JP2645218B2 - Head device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pan head device,
The present invention relates to a pan head device mounted with a minute imaging device or a lighting device used in a narrow environment such as in a piping device and adjusting their posture and the like.

[0002]

2. Description of the Related Art In a large plant such as a power generation facility including various types of equipment elements, there are many narrow places where humans cannot easily enter. For example, in a piping facility, an industrial endoscope is used as a typical observation means. However, since the endoscope has a relatively large radius of curvature and cannot secure an observation distance, it is difficult to use the endoscope for a long curved thin tube. In order to solve this problem, a mechanism for mounting necessary observation equipment and moving the inside of the pipe with wheels or legs has been developed. In such a moving mechanism, observation of the moving direction and close inspection of the piping side wall are performed while monitoring an ultrasonic image or a video image. Usually, in order to monitor these images, a wide field of view is taken to perform forward observation and side wall observation at the same time, or separate observation means are provided for each observation direction and front observation and side wall observation are performed by each observation means. It is common to do or do.

[0003]

However, when the observation means is provided as described above, there are the following problems. That is, when the traveling direction and the side wall direction are to be observed by the same observation unit, a sufficient observation area cannot be secured because the side wall is located in a direction deviated from the optical axis direction of the observation unit. In addition, when the observation means is provided for each observation direction, the space in which the equipment can be mounted and the load capacity that can be mounted in the moving mechanism are reduced by the cube of the ratio of the reduction in length. As the moving environment becomes narrower as described above, it is not realistic to provide observation means for each observation direction. Further, the same problem occurs when the environment to be observed is illuminated instead of the observation means.

Accordingly, an object of the present invention is to solve the above-mentioned problems of the prior art, and to provide a pan head device which can mount an imaging device or a lighting device used in a narrow environment such as in a piping device and can adjust the attitude thereof. To provide.

[0005]

In order to achieve the above object, a head device according to the present invention comprises a first magnet for supplying a magnetic flux, and a coil wound so as to intersect the magnetic flux of the first magnet. A coil body disposed at at least two different positions movable with respect to the first magnet due to the Lorentz force when an electric current is applied; a platform head; A moving transmission body attached to the coil body, the other end of which is attached to an attachment portion at a different position of the camera platform.

A first magnet for supplying a magnetic flux;
A coil is formed by being wound so as to intersect with the magnetic flux of the first magnet, and at least two coil bodies fixed at different positions of the first magnet, and intersecting with a current flowing through the coil of the coil body The first magnet is disposed so as to have a magnetic flux overlapping the magnetic flux, and is disposed at at least two different positions where the Lorentz force acts when the current flows through the coil body and the coil body can move with respect to the coil body. A second magnet, a camera platform, and a movement transmitting body having one end attached to each of the second magnets and the other end attached to an attachment portion at a different position of the camera platform. It is characterized by.

A first magnet for supplying a magnetic flux;
At least two third magnets comprising an electromagnet provided with a coil movable relative to the first magnet and arranged to generate a magnetic flux in a direction substantially parallel to the magnetic flux of the first magnet;
It is characterized by comprising a pan head section, and a movement transmitting body mounted at one end to each of the third magnets and at the other end to a mounting section at a different position of the pan head section.

A fourth magnet is provided between the at least two third magnets and disposed in a magnetic path of the first magnet.

In addition, at least two first magnets each composed of an electromagnet for supplying a magnetic flux, and each of the first magnets are arranged so as to generate a magnetic flux in a direction substantially parallel to the magnetic flux of each of the first magnets. At least two fifth magnets movable with respect to one magnet, a pan head section, and a mounting section having one end attached to each of the fifth magnets and the other end at a different position of the pan head section. It is provided with an attached movement transmitting body.

[0010]

In the pan head device according to the first aspect, since the coil of the coil body is wound so as to intersect with the magnetic flux of the first magnet for supplying the magnetic flux, the Lorentz force acts when an electric current is applied. Move relative to the first magnet. A movement transmitting member is provided between the camera platform and each coil body. By controlling the magnitude and direction of the current flowing through each coil body, the magnitude and direction of the Lorentz force received by each coil body is controlled, and moved according to the Lorentz force acting on each coil body. The movement of the body is transmitted to the mounting portion of the camera platform via the respective movement transmitters. The position of the camera platform is controlled by displacing different positions of the camera platform with the respective mounting portions relative to each other.

In the camera head device according to the second aspect, since the coil of the coil body is wound so as to intersect with the magnetic flux of the first magnet for supplying the magnetic flux, the Lorentz force acts when an electric current flows. The second magnet is disposed such that its magnetic flux intersects with the current flowing through the coil of the coil body and generates a magnetic flux in a direction substantially parallel to the magnetic flux of the first magnet. Since each coil body is fixed to the first magnet,
When the Lorentz force acts on each coil body, each second magnet moves with respect to each coil body. A movement transmitting member is provided between the camera platform and each of the second magnets. By controlling the magnitude and direction of the current flowing through each coil body, the magnitude and direction of the Lorentz force received by each coil body is controlled, and each second magnet is moved according to the Lorentz force acting on each coil body Then, the movement of each of the second magnets is transmitted to the mounting portion of the camera platform via the respective movement transmitter. The position of the camera platform is controlled by displacing different positions of the camera platform with the respective mounting portions relative to each other.

According to the third aspect of the present invention, when a current is applied to the third magnet made of an electromagnet, a magnetic flux of the third magnet is generated. The third magnet receives attraction or repulsion from the first magnet and moves with respect to the first magnet. A movement transmitter is provided between each of the third magnets and the camera platform. By controlling the magnitude and direction of the current flowing through each of the third magnets, each of the third magnets is moved with respect to the first magnet, and the movement of each of the third magnets is controlled via a respective moving transmitter. It is transmitted to the mounting part of the base. The position of the camera platform is controlled by displacing different positions of the camera platform with the respective mounting portions relative to each other.

The fourth magnet has a magnetic flux in a direction substantially parallel to the magnetic flux of the first magnet for supplying the magnetic flux, and is disposed on the magnetic path of the first magnet. The third magnet receives attraction or repulsion from the fourth magnet and is moved with respect to the fourth magnet.

In the pan head device according to the fifth aspect, the plurality of first magnets are constituted by electromagnets, and the corresponding fifth magnets are arranged so as to generate a magnetic flux in a direction substantially parallel to the magnetic flux of each of the first magnets. Then, the fifth magnet is movable with respect to each of the first magnets.

[0015]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a head device according to an embodiment of the present invention. FIG. 1 is a sectional view showing a schematic configuration of a first embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a first magnet for supplying a magnetic flux, and the first magnet 1 is a hollow cylindrical permanent magnet magnetized in an axial direction. An annular yoke 2 is attached to both ends of the first magnet 1 in the axial direction. A cylindrical magnet holder 3 with a flange made of a non-magnetic material is attached to a side cylindrical surface of the first magnet 1. An outer yoke 4 having a cylindrical divided portion is attached to a flange portion 3a of the flanged cylindrical magnet holder 3. In the example shown in FIG. 2, the XX portion and the YY portion of this division portion are set at an angle of about 90 degrees. Note that this angle may be arbitrarily set as shown in an example described later.

The first magnet 1, the annular yoke 2, and the outer yoke 4 form a magnetic circuit. As shown by the dashed arrows in FIG. Radially in the radial direction through one toroidal yoke 2, proceeding in the axial direction on the cylindrical surface side of the outer yoke 4, and proceeding in the radial direction toward the center through the other annular yoke 2 , Returning to the S pole of the first magnet 1.

In the gap between the annular yoke 2 and the outer yoke 4, two sets of cylindrical coil bodies 5, 6 are provided.
The outer surfaces of the coil bodies 5 and 6 are slidably formed on the inner surface of the outer yoke 4. The winding direction of the coils of the coil bodies 5 and 6 is in a direction crossing the magnetic flux flowing through the magnetic circuit formed by the first magnet 1 and the like. The first magnet 1 and the annular yoke 2
Since the area of the cross section of the central hollow portion can be made very small as compared with the total cross sectional area, it does not hinder the flow of the magnetic flux. Necessary wiring and the like are stored in this hollow portion. If there are no wires to be stored, this hollow portion is not always necessary.

A fulcrum 10 made of an elastic member such as silicone rubber is attached to one end of the outer yoke 4. At the tip of the fulcrum, a camera platform 11 is supported.

Two mounting portions 13 and 14 are provided on both sides of the fulcrum 10 of the camera platform 11. Between the coil body 5 and the mounting part 13 and between the coil body 6 and the mounting part 14, rod-shaped movement transmission bodies 16 and 17 made of a non-magnetic high-rigidity member are mounted.

The moving transmission members 16 and 17 are derived from the divided portion of the outer yoke 4. The front shape of the camera platform 11 is substantially V-shaped. The attachment portions 13 and 14 to which the movement transmitting bodies 16 and 17 are attached are formed by stretching a silicone rubber film stretched inside a circular hole formed at an end of the camera platform 11. The movement transmitting bodies 16 and 17 are attached so as to penetrate the center of the membrane. The fastening between the membrane and the high-rigidity member is performed mainly by friction, but both may be fixed with an adhesive. Although the handling of the elastic member is different between the elastic fulcrum 10 and the rubber film-like mounting portions 13 and 14, the elastic fulcrum 1
The fulcrum may be formed by a high-rigidity member having a rubber film configuration of 0 as the mounting portions 13 and 14. Thus, the fulcrum 1
Since the mounting portions 13 and 14 are elastically supported, the inclination when the camera platform 11 is tilted is absorbed as deformation of both elastic members, and the movement transmission members 16 and 1 of any high rigid member are used.
7 is not deformed or extremely tilted.

Next, the operation of this embodiment will be described.
Since the coils of the coil bodies 5 and 6 are wound in a direction crossing the magnetic flux generated by the first magnet 1 (for example, a direction perpendicular to the plane of FIG. 1), when a current is applied to the coil bodies 5 and 6, A driving force, which is a so-called Lorentz force, which is proportional to the magnitude of the applied current acts on the magnetic field 6 in a direction perpendicular to the magnetic field and the direct current. In the present embodiment, a driving force in the same axial direction as the magnetization direction of the first magnet 1 is generated. The coil members 5, 6 are displaced in the axial direction by this driving force.

Although the magnetic flux generated by the first magnet 1 is common, a current can be applied to each of the coils 5 and 6 independently.
For example, if the left and right coils in FIG. 1 are driven in the same direction, the camera platform 11 performs an up-and-down swing motion (tilt operation) around the fulcrum portion 10. Further, when the coil bodies 5 and 6 are driven in opposite phases, a left and right swing operation (pan operation) is realized. The angle can be set continuously by a combination of the magnitudes of the currents flowing through the two coil bodies 5 and 6. For example, in the dimensional ratio shown in FIG. 1, the operation ranges in the tilt and pan directions are calculated geometrically to ± 30 degrees and ± 12 degrees, respectively.

According to the configuration of the present embodiment, the coil bodies 5, 6
Is transmitted to the mounting portions 13 and 14 at different positions of the camera platform 11 via the respective movement transmitting bodies 16 and 17, whereby the attitude of the camera platform 11 can be controlled.

Next, a second embodiment of the present invention will be described. As shown in FIG. 3, in the present embodiment, two first magnets 1 and 21 composed of the permanent magnets shown in FIG. 1 are provided. The first magnet 1 and the first magnet 21 are disposed so that the directions of magnetization are opposite (the S pole is opposed in FIG. 3). The first magnets 1 and 21 are equipped with flanged cylindrical magnet holders 3 and 23, respectively. An annular yoke 2, 2, 2 is attached to each end of the first magnet 1, 21 in the axial direction. A cylindrical outer yoke 24 is mounted on the outside of the two sets of cylindrical magnet holders 3 and 23, and the outer yoke 24 has three divided parts.

Toroidal magnet holders 3 and 23 and outer yoke 2
A total of three thin annular coil bodies 5, 6, 7 are disposed in the magnetic gap between the four.

Movement transmission members 34, 35, 36 made of three non-magnetic high-rigid members are attached to the coil bodies 5, 6, 7, and the movement transmission members 34, 35, 36 are provided with outer yoke. It is led out along 24 divided parts. The movement transmitting members 34, 35, 36 are attached to the camera platform 30 via attachment portions 31, 32, 33 similar to the attachment portions 13, 14 in FIG. 1 using an elastic film. The camera platform 30 has a triangular shape as shown in FIG.
Reference numerals 2 and 33 are located near the vertices of the triangle.

According to the configuration of this embodiment, three coil bodies 5, 6, 7 are provided, and three movement transmitting bodies 34, 45, 36 are provided.
Is provided, the pan head unit 30 can be controlled with three degrees of freedom. As a result, the pan head unit 30 can be moved up and down (tilt operation) or left and right (pan operation). In addition to the above, it is possible to control the translation in the axial direction.

Further, since the first magnets 1 and 21 and the peripheral mechanisms can be connected in series in the axial direction, even if the load of equipment such as an image pickup device mounted on the camera platform 30 is large, the first magnets 1 and 21 can be expanded. The first magnet 21 and the like can easily cope without contacting the equipment such as the imaging device.

In this embodiment, the elastic fulcrum 10 in FIG. 1 has been described as not being employed, but may be used in combination.

Further, the shape of the camera platform 30 is substantially triangular, but is not limited to this shape.

A description will be given of a third embodiment of the present invention in which the coils of the coil body cross the magnetic flux of the first magnet 1 and the like in the first and second embodiments.

Next, a third embodiment of the present invention will be described. In the present embodiment, the first magnet 40 is a coil 41
And an electromagnet having FIG. 5 corresponds to the case of one first magnet shown in FIG. 1, but the permanent magnet can be similarly replaced with an electromagnet in the case of two first magnets shown in FIG. In this embodiment, the method of supporting the yoke and the platform head is the same as in the previous embodiment, and therefore only different structures will be described.

In FIG. 5, a thread-wound yoke 42 having a shape obtained by integrating the first magnet 1 of the permanent magnet and the annular yoke 2 in FIG. Wound Yoke 4
A coil body 41 is wound around the center of 2. The coil of the coil body 41 is wound so as to wind around an axis. When a current flows through this coil, a magnetic flux is generated in the axial direction near the axis.

The end of the wound yoke 42 and the outer yoke 4 oppose each other in the radial direction to form a gap. Thin cylindrical coil bodies 5 and 6 are disposed in the gaps. The outer yoke 4 is supported by a flange 43a of a flanged coil cover 43 made of a non-magnetic material and installed outside in a radial direction of the coil body 41 wound around the wound yoke 42.

The first magnet 40 is formed by a pin-shaped yoke 42 and a coil body 41 wound around the first magnet 40. The first magnet 40 of the electromagnet generates a magnetic flux flowing through a path shown by a broken line in the figure. This route is the same as that shown in FIG. 1, but in this embodiment, the first direction is such that the direction of the magnetic flux can be changed depending on the polarity of the current applied to the electromagnet.
It is different from the embodiment and the like.

When a current is applied to the coil bodies 5 and 6, an interaction with the magnetic flux generated by the first magnet 40 causes
The coil members 5, 6 are moved in the axial direction by a driving force of Lorentz force. This driving force is guided to the camera platform via a movement transmission member made of a high-rigidity member (not shown).

According to the structure of this embodiment, the first magnet 1 is constituted by an electromagnet. In the case of the first embodiment and the like, the direction of the driving force is determined by the direction of the current applied to the coil bodies 5 and 6, whereas in the present embodiment, the coil pair 5 and 6 and the winding around the pin-shaped yoke are used. It can be determined by the combination of the directions of the currents applied to the coil body 41 that has been set. As a result, for example, when it is desired to temporarily change the magnification (gain) and direction of the force generated in the plurality of thin cylindrical coil bodies 5 and 6, the currents of these coil bodies 5 and 6 are individually adjusted. Instead, it can be adjusted by changing the magnitude and polarity of the current flowing through the coil body 41.

In the present embodiment, the coil body 5,
6 and the current application to the coil body 41 is stopped,
It becomes possible to erase the magnetic properties of the device.

Since the first magnet 40 is an electromagnet,
It is possible to eliminate disadvantages in the case of using a permanent magnet. For example, when the first magnet is constituted by a permanent magnet, the material is limited to a magnetic material, so that a material having a fragile property may be used in some cases. It was necessary to attach a reinforcement to the end face separately. In the case of electromagnets, the choice of materials is expanded,
Integrated processing becomes possible. In the case of a permanent magnet,
There is a direction easy to magnetize, and the shape of the permanent magnet is limited by the shape of the magnetizing and the forming jig, etc., whereas in the present embodiment, a magnet having a desired shape, for example, a magnet having a curved surface can be used. It is. In the case of a permanent magnet, even if an attempt is made to obtain a large magnetic flux, the magnetic flux is limited by a jig or the like, but in the present embodiment, a large magnetic flux can be easily obtained by increasing the magnitude of the current flowing through the coil body 41. You can get
A large driving force can be generated.

Next, a fourth embodiment of the present invention will be described with reference to FIG. FIG. 6 corresponds to FIG. 1, but is not limited thereto, and the present embodiment can correspond to FIG. In addition, the configuration of the moving transmission member and the like made of a high-rigidity member for supporting the camera platform is the same as that of the previous embodiment, and thus the description is omitted.

In FIG. 6, the first magnet 50, which is a cylindrical permanent magnet at the center, forms a closed-loop magnetic circuit through two annular yokes 53, 53 and an outer yoke 56. In the gap between the annular yoke 53, 53 and the outer yoke 56,
The second magnets 54 and 55, which are annular magnets radially magnetized so as to match the flow of magnetic flux flowing through the magnetic circuit, are arranged so as to be able to translate in the axial direction. The cylindrical coil bodies 51 and 52 are wound and fixed respectively on the radially outer periphery of.

In the present embodiment, unlike the above-described embodiment, the moving transmission body is mounted on the coil bodies 5 and 6, and the moving transmission body (not shown) is mounted on the second magnets 54 and 55.

When a current is applied to the coil bodies 51 and 52, this current is orthogonal to the magnetic flux flowing through the magnetic circuit, so that a Lorentz force is generated in the axial direction, and the coil bodies 51 and 52 receive a driving force in the axial direction. In the present embodiment, the coil bodies 51, 52
Is fixed to the toroidal yoke 53, 53, the second magnets 54, 55 receive a reaction and translate in the axial direction. The movement of the second magnets 54 and 55 in the axial direction controls the attitude of the pan head unit (not shown) via a moving transmission body (not shown) attached to the second magnets 54 and 55.

According to the structure of this embodiment, since the second magnets 54 and 55 that can be translated are provided, the attitude of the camera platform can be controlled without moving the coil bodies 51 and 52. As a result, there is no need to move the coil bodies 51 and 52,
The danger of the coil being worn on the sliding surface due to friction or the like can be avoided.

Next, a fifth embodiment of the present invention will be described with reference to FIG. This embodiment differs from the previous embodiment in that the driving principle is Lorentz force, and uses the fact that the magnet body receives a magnetic attraction force or a repulsive force by increasing or decreasing the magnetic flux received by the magnet body as the driving force. is there. Since the same structure as that of the above-described embodiment can be applied to the camera platform, the elastic member, the movement transmitting body, and the like, only the drive mechanism will be described in the following embodiments.

In FIG. 7, a flanged cylindrical magnet holder 3 is mounted on the side of the first cylindrical magnet 60.
A fourth magnet 63, which is an annular magnet magnetized in the axial direction, is provided on the flange portion 3 a of the cylindrical magnet holder 3. Two annular yokes 61 are provided at both ends of the first magnet 60,
62 are mounted. Fourth magnet 63 and annular yoke 6
An annular member 68 made of a non-magnetic material is disposed on the outer surfaces of the first and second members 62 to protect the internal mechanism.

Further, annular coil bodies 64 and 65 are disposed in a magnetic gap between the two annular yokes 61 and 62 and the fourth magnet 63 which is an annular magnet. Each coil body 64, 65 forms a fourth magnet 66, 67. A moving transmission body of a high-rigidity member (not shown) is attached to the coil bodies 64 and 65.

The magnetic flux of the first magnet 60 is divided into one annular yoke 61, the fourth annular magnet 63, and the other annular yoke 6
A closed loop magnetic circuit is formed such that the two are returned in series.

The coil bodies 64 and 65 of the third magnets 66 and 67
, The coil bodies 64 and 65 themselves form electromagnets and generate magnetic flux in the axial direction depending on the amount and polarity of the current. The magnetic flux generated by the coil bodies 64 and 65 is in the same or opposite direction as the magnetic flux generated by the fourth magnet 63. When the direction of the magnetic flux by the coil bodies 64 and 65 is the same as the direction of the magnetic flux by the fourth magnet 63, the coil bodies 64 and 65 receive the driving force in the direction attracted to the fourth magnet 63.
When the direction of the magnetic flux by the coil bodies 64 and 65 is opposite to the direction of the magnetic flux by the fourth magnet 63, the coil bodies 64 and 65
65 receives a driving force in a direction to repel the fourth magnet 63.

Since the applied current to the coil bodies 64 and 65 can be adjusted independently, the attitude of the camera platform with two degrees of freedom is provided via a moving transmission member (not shown) having one end attached to the coil bodies 64 and 65. Control operation becomes possible.

In FIG. 7, either the first magnet 60 or the fourth magnet 63 made of a permanent magnet is replaced by a yoke, or these permanent magnets are replaced by an electromagnet or used in combination. It is also possible.

Next, a sixth embodiment of the present invention will be described with reference to FIG. In this embodiment, as in the embodiment shown in FIG. 7, instead of Lorentz force, magnetic attraction force or repulsion force due to increase and decrease of magnetic flux is used as driving force.

In FIG. 8, there is provided a yoke 70 having a shape in which two bobbin yokes are connected in series, and two coil bodies are formed with a flange-shaped convex step 71 at the center therebetween. , Two first magnets 72 and 73 are formed. . By applying a current to the coil bodies of the first magnets 72 and 73, two closed-loop magnetic paths 74 and 75 are formed in the yoke 70. Fifth magnets 76 and 77 made of annular permanent magnets that are magnetized in the axial direction are arranged in the gap of the yoke 70 so as to cross this magnetic path. The combination of the amount and the polarity of the current applied to the coil body of the first magnets 72, 73 enables the fifth permanent magnets 76, 77 of the annular permanent magnet to be independently translated in the axial direction. A two-degree-of-freedom attitude control operation of a pan head unit (not shown) becomes possible via a non-illustrated movement transmitting body having one end attached to the fifth magnets 76 and 77.

Next, with reference to FIG. 9 to FIG. 18, an embodiment relating to a method of attaching the movement transmitting body and the like will be described. 1) FIGS. 9 and 10 show a movement transmitting body 8 as a drive shaft.
1 shows a coupling mechanism between the first and second 85 and a gimbal (leaf spring) pan head section 80.

A donut-shaped elastic body (silicone rubber) is previously formed on the mounting portions 82 and 86 and the fulcrum 88 of the gimbal (leaf spring) head platform 80, and a non-magnetic material such as a ceramic pin gauge is formed thereon. Material transfer medium 8
1, 85 and a support pin 89 are inserted and bonded. At the time of the pan / tilt operation of the gimbal (leaf spring), it is possible to obtain a smooth movement by giving flexibility to the connecting portion.

2) FIG. 11 shows an outer yoke 9 for moving the drive shaft.
0 shows a concave groove structure on the inner surface. A concave groove 91 for space is provided on the outer yoke 90 surface side so as not to hinder movement of the movement transmission bodies 81 and 85.

Since the outer yoke 4 shown in FIG. 1 or FIG. 2 is divided into two parts at the moving parts of the moving transmission members 16 and 17, dust and foreign matter are not formed inside the outer yoke 4 inside. Although there was a high risk of entering, this embodiment can solve these problems.

3) FIG. 12 shows a coupling mechanism between the movement transmitting bodies 81 and 85 as drive shafts and a gimbal (leaf spring) head platform 80.

A U-shaped groove 92 is provided in the camera platform 80,
The movement transmitting body 85 (81) is fitted so as to fit into the groove 92.
Has a stepped structure and can be moved only in one direction. At the time of pan / tilt operation of the camera platform 80, the connecting portion between the movement transmitting bodies 81 and 85 and the camera platform 80 has flexibility to enable smooth movement and simplify the structure of attachment and detachment. Can be.

4) FIG. 13 shows a coupling mechanism between the movement transmitting members 81 and 85 as drive shafts and a gimbal (leaf spring) head platform 80.

A donut-shaped elastic holding member 93 made of rubber or the like is fixed to the camera platform 80, and a transmission moving body 85 made of a non-magnetic material, for example, a ceramic pin gauge is inserted into the head holding section 93 and bonded. And Head platform 80
When the pan / tilt operation is performed, the connecting portion between the movement transmitting bodies 81 and 85 and the camera platform 80 has flexibility to enable smooth movement, and the structure for attachment and detachment can be simplified.

5) FIG. 14 shows a coupling mechanism between the transmission moving body 85 (81) and the camera platform 80. A concave-shaped groove 94 is provided in the camera platform 80, and the movement transmission bodies 81 and 85 are formed in a hook (hook) shape so as to fit into the groove 94, and can be moved in one direction. It is characterized by. At the time of the pan / tilt operation of the camera platform section 80, it is possible to give the connecting section flexibility and obtain a smooth movement.

6) FIG. 15 shows a coupling mechanism between the moving transmission bodies 81 and 85 and the camera platform 80. The camera platform 80 is formed integrally with the movement transmitting bodies 81 and 85. At the time of the pan / tilt operation of the camera platform section 80, it is possible to give the connecting section flexibility and obtain a smooth movement.

7) FIGS. 16 and 17 show a structure of a sliding surface on which a moving body such as the coil bodies 5 and 6 slides. Low friction members 95, 95, 95 made of, for example, a Teflon wire are provided at a plurality of places (at least three places) on the inner surface of the outer yoke 4 so as to be slightly more convex than the inner surface of the outer yoke 4 and the coil bodies 5, 6. The gap is set so as not to hinder the sliding of and is embedded. According to the present embodiment, it is possible to protect the outer surfaces of the coils 5 and 6 from being damaged.

In FIG. 17, a low friction member (for example, a Teflon wire) is slightly projecting from the outer surface of the thread-wound yoke 42 at a plurality of places (at least three places) at both ends of the thread-wound yoke 42 shown in FIG. It is characterized in that a gap is set and embedded in the mold so as not to hinder the sliding of the coil bodies 5 and 6. It is possible to protect the inner surfaces of the coil bodies 5 and 6 from being damaged.

8) FIGS. 18 and 19 show a structure of a sliding surface on which a moving body such as the coil bodies 5 and 6 slides. FIG.
8, the inner surface of the outer yoke 4 has low friction and a thickness of several μm
A coating 97 (for example, a fluororesin dry loop: a solid coating lubricant) having a thickness of several tens of μm is formed, and the gap size is controlled so as not to hinder the sliding of moving bodies such as the coil bodies 5 and 6. I do. It is possible to protect the outer surface of the moving body such as the coil bodies 5 and 6 from being damaged.

In FIG. 19, a coating 98 having a thickness of several μm to several tens μm is formed on the outer surface of the thread-shaped yoke 42 shown in FIG.
(For example, fluorine resin dry loop: solid film lubricant)
And the gap size is controlled so as not to hinder sliding of the moving bodies such as the coil bodies 5 and 6. It is possible to protect the outer surface of the moving body such as the coil bodies 5 and 6 from being damaged.

According to the various embodiments of the present invention described above, a plurality of movable bodies such as the coil bodies 5 and 6 can be driven in one electromagnetic field. The occupied space can be reduced as compared with the case where one movable body is driven by one motor as in the above, and this is very effective especially in the construction of a micro mechanism.

Further, according to the embodiment of the present invention, a plurality of independent driving forces can be transmitted to one camera platform via the movement transmitting body, so that individual actuators can be used as in a conventional articulated robot. It is superior in terms of space efficiency and reduction in the number of parts as compared with the method of determining the movement of the subsequent stage by stacking. As a result, in addition to securing reliability, which often depends on the small number of parts, the driving force can be applied in parallel, so compared to the method used in conventional articulated robots that operate in series. , The accumulated error in determining the position and the posture can be reduced.

Further, a system in which the mounting portion 82 and the like are formed of an elastic body and the driving force is transmitted by the movement transmitting body 81 and the like is a method in which the mounting portion 82 and the like of a set of elastic bodies and the moving transmission body 8 of a high rigid member are used.
Since force transmission with a maximum of 6 degrees of freedom can be performed with 1 etc., it is possible to greatly improve space efficiency compared to the case where the same degree of freedom is secured by stacking hinges and sliders, and reliability is assured for the same reasons as described above. It is possible to improve the performance and reduce the accumulated error.

[0071]

As described above, according to the structure of the present invention, a plurality of movable members exhibiting an electromagnetic interaction are arranged in a magnetic field commonly formed in a driving mechanism, and these members are independently provided. Since control is possible, the occupied accumulation can be made very small as compared with a pan head mechanism configured by stacking single-function actuators. In addition, since the movement of the camera platform for mounting imaging devices is supported by elastic members with multiple degrees of freedom,
The occupied volume can be reduced as compared with a posture movable mechanism configured by stacking bearings and guide mechanisms. Since these structures have a smaller number of parts than the stacked type, even when applied to a narrow place, it is possible to secure a high reliability and to provide a pan head device having a large degree of freedom of movement.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view showing a schematic configuration of a first embodiment of a camera platform device according to the present invention, viewed from AA in FIG. 2;

FIG. 2 is a horizontal plan view of the same.

FIG. 3 is a longitudinal sectional view showing a schematic configuration of a second embodiment of the camera platform device according to the present invention, taken along line BB in FIG. 4;

FIG. 4 is a horizontal plan view of the same.

FIG. 5 is a longitudinal sectional view showing a schematic configuration of a third embodiment of the camera platform device of the present invention.

FIG. 6 is a vertical sectional view showing a schematic configuration of a fourth embodiment of the camera platform device of the present invention.

FIG. 7 is a longitudinal sectional view showing a schematic configuration of a fifth embodiment of the camera platform device of the present invention.

FIG. 8 is a longitudinal sectional view showing a schematic configuration of a sixth embodiment of the camera platform device of the present invention.

FIG. 9 is a vertical cross-sectional view of a pan head device showing a coupling mechanism between a movement transmission body as a drive shaft and a gimbal (leaf spring) head base.

FIG. 10 is a horizontal plan view showing a coupling mechanism of a movement transmitting body as a drive shaft and a gimbal (leaf spring) head base.

FIG. 11 is a partial horizontal plan view showing a coupling mechanism between the movement transmitting body and the camera platform.

FIGS. 12A and 12B are a partial vertical sectional view and a horizontal plan view showing a coupling mechanism between a movement transmitting body and a camera platform;

FIG. 13 is a vertical cross-sectional view showing a connection mechanism between a movement transmitting body and a platform head.

FIGS. 14A and 14B are a partial vertical sectional view and a horizontal plan view showing a coupling mechanism between the movement transmitting body and the camera platform.

FIG. 15 is a perspective view showing a coupling mechanism between the movement transmitting body and the platform head.

16A and 16B are a longitudinal sectional view and a horizontal plan view showing a structure of a sliding surface on which a moving body such as a coil body slides.

FIG. 17 is a vertical sectional view (a) and a horizontal plan view (b) of the same.

FIG. 18 is a vertical sectional view (a) and a horizontal plan view (b) of the same.

FIG. 19 is a vertical sectional view (a) and a horizontal plan view (b) of the same.

[Explanation of symbols]

 Reference Signs List 1, 40 First magnet 2 Toroidal yoke 3 Cylindrical magnet holder with flange 4 Outer yoke 5, 6, 7 Coil body 6 Magnet holder 10 Support point section 11 Pan head section 13, 14 Mounting section 16, 17 Movement transmission Body 54, 55 Second magnet 63 Fourth magnet 66, 67 Third magnet 76, 77 Fifth magnet

Claims (5)

(57) [Claims] 1. A first magnet for supplying a magnetic flux, and a coil wound so as to intersect with the magnetic flux of the first magnet. When a current flows, the first magnet is acted on by the Lorentz force. A coil body disposed at at least two different positions movably with respect to the camera; a head section; and a mounting having one end attached to each of the coil bodies and the other end located at different positions on the head section. A pan head device comprising: a movement transmitting body attached to a part; 2. A first magnet for supplying magnetic flux, and at least two coils formed by winding coils so as to intersect with the magnetic flux of the first magnet and fixed at different positions of the first magnet. A coil body is disposed so as to intersect with a current flowing through the coil of the coil body and generate a magnetic flux in a direction substantially parallel to the magnetic flux of the first magnet. When a current flows through the coil body, Lorentz Second magnets disposed at at least two different positions movable with respect to the coil body by the action of a force, a platform head, and one end is attached to each of the second magnets, and the other end is A pan head device, comprising: a movement transmitting member attached to a mounting portion at a different position of the pan head portion. 3. A first magnet for supplying a magnetic flux, and a coil disposed to generate a magnetic flux in a direction substantially parallel to the magnetic flux of the first magnet, the coil being movable with respect to the first magnet. At least two third magnets each composed of an electromagnet, a pan head, and a movement in which one end is attached to each of the third magnets and the other end is attached to a mounting portion at a different position of the pan head. A pan head device, comprising: a transmission body; 4. A pan head device according to claim 3, further comprising a fourth magnet interposed between said at least two third magnets and disposed in a magnetic path of said first magnet. . 5. At least two first magnets each comprising an electromagnet for supplying a magnetic flux, and each of said first magnets being arranged to generate a magnetic flux in a direction substantially parallel to the magnetic flux of each of said first magnets. At least two fifth magnets movable with respect to one magnet, a pan head section, and a mounting section having one end attached to each of the fifth magnets and the other end at a different position of the pan head section. A pan head device, comprising: an attached moving transmission body;