JP2022070033A - Rotation limit mechanism and posture stabilization device comprising the same - Google Patents

Abstract

To allow a rotation central portion to be used for wiring of signal lines and power lines while limiting a rotation range of a rotation part to a fixed range, regarding a rotation limit mechanism and a posture stabilization device comprising the rotation limit mechanism.SOLUTION: A rotation limit mechanism includes a fixed part and a rotation part, and further includes a stopper member that is a ring-shaped member that limits the rotation range of the rotation part. The rotation part has a hole part that communicates with the outside from the center of an upper surface thereof. When the stopper member and the rotation part are viewed from above, the opening of the hole part is located in the ring of the stopper member. The rotation part has a first convex part that is a convex part. The stopper member has a second convex part that is a convex part provided on an orbit around the first convex part. The stopper member rotates together with the rotation part when the second convex part is pushed by the first convex part. The fixed part has a third convex part that is a convex part provided on an orbit around the second convex part.SELECTED DRAWING: Figure 4

Description

Application for application of Article 30, Paragraph 2 of the Patent Act has been applied. Sold to Chubu Telecommunications Co., Ltd. on February 14, 2nd year of Reiwa [Publications, etc.] Sold to Canon Marketing Japan Inc. on March 16th, 2nd year of Reiwa

The present invention relates to a technique for limiting the range of motion of a movable portion.

The following Patent Document 1 discloses a pan head (so-called camera gimbal) in which the range of motion of the pan axis is limited to 720 °.

International Publication No. 2016/004568 (A1) Pamphlet

In order to improve the waterproofness and dustproof performance of the gimbal and the external devices mounted on the gimbal, it is desirable to wire the signal lines and power lines connected to them in each shaft portion and arm member of the gimbal.

In the camera gimbal of Patent Document 1, a rotation shaft (11) is provided in the center of a rotor (10) constituting the pan shaft, and a lever member (30) that rotates integrally with the rotation shaft (11). And the non-fixed lever member (40) are attached to limit the movable range of the pan shaft to 720 °. In the camera gimbal of Patent Document 1, a flexible printed wiring board (FPC) is used for wiring in the pan shaft, and the signal line and power line of the camera are separately passed through the pan shaft to be connected to an external control device or communication device. It is not possible. Therefore, it is considered that the camera mounted on the camera gimbal of Patent Document 1 is required to be compatible with this camera gimbal.

In view of the above problems, the problem to be solved by the present invention is to limit the rotation range of the rotating portion to a certain range with respect to the rotation limiting mechanism and the posture stabilizing device provided with the rotation limiting mechanism, and to provide a signal line at the center of rotation thereof. It is to be able to be used for wiring of power lines.

In order to solve the above problems, the rotation limiting mechanism of the present invention further includes a fixing portion and a rotating portion, and further includes a stopper member which is a ring-shaped member that limits the rotation range of the rotating portion, and is provided with a stopper member in the axial direction of the rotating portion. The rotating portion has a hole portion communicated from the center of the upper surface thereof to the outside when the direction along the above is up and down, and the opening of the hole portion when the stopper member and the rotating portion are viewed from above. Is located in the ring of the stopper member, the rotating portion has a first convex portion which is a convex portion, and the stopper member is a convex portion provided on the circumferential orbit of the first convex portion. The stopper member has a second convex portion, and the stopper member rotates together with the rotating portion when the second convex portion is pushed by the first convex portion, and the fixing portion is provided on the circumferential orbit of the second convex portion. The gist is to have a third convex portion, which is a convex portion.

By providing a ring-shaped stopper member and arranging the opening of the hole of the rotating part in the ring, the rotation range of the rotating part is limited to a certain range, and the central part of the rotation is wired with a signal line or a power line. It will be possible to use it.

At this time, it is preferable that a signal line and / or a power line is inserted through the hole. According to the rotation limiting mechanism of the present invention, it is possible to wire these lines more flexibly while preventing disconnection of signal lines and power lines.

Further, in order to solve the above problems, the rotation limiting mechanism of the present invention includes a motor, a rotating portion rotated by the motor, and a fixed portion, and is a ring-shaped member that limits the rotation range of the rotating portion. Further comprising a stopper member, the motor has a through hole that penetrates the center of rotation in the axial direction, and when the direction along the axial direction of the motor is up and down, the stopper member is the upper surface of the motor or the upper surface of the motor. It is arranged above the motor, and when the stopper member and the motor are viewed from above, the opening of the through hole is located in the ring of the stopper member, and the rotating portion is a convex portion. The stopper member has a first convex portion, and the stopper member has a second convex portion which is a convex portion provided on a circumferential orbit of the first convex portion, and the stopper member has the first convex portion of the first convex portion. The gist is that the fixed portion rotates together with the rotating portion by being pushed by the convex portion, and the fixed portion has a third convex portion which is a convex portion provided on the circumferential orbit of the second convex portion.

By providing a ring-shaped stopper member and arranging the through hole opening of the motor in the ring, the rotation range of the rotating part is limited to a certain range, and the rotation center portion is used for wiring of signal lines and power lines. It will be possible to use it.

At this time, it is preferable that a signal line and / or a power line is inserted through the through hole. According to the rotation limiting mechanism of the present invention, it is possible to wire these lines more flexibly while preventing disconnection of signal lines and power lines.

At this time, it is preferable that the motor is immovably fixed to the fixed portion. Since the motor is fixed to the fixed portion and the fixed portion has the third convex portion, the rotation limiting mechanism can be unitized.

At this time, it is preferable that the rotating portion is directly coupled to the output portion of the motor. By directly driving the rotating portion, the structure of the rotation limiting mechanism can be made simpler.

Further, in the rotation limiting mechanism of the present invention, it is preferable that the rotating portion has a cylindrical portion having a cylindrical shape, and the first convex portion is a convex portion formed on the inner peripheral surface of the tubular portion. By rotating the stopper member using the inner peripheral surface of the rotating portion, the rotation range of the rotating portion can be limited while the rotation center (hole portion and through hole) of the rotating portion is secured for wiring applications and the like.

Further, in order to solve the above problems, the posture stabilizing device of the present invention includes a mount portion for holding an external device and a pan shaft member for rotating the mount portion in the pan direction, and the pan shaft member is the present invention. The gist is to have a rotating part of the invention. Further, the posture stabilizing device of the present invention may further include a tilt shaft member that swings the mount portion in the tilt direction, and a roll shaft member that swings the mount portion in the roll direction.

As described above, according to the rotation limiting mechanism of the present invention and the posture stabilizing device provided with the rotation limiting mechanism, the rotation range of the rotating portion is limited to a certain range, and the rotation center portion thereof is used for wiring of signal lines and power lines. It will be possible to use it.

It is a perspective view which shows the appearance of the camera gimbal which concerns on embodiment. It is an exploded perspective view of a pan shaft member. It is a side view sectional view of a pan shaft member. It is a top view explaining the rotation limiting mechanism of a pan shaft member. It is a figure which shows the positional relationship of each convex part when a rotating part rotates counterclockwise. It is a figure which shows the positional relationship of each convex part when a rotating part rotates clockwise. It is a figure which shows the modification of the rotation limiting mechanism.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiments described below are examples of a camera gimbal 80 mounted on a multicopter 90, which is an unmanned aerial vehicle. In the following description, "upper" and "lower" refer to directions parallel to the Z axis of the coordinate axes drawn in each figure, with the Z1 side as the upper side and the Z2 side as the lower side. "Front" and "back" refer to directions parallel to the X axis of the same coordinate axis, with the X1 side as the front and the X2 side as the back. "Left and right" means a direction parallel to the Y axis of the same coordinate axis. "Horizontal" means the XY plane on the same axis. The "circumferential direction" refers to a clockwise or counterclockwise direction when the camera gimbal 80 is viewed in a plane.

[Outline of configuration]
FIG. 1 is a perspective view showing the appearance of the camera gimbal 80 according to the present embodiment. The camera gimbal 80 rotates the camera 81 held by the mount portion 82 in the pan, tilt, and roll directions, and absorbs the vibration and tilt of the multicopter 90 during flight to maintain the posture of the camera 81 in a stable posture. It is a camera.

The mount portion 82 of the camera gimbal 80 is a box-shaped case body, and a general color camera block is attached inside. In this embodiment, in addition to the camera 81, the infrared camera 811 is also housed in the mount portion 82. The mount portion 82 is not limited to the box-shaped case body, and may have any shape and structure as long as it can hold an external device or the like. Further, what the mount portion 82 holds is not limited to the camera, and may be any one such as a laser scanner, which requires a change in orientation and a stable posture.

Tilt shaft members 83 are connected to the left and right surfaces of the mount portion 82. The tilt shaft member 83 is a rotation shaft driven by a motor, whereby the mount portion 82 is swung in the tilt direction. Similarly, behind the mount portion 82, a roll shaft member 84, which is a rotation shaft that swings the mount portion 82 in the roll direction, is arranged. The rotating portion of the roll shaft member 84 and the fixing portion of the tilt shaft member 83 are connected by a roll arm 87, which is a hollow arm member. Above the mount portion 82, a pan shaft member 85, which is a rotation shaft for rotating the mount portion 82 in the pan direction, is arranged. The rotating portion of the pan shaft member 85 and the fixing portion of the roll shaft member 84 are connected by a pan arm 88, which is a hollow arm member. The fixed portion of the pan shaft member 85 is coupled to a vibration-proof plate 86 that absorbs the vibration of the multicopter 90 with a plurality of rubber balls, and the vibration-proof plate 86 is coupled to the body of the multicopter 90.

[Structure of pan shaft member]
FIG. 2 is an exploded perspective view of the pan shaft member 85 of the present embodiment. FIG. 3 is a side sectional view of the pan shaft member 85. Hereinafter, the structure of the pan shaft member 85 will be described with reference to FIGS. 2 and 3.

As shown in FIG. 2, the pan shaft member 85 of the present embodiment is mainly composed of a rotating portion 10, a fixing portion 20, a stopper member 30, and a motor 40.

The rotating portion 10 is a cup-shaped member, and a pan arm connecting portion 14 to which the pan arm 88 is connected is provided on the side surface thereof. The pan arm 88 of this embodiment is a hollow cylindrical member. The pan arm connecting portion 14 is formed in a square cylinder shape, and communicates the internal space of the rotating portion 10 with the internal space of the pan arm 88. The rotating portion 10 of the present embodiment has a double bottom structure having an insole 12 and a bottom plate 13, and a hole 121 is formed in the center of the insole 12. A screw hole 129 is provided in the insole 12 of the rotating portion 10, and the rotating portion 10 is screwed to the lower surface of the motor 40. Further, a first convex portion 111, which is a convex portion, is formed on the inner surface of the tubular portion 11 which is a side surface of the rotating portion 10. The first convex portion 111 is an element constituting the rotation limiting mechanism described later.

The fixing portion 20 is a member that is immovably fixed to the body of the multicopter 90. Between the fixed portion 20 and the airframe, there are actually a lid, a vibration-proof plate 86, and the like that are put on the fixed portion 20, and these are also immovably fixed to the airframe. Therefore, the fixed portion 20 may be included including these, and may be the fixed portion 20 including the machine body, but in FIGS. 2 and 3, for convenience of explanation, only the minimum necessary members are referred to as the fixed portion 20.

The fixed portion 20 is provided with a hole 28 in the center thereof. A screw hole 29 is provided around the hole 28, and the fixing portion 20 is screw-coupled to the screw hole 44 provided on the upper surface of the motor 40. Further, a third convex portion 21, which is a convex portion protruding downward, is provided on the lower surface of the fixed portion 20. The third convex portion 21 of the present embodiment is a pin embedded in the lower surface of the fixed portion 20. The third convex portion 21 is an element constituting the rotation limiting mechanism described later. The fixed portion 20 is in-row fitted to the opening at the upper end of the rotating portion 10, but these are not fixed in the circumferential direction and can freely rotate with each other.

The stopper member 30 is an annular member mounted on the upper surface of the motor 40. The stopper member 30 has an annular ring portion 31 and a second convex portion 32 which is a convex portion protruding outward from the outer peripheral surface of the ring portion 31. The second convex portion 32 is an element constituting the rotation limiting mechanism described later. When the motor 40 is viewed from above, the opening of the through hole 43 of the motor 40 is located in the ring of the stopper member 30.

The motor 40 of this embodiment has a bearing 45 mounted in each screw hole 44 on the upper surface thereof. Each bearing 45 supports the inner peripheral surface of the ring portion 31, whereby the stopper member 30 is positioned on the motor 40 and smooth rotation is maintained. The bearing 45 may be omitted as long as the position of the stopper member 30 on the motor 40 is kept constant and the rotation thereof is not particularly hindered.

The tips of the first convex portion 111 of the rotating portion 10 and the third convex portion 21 of the fixed portion 20 overlap with the position of the stopper member 30 in the vertical direction thereof, and the first convex portion 111 and the third convex portion Both 21 are arranged on the orbit around the second convex portion 32 of the stopper member 30. In this embodiment, the stopper member 30 is placed on the upper surface of the motor 40 in order to improve the structural efficiency of the pan shaft member 85, but the second convex portion 32 comes into contact with the first convex portion 111 and the third convex portion 21. If possible, the stopper member 30 may be arranged above the upper surface of the motor 40 (on the fixed portion 20 side).

The motor 40 is an outer rotor type brushless motor. The motor 40 of this embodiment is provided with a through hole 43 that penetrates the center of rotation in the axial direction A (see FIG. 3). In the motor 40, the lower half body coupled to the rotating portion 10 is the rotor portion 41, and the upper half body coupled to the fixed portion 20 is the stator portion 42. Although the motor 40 is a brushless motor, the side provided with the armature (armature) is not necessarily the stator portion 42, and similarly, the side provided with the permanent magnet is not necessarily the rotor portion 41. In this embodiment, the side fixed to the body of the multicopter 90 so as not to be relatively rotatable is referred to as a stator portion 42, and the side capable of being relatively rotatable is referred to as a rotor portion 41.

In this embodiment, an independent motor 40 is used as a drive source for the pan shaft member 85, and the rotating portion 10 and the fixed portion 20 are coupled to the motor 40. For example, the rotating portion 10 and the fixed portion 20 are connected to a permanent magnet. By directly holding the armature, it is possible to make the rotating portion 10 itself into the rotor portion 41 and the fixing portion 20 itself into the stator portion 42.

As shown in FIG. 3, in the assembled pan shaft member 85, from the central hole 28 of the fixing portion 20, the inside of the ring of the stopper member 30, the through hole 43 of the motor 40, and the hole portion 121 of the rotating portion 10. , And a continuous space is formed in the pan arm 88 through the pan arm connecting portion 14. In this embodiment, signal lines and power lines connected to a motor, a camera 81, etc. that drive each shaft member 83, 84, 85 are wired in the space. As described above, the pan shaft member 85 of the present embodiment is provided with the ring-shaped stopper member 30, and the opening of the through hole 43 of the motor 40 is arranged in the ring, so that the rotation center portion thereof is represented by a signal line or the like. It can be used for power line wiring and the like. As a result, the camera gimbal 80 of this embodiment has improved waterproof and dustproof performance of the camera gimbal 80 itself and the camera 81 mounted on the camera gimbal 80 itself. The use of the space is not limited to wiring of signal lines and power lines, and may be used for any purpose.

[Rotation limiting mechanism]
FIG. 4 is a plan view illustrating the rotation limiting mechanism of the pan shaft member 85. The rotation range of the pan shaft member 85 of this embodiment is limited to about 720 °. The limitation of the rotation range of the pan shaft member 85 is mainly realized by the first convex portion 111 of the rotating portion 10, the second convex portion 32 of the stopper member 30, and the third convex portion 21 of the fixing portion 20.

The second convex portion 32 of the stopper member 30 projects on the orbit around the first convex portion 111 of the rotating portion 10. Therefore, when the rotating portion 10 rotates, the stopper member 30 rotates together with the rotating portion 10 when the second convex portion 32 is pushed by the first convex portion 111. The third convex portion 21 of the fixed portion 20 is arranged on the orbit around the second convex portion 32. When the second convex portion 32 pushed and rotated by the first convex portion 111 hits the third convex portion 21, the second convex portion 32 cannot rotate any more, and the first convex portion 32 is pushed. The convex portion 111 (rotating portion 10) cannot rotate any more. The first convex portion 111 and the third convex portion 21 are in a positional relationship in which they do not interfere with each other unless the second convex portion 32 intervenes.

5 and 6 are plan views showing how the rotation range of the rotating portion 10 is limited. FIG. 5 is a diagram showing the positional relationship of the convex portions 111, 21, 32 when the rotating portion 10 rotates counterclockwise (CCW direction), and FIG. 6 shows the rotating portion 10 clockwise (CW direction). It is a figure which shows the positional relationship of each convex part 111, 21, 32 when rotating.

In FIG. 5, as shown in FIG. 5A, the surface of the stopper member 30 on the CW side of the second convex portion 32 comes into contact with the third convex portion 21 of the fixed portion 20, and the first convex portion of the rotating portion 10 is formed. The initial position is a state in which the surface on the CW side of 111 is in contact with the surface on the CCW side of the second convex portion 32.

As shown in FIG. 5B, when the rotating portion 10 rotates about once in the CCW direction from its initial position, the surface on the CCW side of the first convex portion 111 comes into contact with the surface on the CW side of the second convex portion 32. do. Up to this point, the stopper member 30 does not rotate, and only the rotating portion 10 rotates. When the rotating portion 10 further rotates in the CCW direction from here, the second convex portion 32 is pushed by the first convex portion 111, so that the stopper member 30 also rotates in the CCW direction.

As shown in FIG. 5C, when the stopper member 30 rotates about once in the CCW direction together with the rotating portion 10, the surface of the second convex portion 32 on the CCW side abuts on the third convex portion 21. As a result, the stopper member 30 can no longer rotate in the CCW direction, and the rotating portion 10 that pushes the second convex portion 32 is also prevented from rotating in the CCW direction.

In FIG. 6, as shown in FIG. 6A, the surface of the stopper member 30 on the CCW side of the second convex portion 32 comes into contact with the third convex portion 21 of the fixed portion 20, and the first convex portion of the rotating portion 10 is formed. The initial position is a state in which the surface on the CCW side of 111 is in contact with the surface on the CW side of the second convex portion 32. That is, in FIG. 5, the initial position is the state in which the rotating portion 10 is completely rotated in the CCW direction (FIG. 5 (c)).

As shown in FIG. 6B, when the rotating portion 10 rotates about once in the CW direction from its initial position, the CW-side surface of the first convex portion 111 comes into contact with the CCW-side surface of the second convex portion 32. do. Up to this point, the stopper member 30 does not rotate, and only the rotating portion 10 rotates. When the rotating portion 10 further rotates in the CW direction from here, the second convex portion 32 is pushed by the first convex portion 111, so that the stopper member 30 also rotates in the CW direction.

As shown in FIG. 6C, when the stopper member 30 rotates about once in the CW direction together with the rotating portion 10, the surface of the second convex portion 32 on the CW side abuts on the third convex portion 21. As a result, the stopper member 30 can no longer rotate in the CW direction, and the rotating portion 10 that pushes the second convex portion 32 is also prevented from rotating in the CW direction.

As described above, in the camera gimbal 80 of the present embodiment, the rotation range of the pan shaft member 85 is limited by the rotation limiting mechanism, so that the signal line and the power line are prevented from being disconnected.

Since it is sufficient that the third convex portion 21 projects on the orbit around the second convex portion 32 and is fixed so as not to rotate relative to the body of the multicopter 90, the fixed portion 20 does not necessarily have this. Although it is not necessary to provide the motor 40, in the present embodiment, the motor 40 is fixed to the fixed portion 20, and the fixed portion 20 also includes the third convex portion 21, so that the rotation limiting mechanism can be provided only by the pan shaft member 85. It's complete. That is, the unitization of the rotation limiting mechanism is realized.

Further, the rotating portion 10 of the present embodiment is directly coupled to the rotor portion 41 which is the output portion of the motor 40. That is, the rotating portion 10 is directly driven by the motor 40. This simplifies the structure of the rotation limiting mechanism.

Further, in the rotation limiting mechanism of the present embodiment, the rotating portion 10 has a cylindrical portion 11 having a cylindrical shape, and the first convex portion 111 is formed on the inner peripheral surface of the tubular portion 11. By rotating the stopper member 30 using the inner peripheral surface of the rotating portion 10, the diameter (inner diameter) of the ring portion 31 of the stopper member 30 is maximized, and a wide space penetrating the pan shaft member 85 is secured. However, it is possible to limit the rotation range of the rotating portion 10.

[Modification example]
FIG. 7 is a diagram showing a modified example of the rotation limiting mechanism. FIG. 7A is a plan view illustrating the structure of the rotation limiting mechanism according to the present modification, and FIG. 7B is a sectional view taken along the line AA of FIG. 7A. For convenience of explanation, the fixing portion 20 and the bearing 22 are omitted in FIG. 7A. In this modification, the members having the same roles and functions as the respective members of the previous embodiment are designated by the same reference numerals as those of the previous embodiment, and detailed description thereof will be omitted.

The rotation limiting mechanism of this modification is mainly composed of a rotating portion 10, a fixing portion 20, a stopper member 30, a drive gear 48, and a driven gear 49. Also in this modification, the rotation range of the rotating portion 10 is limited to about 720 °.

The rotating portion 10 is a cup-shaped member, and a rotating shaft 16 having a hole portion 161 penetrated up and down is formed at the center of rotation thereof. The rotating shaft 16 is continuous downward from the bottom surface 13 of the rotating portion 10 and constitutes the pan arm connecting portion 14. Further, the rotating shaft 16 of this modification penetrates the fixed portion 20 upward. As a result, in the rotation limiting mechanism of this modification, a space continuous from the center of the fixing portion 20 to the pan arm 88 is formed. In this modification as well, signal lines and power lines are wired in the space.

Further, the rotary shaft 16 of this modification is supported by the fixing portion 20 via the bearing 22, and a retaining washer 23 for preventing the rotary shaft 16 from falling off from the bearing 22 is attached to the upper end of the rotary shaft 16. Has been done.

The stopper member 30 is an annular member placed on the bottom surface 13 of the rotating portion 10, and is a ring-shaped ring portion 31 and a second convex portion 32 which is a convex portion protruding outward from the outer peripheral surface of the ring portion 31. And have. In the stopper member 30 of this modification, the ring portion 31 is fitted to the outer peripheral surface of the rotating shaft 16. That is, when the rotating portion 10 is viewed from above, the opening of the rotating shaft 16 and the hole portion 161 thereof is located in the ring of the stopper member 30. Further, a first convex portion 111, which is a convex portion, is formed on the upper surface 10a of the bottom plate 13 of the rotating portion 10. A third convex portion 21, which is a convex portion protruding downward, is provided on the lower surface of the fixed portion 20.

The tips of the first convex portion 111 of the rotating portion 10 and the third convex portion 21 of the fixed portion 20 overlap with the position of the stopper member 30 in the vertical direction thereof, and the first convex portion 111 and the third convex portion Both 21 are arranged on the orbit around the second convex portion 32. The mechanism in which the rotation range of the rotating portion 10 is limited by the first convex portion 111, the second convex portion 32, and the third convex portion 21 is the same as that of the previous embodiment.

The drive gear 48 is a gear member driven directly by a motor (not shown) or via other gears. The drive gear 48 meshes with the internal gear 15 formed on the inner peripheral surface of the rotating portion 10, and rotates the rotating portion 10 in the CW / CCW direction. The two driven gears 49 are gear members for suppressing deformation and tilting of the rotating portion 10, do not have a drive source, and rotate in accordance with the rotation of the internal gear 15.

The rotation limiting mechanism according to the above modification also allows the rotation center portion of the rotating portion 10 to be used for wiring of signal lines and power lines while limiting the rotation range to a certain range.

Although the embodiments of the present invention have been described above, the scope of the present invention is not limited to this, and various modifications can be made without departing from the gist of the invention. For example, although the camera gimbal 80 for the multicopter 90 has been described in the above embodiment, the camera gimbal 80 may be handheld. Further, although the camera gimbal 80 of the above embodiment has three axes, it may be a one-axis gimbal having only a pan axis. Further, the rotation limiting mechanism of the present invention can be applied to other than the posture stabilizing device such as the camera gimbal 80. The rotation limiting mechanism of the present invention requires a hole that can be used for wiring or the like at the center of rotation of the rotating part or the motor, and any device should limit the rotation range of the rotating part to a certain range. It is also applicable to.

10: Rotating part, 11: Cylindrical part, 111: First convex part, 12: Insole, 121: Hole part, 129: Screw hole, 13: Bottom plate, 13a: Top surface, 14: Pan arm connection part, 15: Inside Gear, 16: Rotating shaft, 161: Hole, 20: Fixed part, 21: Third convex part, 22: Bearing, 23: Retaining washer, 28: Hole, 29: Screw hole, 30: Stopper member, 31 : Ring part, 32: Second convex part, 40: Motor, 41: Rotor part, 42: Stator part, 43: Through hole, 44: Screw hole, 45: Bearing, 48: Drive gear, 49: Driven gear, 80 : Camera gimbal, 81: Camera, 811: Infrared camera, 82: Mount part, 83: Tilt shaft member, 84: Roll shaft member, 85: Pan shaft member, 86: Anti-vibration plate, 87: Roll arm, 88: Pan arm , 90: Multicopter

Claims (9)

Equipped with a fixed part and a rotating part,
A stopper member, which is a ring-shaped member that limits the rotation range of the rotating portion, is further provided.
When the direction along the axial direction of the rotating portion is up and down, the rotating portion has a hole portion communicating with the outside from the center of the upper surface thereof.
When the stopper member and the rotating portion are viewed from above, the opening of the hole portion is located in the ring of the stopper member.
The rotating portion has a first convex portion which is a convex portion, and the rotating portion has a first convex portion.
The stopper member has a second convex portion which is a convex portion provided on the orbit around the first convex portion, and the stopper member is said to have the second convex portion pushed by the first convex portion. Rotates with the rotating part,
The fixed portion is a rotation limiting mechanism having a third convex portion which is a convex portion provided on the orbit around the second convex portion. The rotation limiting mechanism according to claim 1, wherein a signal line and / or a power line is inserted through the hole. With the motor
The rotating part rotated by the motor and
With a fixed part,
A stopper member, which is a ring-shaped member that limits the rotation range of the rotating portion, is further provided.
The motor has a through hole that penetrates the center of rotation in the axial direction.
The stopper member is arranged on the upper surface of the motor or above the motor when the direction along the axial direction of the motor is up and down, and when the stopper member and the motor are viewed from above, the penetration member is provided. The opening of the hole is located in the ring of the stopper member.
The rotating portion has a first convex portion which is a convex portion, and the rotating portion has a first convex portion.
The stopper member has a second convex portion which is a convex portion provided on the orbit around the first convex portion, and the stopper member is said to have the second convex portion pushed by the first convex portion. Rotates with the rotating part,
The fixed portion is a rotation limiting mechanism having a third convex portion which is a convex portion provided on the orbit around the second convex portion. The rotation limiting mechanism according to claim 3, wherein a signal line and / or a power line is inserted through the through hole. The rotation limiting mechanism according to claim 3 or 4, wherein the motor is immovably fixed to the fixed portion. The rotation limiting mechanism according to any one of claims 3 to 5, wherein the rotating portion is directly coupled to the output portion of the motor. The rotating portion has a cylindrical portion having a cylindrical shape.
The rotation limiting mechanism according to any one of claims 1 to 6, wherein the first convex portion is a convex portion formed on the inner peripheral surface of the tubular portion. The mount that holds the external device and
A pan shaft member that rotates the mount portion in the pan direction is provided.
The posture stabilizing device having the rotating portion according to any one of claims 1 to 7, wherein the pan shaft member is a posture stabilizing device. A tilt shaft member that swings the mount portion in the tilt direction,
The posture stabilizing device according to claim 8, further comprising a roll shaft member that swings the mount portion in the roll direction.

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