 30 can be supported more stably when the pan unit 30 is displaced and the pair of protrusions 261a and the sliding plane 330b are in contact with each other.

  With the configuration described above, the displacement of the pan unit 30 due to wear of the pan bearing member 21 can be stably supported, and the predetermined distance Dp between the pan optical sensor 263 and the pan reflection scale 331 is equal to or greater than a certain distance. Fluctuation can be effectively suppressed.

  As a result, it is possible to suppress deterioration in pan position detection accuracy due to a change in the predetermined interval Dp due to long-term use, and it is possible to maintain the rotational position detection accuracy of the pan unit 30 of the camera 100.

  In this embodiment, the driving force for rotating the camera unit 50 by the pan driving unit 250, which is an actuator, is generated. However, the present invention is not limited to this configuration. For example, the driving unit may generate a driving force for panning the camera unit 50 by winding a timing belt around a pulley attached to the pan shaft 312a.

  In the present embodiment, the pair of protrusions 261a are provided at positions facing the sliding plane 330b, but the present invention is not limited to this configuration. For example, the number may be one as long as it is provided near the pan reflection scale 331 and dp shown in FIG. 4 is shorter than Dp.

  The present invention is not limited to the above-described embodiment, and it is needless to say that other various configurations can be adopted without departing from the gist of the present invention.

30 pan unit 50 camera unit 100 camera 210 base cover 250 pan drive unit 251a vibrator 251e pair of contact portions 261a pair of protrusions 263 pan optical sensor 263a detection point 330a friction sliding surface 330b sliding plane 331 pan reflection Scale 331a Optical grating (light / dark pattern)
P Rotating axis in panning direction

Claims (7)

A driven body;
A holding member for rotatably holding the driven body;
An actuator for generating a driving force for rotating the driven body;
In a position detection unit having a detection point for detecting the rotational position of the driven body, and a turning drive device having
The driven body has a concentric shape around a rotation axis P around which the driven body rotates,
A transmitted surface that receives a driving force from the actuator;
A position detection unit in which a rotational position is detected by the detection point;
A sliding plane, and
The actuator is
It has a transmission part that transmits the driving force to the outside,
A pair of contact portions formed in a convex shape on the transmitting portion is fixed to the holding member in a state of being in pressure contact with the transmitted surface of the driven body,
The position detector is
Fixed to the holding member, and
In a projection view in a direction parallel to the rotation axis P,
An imaginary straight line L3 passing through a center C on the imaginary straight line L1 connecting between the centers of the pair of contact parts formed in a convex shape on the transmission part and the center of the rotation axis P is above the detection point. The position detection unit is disposed so as to pass through
The holding member has a pair of protrusions sandwiched between the position detection parts and protruding toward the sliding plane,
A turning drive device characterized in that an interval Dp between the position detection unit and the position detection unit is set longer than an interval dp between the sliding plane and the pair of protrusions. The driven body further includes another holding member that holds a camera unit having an optical lens and an imaging element so as to be rotatable about a rotation axis P different from the rotation axis P;
2. The turning drive device according to claim 1, wherein the optical axis of the camera unit, the rotation axis T, and the rotation axis P are orthogonal to each other.   A distance R1 from the rotation axis P to the center C formed in a convex shape on the transmission portion is shorter than a distance R2 from the rotation axis P to each of the pair of protrusions. The turning drive device according to claim 1 or 2. The position detection unit has a reflection pattern formed at a fixed period at a position away from the rotation axis P, and the detection point is from a light emitting unit and a light receiving unit for detecting the reflection pattern. Become
The distance R3 from the rotation axis P to the detection point is shorter than the distance R2 from the rotation axis P to each of the pair of protrusions. The turning drive device described.   5. The center C and the pair of protrusions are arranged so as to be equidistant in a circumferential direction around the rotation axis P. 6. Swivel drive device.   The turning drive device according to any one of claims 1 to 5, wherein the sliding plane has a plane formed in one of an annular shape and an arc shape. A driven body;
A rotating shaft P that holds the driven body so as to be capable of panning;
A drive unit that is provided in the vicinity of the rotating shaft and generates a driving force for pan-rotating the driven body;
A position detector around the rotating shaft and disposed on the driven body;
In a turning drive device comprising a position detection unit at a position facing the position detection unit,
A sliding plane around the axis of rotation and disposed on the driven body;
A protrusion at a position facing the sliding plane,
The position detection unit is located between the rotation shaft and the sliding plane, and the protrusion is provided in the vicinity of the position detection unit,
A turning drive device characterized in that an interval Dp between the position detection unit and the position detection unit is smaller than an interval dp between the sliding plane and the protrusion.

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