JP3820035B2 - Direct drive motor device with built-in slip ring assembly - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an electric motor device used for positioning a device such as a robot arm along the X, Y, and Z axes, and more specifically to an electric motor device for a positioning device used for a television camera.
[0002]
[Prior art]
Positioning devices such as pan / tilt heads for TV cameras and robot arms have fixed bodies for mounting on walls, pillars, and desks, and include motors, gears, or rollers, belts and pulleys, chains, etc. And a transmission assembly. Such a pan / tilt head or robot arm mechanism is generally configured such that a television camera or robot arm rotates angularly about its vertical axis, horizontal axis, and / or other angular axes. Wires and cable assemblies may be used to connect the rotary television camera or robot arm circuit to the fixed base of the positioning device. Such electric wires and cables are generally known as flexible cable assemblies that span between a fixed member and a rotatable member or between two rotatable members of a positioning device. Thus, the cable assembly rotates as the positioning device moves and repeats twisting and bending. As a result, the cable is eventually cut off. This often necessitates uneconomic cable replacement, and also prevents the positioning device from rotating more than 360 degrees about its axis when such cable assemblies span across the joint of the positioning device. And thereby limit the free rotation of the positioning device.
[0003]
Some positioning devices use slip rings or rotating contact assemblies that are positioned about the individual rotational axis, thereby preventing the cable assembly from spanning across the rotating joint. However, since the slip ring assembly occupies the center of the rotating shaft, it is not possible to use a direct drive motor such as a stepping motor that is very efficient, accurate, and does not require a transmission mechanism.
[0004]
[Problems to be solved by the invention]
An object of the present invention is to provide a direct drive drive positioning device having a direct drive motor and a slip ring mechanism mounted inside or along the main shaft of the motor. When positioning such a direct drive motor together with its shaft, the cable does not twist or bend, and the horizontal axis, the vertical axis, and / or other angular axes are not limited freely over 360 degrees. Allow continuous rotation.
[0005]
[Means for Solving the Problems]
According to the present invention, the direct drive drive positioning device has at least one rotating member that can rotate around a horizontal axis, a vertical axis, or another angular axis of the positioning device. The rotating members are each provided with means for mounting a television camera or robot arm and / or other members for incorporating further joint positioning mechanisms.
Direct drive motor has a central shaft connected to the rotary member to drive the rotary member directly, the central shaft has a rotary contact or slip ring assembly. This rotary contact or slip ring assembly is for connecting a television camera, robot arm and / or direct drive motor to the control circuit and other peripheral / auxiliary devices. This eliminates the problems associated with the use of a bent cable that penetrates the hollow portion, and provides a continuous and uninterrupted rotation of 360 degrees or more about the rotation axis.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
The foregoing and other objects and features of the invention will become apparent from the following description of a preferred embodiment of the invention with reference to the accompanying drawings.
A television camera apparatus 1 shown in FIG. 1 is a known dome-shaped camera enclosure 3 used in a monitoring apparatus, and includes a transparent or translucent dome 3A, a substrate 4 fixed on the upper part of the camera enclosure 3, A panning motor 2 fixed to the surface of the substrate 4 and a camera attached to the rotor 14 of the panning motor 2 so as to be rotatable about a horizontal axis H (pan) extending through the center of the substrate 4 and orthogonal to the substrate 4 Holding bracket 7.
[0007]
A tilting motor 10 is fixedly mounted on one side surface of a camera holding bracket 7 formed as an inverted U-shaped fork-shaped holder. The TV camera 12 is attached to the rotor 16 of the tilting motor 10 and enables the camera to rotate about the vertical axis V (tilt). On the other hand, on the opposite side, the camera is placed on the camera holding bracket 7 via a known pivot rotary joint 15 extending along the V axis.
[0008]
The V axis (tilt) orthogonal to the H axis (pan), the L axis (lens) orthogonal to the V axis (tilt), and the H axis (pan) all intersect at the center of the dome-shaped cover portion 3A. As such, it provides unlimited panning and tilting movement over the entire circumference within the dome sphere.
[0009]
As shown in FIGS. 4 and 5, the panning motor 2 incorporates a rotating contact or slip ring assembly 6 inside the rotor 14. The slip ring assembly 6 itself consists of a rotating conductive metal ring and a complementary mounted conductive metal brush that exerts pressure on the metal ring against continuous current flow during rotation of the metal ring. It is a known assembly.
[0010]
A connecting wire 5 including electric wires for supplying power and control signals to the camera and receiving video signals, audio signals, and data signals from the camera connects the dome-shaped closure or the case 3 and the rotating ring of the slip ring assembly 6. It passes through the opening of the substrate 4 for this. The electric wire 13 for supplying electric power to the panning motor 2 may be directly connected through another opening 13A if the panning motor 12 is an inner rotor type, and the connecting electric wire 5 if the panning motor 12 is an outer rotor type. Must be connected together.
[0011]
The wire 8 connected at one end to the brush of the slip ring assembly 6 is fed through the opening of the holding bracket 7 and the other end is placed in the shaft of the rotor 16 of the tilting motor 10 at the other end. It is connected to 9 rotating rings.
[0012]
The electric wire 11 connected to the brush of the slip ring assembly 9 is further connected to the camera 12 and a control circuit (not shown) at the other end. From FIG. 1, it is clear that in this arrangement the camera can rotate indefinitely about its panning axis H or its tilting axis H without twisting or bending. Furthermore, it is clear that the camera holding bracket 7 mounted directly on the rotor 14 of the panning motor 2 is directly driven by the drive motor without a power transmission mechanism. Similarly, it is apparent from FIG. 1 that the rotor 16 of the tilting motor 10 can directly drive the tilting position of the camera without using a power transmission mechanism.
Eliminating the power transmission device and the assembly reduces the size of the dome-shaped camera enclosure 3, simplifies the configuration, and improves the reliability, efficiency, and accuracy of the positioning device.
[0013]
The robot arm 20 shown in FIG. 2 has a fixed body 24 attached to a table 21. The electric motor 25 installed on the upper surface of the fixed body 24 incorporates a rotating contact or slip ring assembly in the rotor shaft 26, and the rotor is attached to one end of the horizontal rotating arm 28 of the robot arm 20. The control and power cable 22 is connected directly to the slip ring of the slip ring assembly inside the rotor shaft 26 (not shown), and the power to the motor 25 is via the wire 23 since the motor 25 is of the inner rotor type. Supplied directly.
[0014]
The electric wire 27 is connected to the brush of a slip ring assembly (not shown) placed inside the rotor shaft 26 on the A side of the horizontal rotating arm 28, and the electric motor on the B side of the horizontal rotating arm 28. The motor 29 is connected to a ring of a slip ring assembly (not shown) placed inside the 29 rotor shaft 30. The electric motor 29 is attached to the B end of the horizontal rotary arm 28, and the rotor shaft 30 is attached to the horizontal rotary joint 31.
[0015]
One end of the electric wire 35 is connected to a slip ring assembly located inside the rotor 30, and the other end is connected to a ring of a slip ring assembly incorporated in the shaft of the rotor 32 of the electric motor 33. The brush of the slip ring assembly in the rotor 32 is connected to the finger 34 of the robot arm and its circuit by electric wires (not shown). From FIG. 2, the horizontal rotary arm 28, horizontal rotary joint 31, and vertical rotary finger 34 all twist or deflect any wires connecting power and / or control signals to each motor and control circuit. It is clear that it can rotate indefinitely. It is also apparent that the use of a direct drive motor incorporating the slip ring assembly within the rotor shaft greatly simplifies the construction of the robot arm.
[0016]
A television camera device 40 shown in FIG. 3 is another known television camera mounted on a known pan / tilt positioning device including a fixed member 42 and a horizontal rotation member 49. The fixing member 42 is attached to the top of the wall 41 and has an electric motor 44 attached to the top of the fixing member 42. The rotor 45 is attached to a horizontal rotating member 49. The electric wire 43 is connected to the ring of the slip ring assembly located in the shaft of the rotor 45 and the electric motor 44. The electric motor 47 is attached to the arm of the horizontal rotating member 49, and the rotor 50 is attached to the camera 51. The wire 46 is connected at one end to the brush of the slip ring assembly in the shaft of the rotor 45 and at the other end to the ring of the slip ring assembly 48 in the shaft of the rotor 50. .
[0017]
An electric wire (not shown) connected to the brush of the slip ring assembly 48 supplies power and a control signal to the camera 51, and receives video / audio signals from the camera. From FIG. 3, the pan / tilt positioning device of the camera device 40 rotates infinitely both in the horizontal and vertical directions without twisting or bending the plurality of electric wires carrying the power, control signals and video signals. It is obvious that you can do it. It is also clear that such a positioning device using a direct drive motor with a built-in slip ring in the rotor shaft provides a simplified mechanical structure.
[0018]
An electric motor assembly 55 shown in FIG. 4 is a combination of a known stepping motor with an inner rotor and a rotating contact or slip ring assembly. The plate 60 is a part of a fixed joint or rotary joint of the positioning device, such as the substrate 4 of FIG. The plate 60 is attached to the first cover 61 of the stator portion of the electric motor assembly 55 using a plurality of screws 79.
[0019]
The stator portion of the electric motor assembly 55 includes a stator coil assembly 62, a magnetic metal laminate 63, a first cover 61, and a second cover 64. The stator coil assembly 62 is connected to an electric power and control circuit (not shown) via an electric wire 71 passing through the opening of the first cover 61 and the plate 60.
[0020]
In order to ensure smooth rotational movement, a double ball bearing 80 is provided between the first cover 61 and the second cover 64 to support the rotor assembly.
The rotor assembly includes a hollow rotor shaft 82 surrounded by a slip ring assembly and a magnetic ring 81 embedded inside the rotor shaft.
[0021]
The rotor shaft 82 is attached to the plate 66 by a plurality of screws 79. The plate 66 is a part of a fixing member such as the camera holding bracket 7 shown in FIG. 1 or a part of a rotary joint of the positioning device.
[0022]
A known slip ring assembly includes a ring holding assembly 73 that rotates within a slip ring body 72 and a printed circuit board assembly 76. The ring holding assembly 73 includes a plurality of conductive rings 74, all of which are separated from and insulated from each other, and all are electrically connected to the connector 77.
[0023]
The printed circuit board assembly 76 is fixed to the slip ring body 72 and has a plurality of conductive electric brushes 75 and a connector 78. The plurality of conductive electric brushes 75 are positioned at intervals and perform a brushing operation on the plurality of conductive rings 74 to complement the conductive ring 74 and provide a certain electrical contact. Connector 78 provides an electrical connection with wire assembly 69.
[0024]
The slip ring main body 72 is fixed to the rotor shaft 82, and the ring holding assembly 73 that rotates about the central axis of the slip ring main body 72 is fixed to the plate 60.
[0025]
Wire harness or assembly 67 and connector 68 provide electrical connection to a plurality of conductive rings 74, while wire assembly 69 and connector 70 provide complementary electrical connections to conductive electrical brush 75.
[0026]
From FIG. 4, the wires of the wire assembly 67 and the wire assembly 69 are electrically connected to the conductive ring 74 regardless of whether the motor is in an idle state or rotating with a voltage applied via the power and control wires 71. It can be seen that they are electrically connected via the conductive electric brush 75.
[0027]
The electric motor assembly 56 in FIG. 5 is a combination of a known stepping motor with an outer rotor and a rotating contact or slip ring assembly. A plate 60 similar to the plate 60 of FIG. 4 is attached to the first cover 61 </ b> A of the outer rotor portion of the motor assembly 56 using screws 79. The outer rotor portion of the electric motor assembly 56 includes a magnetic metal laminated plate 81A, a first cover 61A, and a second cover 64A.
[0028]
In order to support the rotor and to ensure smooth rotation of the rotor, a double ball bearing 80 is provided between the stator shaft 83, the first cover 61A, and the second cover 64A. The stator assembly includes a hollow stator shaft 83 surrounded and fixed to the magnetic metal laminate 63, a stator coil assembly 62A, and a slip ring assembly embedded in the stator shaft. The stator coil assembly 62A is connected to a power circuit and a control circuit (not shown) via an electric wire 71A passing through the stator shaft 83 and the opening of the plate 66.
[0029]
The stator shaft 83 is attached to the plate 66 by a plurality of screws 79. The plate 66 is, for example, a part of a fixing member such as the camera holding bracket 7 shown in FIG. 1 or a part of a rotary joint of the positioning device.
[0030]
A known slip ring assembly includes a ring holding assembly 73 that rotates within a slip ring body 72 and a printed circuit board assembly 76. The ring holding assembly 73 includes a plurality of conductive rings 74, all of which are separated from each other and insulated, and all of them are electrically connected via an electric wire harness 67.
[0031]
The printed circuit board assembly 76 is positioned at intervals to complement the conductive ring 74 to provide a constant electrical contact by brushing action on the multiple conductive rings 74. It has a multi-conductive electric brush 75 and a wire harness 69 for providing electrical connection.
[0032]
The slip ring main body 72 is fixed to the rotor shaft 82, and the ring holding assembly 73 that rotates around the central axis of the slip ring main body 72 is fixed to the plate 60.
[0033]
The wire harness 67 provides electrical connection with the plurality of conductive rings 74, while the wire harness 69 provides complementary electrical connection with the plurality of conductive electrical brushes 75.
[0034]
From FIG. 4, the electric wire harness 67 and the electric wire harness 69 are provided with the conductive ring 74 and the conductive electric brush 75 regardless of whether the motor is in an idle state or rotating by applying a voltage through the electric power and the control electric wire 71. It can be seen that they are electrically connected via each other.
[0035]
Instead of attaching the plate 60 of FIG. 5 to the first cover 61A, the plate 60A is attached to the second cover 64A, whereby the electric motor 25 or the electric motor 29 of FIG. 2 or the electric motor 42 of FIG. The motor assembly 56 may be placed on the positioning device in the same manner as shown in FIG. Similarly, instead of attaching the plate 60 to the first cover 61 of the electric motor assembly 55 as shown in FIG. 4, the second cover 64 of FIG. 4 is attached to the member of the positioning device, so that the electric motor assembly shown in FIG. The solid body 55 may be placed on a member of the positioning device.
[0036]
4 and 5, regardless of whether the motor is an inner rotor type or an outer rotor type, the slip ring assembly is incorporated in the main shaft, and the electric wires connected to both sides of the rotary joint are twisted or bent. It will be appreciated that direct paths can be provided for power signals, control signals and other signals, and that such a motor can rotate indefinitely about its axis of rotation.
[0037]
The motor assemblies 55 and 56 shown in FIGS. 4 and 5 are large-diameter motors that can be made with a shaft diameter large enough to incorporate the slip ring assembly inside the shaft. It may be necessary to have a slim motor that does not allow the slip ring assembly to be mounted on a small diameter shaft. As such an electric motor, a hollow shaft can be provided, and a slip ring assembly can be mounted on the end of the shaft. An electric motor assembly 57 shown in FIG. 6 is a combination of a known stepping motor with an inner rotor and a rotating contact or slip ring assembly. The plate 90 is a part of a fixed joint or a rotary joint of the positioning device. The plate 90 is attached to the first cover 89 of the stator portion of the electric motor assembly 57 using screws 79.
[0038]
The stator portion of the electric motor assembly 57 includes a coil assembly 62, a magnetic metal laminate 88, a first cover 89, and a second cover 87. The stator coil assembly 62 is connected to a power circuit and a control circuit (not shown) via an electric wire 71 passing through the opening of the first cover 89 and the plate 90.
[0039]
In order to ensure a smooth rotational movement, a double ball bearing 80 is provided between the first cover 89 and the second cover 87 to support the rotor assembly. The rotor assembly includes a hollow rotor shaft 86 surrounded by a magnetic ring 95 and a ring holding assembly 97 mounted on one end of the rotor shaft.
[0040]
The other end of the rotor shaft 86 is attached to the plate 85 with a screw 96. The plate 85 is a part of the fixing member or a part (not shown) of the rotary joint of the positioning device.
[0041]
The slip ring assembly includes a ring holding assembly 97 attached to the rotor shaft 86 and a printed circuit board assembly 93 attached to the plate 90. The ring holding assembly 97 includes a plurality of conductive rings 74, all of which are separated from and insulated from each other, and all are electrically connected to the electric wire harness 67. All the wires of the wire harness 67 are drawn from the other end of the rotor shaft that passes through the openings of the hollow rotor shaft 86 and the plate 85 and is opposite to the end of the ring holding assembly 97.
[0042]
The printed circuit board assembly 93 is fixed to the plate 90 and / or the first cover 90 by the holder 92 and the screw 91, performs a brushing operation on the plurality of conductive rings 74, and complements the conductive rings 74 to provide a certain electrical contact. A plurality of electrically conductive electric brushes 75 that are positioned at intervals to provide an electrical wire harness 69 for providing electrical connection.
[0043]
The ring holding assembly 97 is fixed to the shaft 86 so that it can rotate about the central axis of the rotor shaft 86.
[0044]
The wire harness 67 provides an electrical connection with the plurality of conductive rings 74, while the wire harness 69 provides a complementary electrical connection with the plurality of conductive electrical brushes 75.
[0045]
From FIG. 6, the wires of the wire harness 67 and the wire harness 69 pass through the conductive ring 74 and the conductive electric brush 75 regardless of whether the motor is in an idle state or rotating by applying a voltage through the power / control wire 71. It can be seen that they are electrically connected.
[0046]
Further, from FIG. 6, even if the electric motor of the positioning device is slender, the slip ring assembly is placed on the shaft of the electric motor, and the electric wires connected to both sides of the rotary joint are not twisted or bent. It can be seen that direct paths can be provided for power signals, control signals and other signals.
[0047]
7A and 7B show details of the slip ring assembly of FIG. The slip ring assembly 58 includes a slip ring main body 72, a printed circuit board assembly 76, and a ring holding assembly 73. The ring holding assembly 73 includes a plurality of conductive rings 74. The conductive rings 74 are all separated and insulated from each other, and are all electrically connected via metal wires to form a connector 77 at one end of the slip ring assembly 58.
[0048]
The ring holding assembly is fitted to the slip ring main body 72 and is configured to be freely rotatable about a rotation axis at the center in the length direction of the slip ring main body.
[0049]
The printed circuit board assembly 76 has a plurality of conductive brushes 75 mounted and connected to the conductive pattern of the printed circuit board, and a connector 78 for providing electrical connection at the other end of the slip ring 58. . The brush 75 is positioned at intervals to perform a brushing operation on the conductive ring 74 and to complement the conductive ring 74 to provide a constant electrical contact. Instead of using the connector 78, the printed circuit board assembly 76 fixed to the slip ring main body 72 by the screw 98 can be directly connected to the electric wire harness. It is also possible to connect the conductive ring via the electric wire harness without forming the connector 77.
[0050]
FIG. 7A shows the conductive brush 75 in contact with the conductive ring 74. The use of brushes on both sides of the conductive ring enhances the connectivity and reliability of the brushing operation.
[0051]
Instead of the slip ring assembly shown in FIG. 7, other known rotating contacts and slip ring assemblies may be used. Regardless of the format of the slip ring or other rotating electrical coupling means, the apparatus of the present invention, by incorporating the motor rotational electrical coupling means in the center shaft of the electric motor, and the television camera pan and tilt head, and a robot arm, the other It can be clearly seen that it provides a very simple means as a direct drive positioning device, such as a rotary joint, and that the wires associated with both sides of the rotary joint do not twist or bend.
[0052]
Of course, those skilled in the art will recognize that the specific embodiments of the invention filed herein are merely exemplary and are in no way meant to be limiting, and therefore are within the spirit of the invention as outlined in the appended claims. It will be understood that many changes and modifications can be made without departing from the scope, and that anything equivalent can be used.
[Brief description of the drawings]
FIG. 1 is a perspective view of a television camera inside a dome-like cover incorporating a direct drive motor of a preferred embodiment.
FIG. 2 is a perspective view of a robot arm incorporating a direct drive motor according to a preferred embodiment of the invention.
FIG. 3 is a schematic side view of a television camera mounted on a remote positioning device incorporating a direct drive motor according to a preferred embodiment of the present invention.
FIG. 4 is an axial cross-sectional view of a stepping motor incorporating a slip ring assembly of a preferred embodiment of the invention.
FIG. 5 is an axial cross-sectional view of another stepping motor incorporating the slip ring assembly of the preferred embodiment of the invention.
FIG. 6 is an axial cross-sectional view of yet another stepping motor incorporating the slip ring assembly of the preferred embodiment of the invention.
7A is a top view of an example of the slip ring used in FIGS. 4-6, and FIG. 7B is an axial cross-sectional view of the example of the slip ring used in FIGS. 4-6.

Claims (72)

A stator main body assembly for mounting the electric motor on one of the fixing member of the rotatable joint and the rotatable main body; and the rotatable main body of the fixing member and the rotatable joint having at least a part of the hollow portion. An inner rotor assembly including a central shaft that can be mounted on the other of the two, a rotary electric coupling means mounted inside the hollow portion, and first and second connected to the rotary electric coupling means Wire means and electrical connector means coupled to the rotating electrical coupling means and positioned at opposite ends of the central shaft, wherein a part or all of the wire means pivots on the hollow portion of the inner rotor assembly. be one which penetrates in the direction, without the rotatable body or flexed or twisted wires of the wire means while rotating driven directly by the electric motor, the electric The connector means fixes at least one of the electric power and the electric signal carried by the first electric wire means associated with one of the fixing member and the rotatable main body via the rotary electric coupling means. An electric motor device configured to transmit to the second electric wire means associated with the other of the member and the rotatable main body.   2. The electric motor apparatus according to claim 1, wherein at least one of the first and second electric wire means is directly connected to the rotary electric coupling means without using the electric connector means.   The stator main body assembly can mount the electric motor on a rotatable main body of the rotatable joint, and the inner rotor assembly can be mounted on a fixing member of the rotatable joint. The electric motor device according to claim 1.   The stator main body assembly can mount the electric motor on a rotatable main body of the rotatable joint, and the inner rotor assembly can be mounted on a fixing member of the rotatable joint. The electric motor device according to claim 2. A stator body assembly for mounting the electric motor on one of the first and second rotatable bodies of the rotatable joint, and at least partially hollow and second and second of the rotatable joints. An inner rotor assembly including a central shaft that can be placed on the other of the rotatable main bodies, electrical coupling means placed inside the hollow central shaft, and connected to the rotary electrical coupling means First and second electric wire means; and electrical connector means coupled to the rotary electrical coupling means and positioned at both ends of the central shaft, wherein a part or all of the electric wire means is the inner rotor assembly. wherein a hollow portion be those extending in the axial direction, it said rotatable body or flexed or twisted wires of the wire means while rotating driven directly by the electric motor The electrical connector means transmits at least one of the electric power and the electrical signal carried by the first electric wire means associated with one of the first and second rotatable bodies to the rotary electrical coupling means. An electric motor device configured to transmit to the second electric wire means associated with the other of the first and second rotatable main bodies via the first and second rotatable main bodies.   6. The electric motor apparatus according to claim 5, wherein at least one of the first electric wire means and the second electric wire means is directly connected to the rotary electric coupling means without using the electric connector means.   The electric motor device according to claim 1, wherein the electric motor is a stepping motor. An outer rotor main body assembly for mounting the electric motor on one of the fixing member of the rotatable joint and the rotatable main body, and the fixing member of the rotatable joint and the rotatable main body having at least a hollow portion An inner stator assembly including a central shaft that can be placed on the other of the first, a rotary electrical coupling means placed inside a hollow portion of the central shaft, and a first connected to the rotary electrical coupling means And second electrical wire means, and electrical connector means attached to the rotary electrical coupling means and positioned at opposite ends of the central shaft, wherein a part or all of the electrical wire means is part of the inner stator assembly. It is one that penetrates a hollow portion in the axial direction, wrinkles or twisted wires of the wire means while the rotatable body is rotating driven directly by the electric motor Without the electric connector means, the electric signal carried by the first electric wire means associated with one of the fixing member and the rotatable body is fixed via the rotary electric coupling means. An electric motor device configured to transmit to the second electric wire means associated with the other of the member and the rotatable main body.   9. The electric motor apparatus according to claim 8, wherein at least one of the first electric wire means and the second electric wire means is directly connected to the rotary electric coupling means without using the electric connector means.   The outer rotor main body assembly can mount the electric motor on a rotatable main body of the rotatable joint, and the inner stator assembly can be mounted on a fixing member of the rotatable joint. The electric motor device according to claim 8.   The outer rotor main body assembly can mount the electric motor on a rotatable main body of the rotatable joint, and the inner stator assembly can be mounted on a fixing member of the rotatable joint. The electric motor device according to claim 9. An outer rotor body assembly for mounting the electric motor on one of the first and second rotatable bodies of the rotatable joint; and at least a portion of the hollow body first, An inner stator assembly having a central shaft that can be placed on the other of the second rotatable bodies, rotary electrical coupling means placed in a hollow portion of the central shaft, and the rotary electrical coupling means First and second electric wire means connected to the rotary electric coupling means, and electric connector means attached to both ends of the central shaft, wherein a part or all of the electric wire means is the inner be one which penetrates the hollow part of the stator assembly in the axial direction, the rotatable body is twisted wires of the wire means while rotating driven directly by the electric motor Without bending, the electrical connector means transmits the electrical signal carried by the first electrical wire means associated with one of the first and second rotatable bodies to the rotary electrical coupling means. An electric motor device configured to transmit to the second electric wire means associated with the other of the first and second rotatable main bodies.   13. The electric motor apparatus according to claim 12, wherein at least one of the first electric wire means and the second electric wire means is directly connected to the rotary electric coupling means without using the electric connector means.   9. The electric motor apparatus according to claim 8, wherein the electric motor is a stepping motor.   A stator main body assembly for mounting the electric motor on one of the fixing member of the rotatable joint and the rotatable main body, and the fixing member of the rotatable joint and the rotatable main body having at least a hollow portion A rotation including an inner rotor assembly including a central shaft that can be mounted on the other, a rotating ring assembly coupled to one end of the central shaft, and an electric brush assembly coupled to the stator body assembly. An electrical coupling means; a first electrical wire means connected to the rotating ring assembly and passing through a hollow portion of the central shaft and exiting from an opposite end of the central shaft; and a second electrical power connected to the electric brush assembly The electric wire device of the first and second electric wire means is twisted while the rotatable main body is directly driven and rotated by the electric motor. Without bending, at least one of the power and the electrical signal is passed through the first electrical wire means associated with the rotating electrical ring assembly and the second electrical wire means associated with the electrical brush assembly. And the electric motor apparatus comprised so that it might transmit via the said rotation electrical coupling means.   The stator main body assembly can mount the electric motor on a rotatable main body of the rotatable joint, and the inner rotor can be mounted on a fixing member of the rotatable joint. 15. The electric motor device according to 15.   A stator assembly for mounting the electric motor on one of the first and second rotatable bodies of the rotatable joint, and first and second of said rotatable joints having at least a portion of a hollow portion; An inner rotor assembly including a central shaft that can be mounted on the other of the rotatable bodies, a rotating ring assembly coupled to one end of the central shaft, and an electric brush coupled to the stator body assembly A rotating electrical coupling means including an assembly; a first wire means connected to the rotating ring assembly and passing through a hollow portion of the central shaft and exiting from an opposite end of the central shaft; and the electric brush assembly. An electric motor device including a second electric wire means connected, wherein the electric wires of the first and second electric wire means are twisted while the rotatable main body is driven and rotated directly by the electric motor. Without bending, at least one of the power and the electrical signal is passed through the first electrical wire means associated with the rotating electrical ring assembly and the second electrical wire means associated with the electrical brush assembly. And the electric motor apparatus comprised so that it might transmit via the said rotation electrical coupling means.   The electric motor device according to claim 15, wherein the electric motor is a stepping motor.   An outer rotor main body assembly for mounting the electric motor on one of the fixing member of the rotatable joint and the rotatable main body, and can be mounted on the other of the fixing member of the rotatable joint and the rotatable main body. An inner stator assembly including a hollow central shaft; a rotary electrical coupling means including a rotary ring assembly coupled to one end of the central shaft and an electric brush assembly coupled to the outer rotor body assembly; First electrical wire means connected to the rotating ring assembly and exiting from the opposite end of the central shaft through the hollow central shaft; and second electrical wire means connected to the electric brush assembly. An electric motor device, wherein the electric wires of the first and second electric wire means are twisted or bent while the rotatable main body is driven and rotated directly by the electric motor. Without the one of the electric power and the electric signal being passed through the first electric wire means associated with the rotating electric ring assembly and the second electric wire means associated with the electric brush assembly and the rotation. An electric motor device configured to transmit via electrical coupling means.   The outer rotor main body assembly can mount the electric motor on a rotatable main body of the rotatable joint, and the inner stator assembly can be mounted on a fixing member of the rotatable joint. The electric motor device according to claim 19.   An outer rotor body assembly for mounting the electric motor on one of the first and second rotatable bodies of the rotatable joint, and of the first and second rotatable bodies of the rotatable joint Rotation including an inner stator assembly including a hollow central shaft that can be mounted on the other, a rotating ring assembly coupled to one end of the central shaft, and an electric brush assembly coupled to the stator body assembly Electrical coupling means; first electrical wire means connected to the rotating ring assembly and passing through the hollow central shaft and exiting from the opposite end of the central shaft; and second electrical power connected to the electric brush assembly An electric motor device including electric wire means, wherein the electric wires of the first and second electric wire means are twisted or bent while the rotatable main body is driven and rotated directly by the electric motor. Rather, one of the electrical power and the electrical signal is passed through the first electrical wire means associated with the rotating electrical ring assembly and the second electrical wire means associated with the electrical brush assembly, and the rotating electrical An electric motor device configured to transmit via a coupling means.   The electric motor apparatus according to claim 19, wherein the electric motor is a stepping motor. A stator main body assembly for mounting the electric motor on one of the fixing member of the rotatable joint and the rotatable main body; and the rotatable main body of the fixing member and the rotatable joint having at least a part of the hollow portion. An inner rotor assembly including a central shaft that can be mounted on the other of the two, a rotary electric coupling means mounted inside the hollow portion, and first and second connected to the rotary electric coupling means Wire means and electrical connector means coupled to the rotating electrical coupling means and positioned at opposite ends of the central shaft, the wire means being rotated while the rotatable body is driven directly by the motor. The electric connector means is carried by the first electric wire means associated with one of the fixing member and the rotatable main body without twisting or bending the electric wire. At least one of power and electrical signals, via the rotary electrical coupling means, and configured to transmit to said second wire means associated with the other of the rotatable body and the fixing member, positioning Equipment . 24. The positioning device according to claim 23 , wherein at least one of the first and second electric wire means is directly connected to the rotary electric coupling means without using the electric connector means. The stator main body assembly can mount the electric motor on a rotatable main body of the rotatable joint, and the inner rotor assembly can be mounted on a fixing member of the rotatable joint. 24. A positioning device according to claim 23 . The stator main body assembly can mount the electric motor on a rotatable main body of the rotatable joint, and the inner rotor assembly can be mounted on a fixing member of the rotatable joint. The positioning device according to claim 24 . A stator body assembly for mounting the electric motor on one of the first and second rotatable bodies of the rotatable joint, and at least partially hollow and second and second of the rotatable joints. An inner rotor assembly including a central shaft that can be placed on the other of the rotatable main bodies, electrical coupling means placed inside the hollow central shaft, and connected to the rotary electrical coupling means First and second electric wire means, and electrical connector means coupled to the rotary electrical coupling means and positioned at both ends of the central shaft, wherein the rotatable body is driven and rotated directly by the electric motor. The first electric wire hand associated with one of the first and second rotatable bodies without the electric connector means twisting or flexing the electric wire of the electric wire means. At least one of the power and the electrical signal carried by the second electrical wire means associated with the other of the first and second rotatable bodies via the rotary electrical coupling means. A positioning device configured as described above. 28. The positioning device according to claim 27 , wherein at least one of the first electric wire means and the second electric wire means is directly connected to the rotary electric coupling means without using the electric connector means. The positioning apparatus according to claim 23, wherein the electric motor is a stepping motor. An outer rotor main body assembly for mounting the electric motor on one of the fixing member of the rotatable joint and the rotatable main body, and the fixing member of the rotatable joint and the rotatable main body having at least a hollow portion An inner stator assembly including a central shaft that can be placed on the other of the first, a rotary electrical coupling means placed inside a hollow portion of the central shaft, and a first connected to the rotary electrical coupling means And a second electric wire means, and electrical connector means attached to the rotating electrical coupling means and positioned at both ends of the central shaft, while the rotatable body is rotated by being directly driven by the electric motor. Before the electric connector means is associated with one of the fixing member and the rotatable body without twisting or bending the electric wire of the electric wire means. The electrical signals carried by a first wire means, through the rotary electrical coupling means, and configured to transmit to said second wire means associated with the other of the rotatable body and the fixing member, positioning Equipment . 31. The positioning apparatus according to claim 30 , wherein at least one of the first and second electric wire means is directly connected to the rotary electric coupling means without using the electric connector means. The outer rotor main body assembly can mount the electric motor on a rotatable main body of the rotatable joint, and the inner stator assembly can be mounted on a fixing member of the rotatable joint. The positioning device according to claim 30 . The outer rotor main body assembly can mount the electric motor on a rotatable main body of the rotatable joint, and the inner stator assembly can be mounted on a fixing member of the rotatable joint. The positioning device according to claim 31 . An outer rotor body assembly for mounting the electric motor on one of the first and second rotatable bodies of the rotatable joint; and at least a portion of the hollow body first, An inner stator assembly having a central shaft that can be placed on the other of the second rotatable bodies, rotary electrical coupling means placed in a hollow portion of the central shaft, and the rotary electrical coupling means First and second electric wire means connected to the rotating electrical coupling means and electrical connector means positioned at opposite ends of the central shaft, wherein the rotatable body is directly driven by the motor. The electrical connector means is associated with one of the first and second rotatable bodies without twisting or deflecting the wires of the wire means during rotation. An electric signal carried by the first electric wire means is transmitted to the second electric wire means associated with the other of the first and second rotatable bodies via the rotary electric coupling means. A positioning device configured as described above. 35. The positioning device according to claim 34 , wherein at least one of the first electric wire means and the second electric wire means is directly connected to the rotary electric coupling means without using the electric connector means. The positioning device according to claim 30, wherein the electric motor is a stepping motor. A stator main body assembly for mounting the electric motor on one of the fixing member of the rotatable joint and the rotatable main body, and the fixing member of the rotatable joint and the rotatable main body having at least a hollow portion A rotation including an inner rotor assembly including a central shaft that can be mounted on the other, a rotating ring assembly coupled to one end of the central shaft, and an electric brush assembly coupled to the stator body assembly. An electrical coupling means; a first electrical wire means connected to the rotating ring assembly and passing through a hollow portion of the central shaft and exiting from an opposite end of the central shaft; and a second electrical power connected to the electric brush assembly And the electric wires of the first and second electric wire means are twisted while the rotatable main body is directly driven and rotated by the electric motor. Without bending, at least one of the electric power and the electric signal is transmitted to the first electric wire means associated with the rotating electric ring assembly and the second electric wire means associated with the electric brush assembly. And a positioning device configured to transmit via the rotating electrical coupling means. The stator main body assembly can mount the electric motor on a rotatable main body of the rotatable joint, and the inner rotor can be mounted on a fixing member of the rotatable joint. 37. A positioning device according to 37 . A stator assembly for mounting the electric motor on one of the first and second rotatable bodies of the rotatable joint, and first and second of said rotatable joints having at least a portion of a hollow portion; An inner rotor assembly including a central shaft that can be mounted on the other of the rotatable bodies, a rotating ring assembly coupled to one end of the central shaft, and an electric brush coupled to the stator body assembly A rotating electrical coupling means including an assembly; a first wire means connected to the rotating ring assembly and passing through a hollow portion of the central shaft and exiting from an opposite end of the central shaft; and the electric brush assembly. A positioning device including connected second electric wire means, wherein the electric wires of the first and second electric wire means are twisted while the rotatable main body is driven and rotated directly by the electric motor. Without bending, at least one of the electric power and the electric signal is transmitted to the first electric wire means associated with the rotating electric ring assembly and the second electric wire means associated with the electric brush assembly. And a positioning device configured to transmit via the rotating electrical coupling means. 38. The positioning device according to claim 37, wherein the electric motor is a stepping motor. An outer rotor main body assembly for mounting the electric motor on one of the fixing member of the rotatable joint and the rotatable main body, and can be mounted on the other of the fixing member of the rotatable joint and the rotatable main body. An inner stator assembly including a hollow central shaft; a rotary electrical coupling means including a rotary ring assembly coupled to one end of the central shaft and an electric brush assembly coupled to the outer rotor body assembly; First electrical wire means connected to the rotating ring assembly and exiting from the opposite end of the central shaft through the hollow central shaft; and second electrical wire means connected to the electric brush assembly. A positioning device, wherein the electric wires of the first and second electric wire means are twisted or bent while the rotatable main body is rotated by being directly driven by the electric motor. Without passing one of the power and the electrical signal through a first electrical wire means associated with the rotating electrical ring assembly and a second electrical wire means associated with the electrical brush assembly; and A positioning device configured to transmit via rotary electrical coupling means. The outer rotor main body assembly can mount the electric motor on a rotatable main body of the rotatable joint, and the inner stator assembly can be mounted on a fixing member of the rotatable joint. 42. The positioning device according to claim 41 . An outer rotor body assembly for mounting the electric motor on one of the first and second rotatable bodies of the rotatable joint, and of the first and second rotatable bodies of the rotatable joint Rotation including an inner stator assembly including a hollow central shaft that can be mounted on the other, a rotating ring assembly coupled to one end of the central shaft, and an electric brush assembly coupled to the stator body assembly Electrical coupling means; first electrical wire means connected to the rotating ring assembly and passing through the hollow central shaft and exiting from the opposite end of the central shaft; and second electrical power connected to the electric brush assembly A positioning device including electric wire means, wherein the electric wires of the first and second electric wire means are twisted or bent while the rotatable main body is driven and rotated directly by the electric motor. Instead, one of the electrical power and the electrical signal is passed through the first electrical wire means associated with the rotating electrical ring assembly and the second electrical wire means associated with the electrical brush assembly and the rotation. A positioning device configured to transmit via electrical coupling means. The positioning apparatus according to claim 41, wherein the electric motor is a stepping motor.   A positioning device for panning and tilting a surveillance camera, the positioning device comprising: a substrate for mounting the positioning device to a frame means; and an inner rotor assembly having a central shaft at least partially hollow A motor including a stator assembly that forms a solid body and an outer body of the motor, the outer body of the motor being fixed to the substrate such that the central shaft extends through the panning axis of the positioning device; The positioning device further includes a tilting motor, and a camera holding bracket that carries the camera together with at least one of the tilting motor and the tilting rotary joint, and the bracket is centered on the tilting axis. So that the tilting motion or rotation crosses the panning axis The rotor assembly is further fixed to the central shaft, and the rotor assembly further includes rotary electric coupling means mounted inside the hollow portion of the central shaft, and first and second connected to the rotary electric coupling means. Electric wire means, and electrical connector means positioned at both ends of the central shaft and coupled to the rotating electrical coupling means, and the camera holding bracket is driven directly by the electric motor and rotates about the panning axis. The electrical connector means is powered by the first electrical wire means associated with the substrate without twisting or flexing the electrical wires of the first and second electrical wire means during A position configured to transmit one of the signals to the second electrical wire means associated with the camera holding bracket via the rotary electrical coupling means; Because devices. 46. A positioning apparatus according to claim 45, wherein at least one of said first and second electric wire means is directly connected to said rotary electric coupling means without using said electric connector means. 46. The positioning device according to claim 45, wherein one of electric power and electric signal for the tilting motion or rotation is supplied to the electric motor by the second electric wire means. 47. The positioning apparatus according to claim 46, wherein one of electric power and electric signal for performing the tilting motion or rotation is supplied to the electric motor by the second electric wire means. The tilting motor includes an inner rotor assembly having a central shaft that is at least partially hollow and a stator assembly that forms an outer body of the tilting motor. A rotary shaft is secured to the camera holding bracket so that a central shaft extends through the tilting shaft of the positioning device, and the rotor assembly is further mounted in a rotary portion of the hollow portion of the central shaft. Means, third and fourth electric wire means connected to the rotary electrical coupling means, and electrical connector means positioned at both ends of the hollow portion of the central shaft and coupled to the rotary electrical coupling means, While the electric motor rotates about the tilting axis and directly drives the tilting motion of the camera, the second, third, Without twisting or flexing the wires of the four wire means, the electrical connector means of the electric power and electric signal carried by the third wire means associated with the second wire means. 48. The positioning device according to claim 47 , wherein at least one is configured to transmit to the fourth electric wire means associated with the camera holding bracket via the rotary electric coupling means. The tilting motor includes an inner rotor assembly having a central shaft that is at least partially hollow and a stator assembly that forms an outer body of the tilting motor, the outer body including the central shaft. The rotor assembly is fixed to the camera holding bracket so as to extend through a tilting shaft of a positioning device, and the rotor assembly further includes rotary electric coupling means mounted inside a hollow portion of the central shaft, Third and fourth electric wire means connected to the rotary electrical coupling means; and electrical connector means positioned at both ends of the hollow portion of the central shaft and coupled to the rotary electrical coupling means; While the tilting motion of the camera is directly driven by rotating around the tilting axis, the wires of the second, third and fourth wire means are Without rotating or flexing, the electrical connector means converts at least one of the power and the electrical signal carried by the third electrical wire means associated with the second electrical wire means to the rotary electrical coupling. 49. The positioning device of claim 48 , wherein the positioning device is configured to communicate to the fourth wire means associated with the camera holding bracket via means. The positioning device further includes a dome-shaped housing that is at least partially transparent, and three axes comprising the panning axis, the tilting axis, and the axis of a camera lens attached to the camera holding bracket are the dome-shaped 46. The positioning device of claim 45 , wherein the positioning device traverses substantially the geometric center of the housing. The positioning device further includes a dome-shaped housing that is at least partially transparent, and three axes comprising the panning axis, the tilting axis, and the axis of a camera lens attached to the camera holding bracket are the dome-shaped 47. The positioning device of claim 46 , wherein the positioning device traverses a substantially geometric center of the housing. The positioning device further includes a dome-shaped housing that is at least partially transparent, and three axes comprising the panning axis, the tilting axis, and the axis of a camera lens attached to the camera holding bracket are the dome-shaped 48. The positioning device of claim 47 , wherein the positioning device traverses substantially the geometric center of the housing. The positioning device further includes a dome-shaped housing that is at least partially transparent, and three axes comprising the panning axis, the tilting axis, and the axis of a camera lens attached to the camera holding bracket are the dome-shaped 49. The positioning device of claim 48 , wherein the positioning device traverses a substantially geometric center of the housing. The positioning device further includes a dome-shaped housing that is at least partially transparent, and three axes comprising the panning axis, the tilting axis, and the axis of a camera lens attached to the camera holding bracket are the dome-shaped 50. The positioning device of claim 49 , wherein the positioning device traverses substantially the geometric center of the housing. The positioning device further includes a dome-shaped housing that is at least partially transparent, and three axes comprising the panning axis, the tilting axis, and the axis of a camera lens attached to the camera holding bracket are the dome-shaped 51. The positioning device of claim 50 , wherein the positioning device traverses substantially the geometric center of the housing.   A positioning device for panning and tilting a surveillance camera, the positioning device comprising an inner stator having either a substrate or a member for attaching the positioning device to a frame means and a hollow central shaft A motor including an outer rotor assembly that forms an assembly and an outer body of the motor, wherein the outer body of the motor includes either the substrate or the member such that the central shaft extends through the panning axis of the positioning device. The positioning device further includes a tilting motor, and a camera holding bracket that carries the camera together with the tilting motor and the tilting rotary joint, and the bracket has a tilting shaft. The tilting motion or rotation around the center moves the panning axis The stator assembly is further fixed to the central shaft so as to be cut, and the stator assembly further includes a rotary electric coupling means mounted inside the central shaft, and a first and a second connected to the rotary electric coupling means. Electric wire means and electrical connector means positioned at both ends of the hollow central shaft and coupled to the rotating electrical coupling means, and the camera holding bracket is driven directly by the electric motor and rotates about the panning axis The electric connector means carries the power carried by the first electric wire means associated with the substrate without twisting or bending the electric wires of the first and second electric wire means during And at least one of the electrical signals is transmitted to the second electric wire means associated with the camera holding bracket via the rotary electric coupling means. Cormorants configuration was, the positioning device. 58. The positioning device according to claim 57, wherein at least one of the first and second electric wire means is directly connected to the rotary electric coupling means without using the electric connector means. 58. The positioning device according to claim 57, wherein at least one of electric power and electric signal for performing the tilting motion or rotation is supplied to the electric motor by the second electric wire means. 59. The positioning apparatus according to claim 58, wherein at least one of electric power and electric signal for performing the tilting motion or rotation is supplied to the electric motor by the second electric wire means. The tilting motor includes an inner rotor assembly having a central shaft that is at least partially hollow and a stator assembly that forms an outer body of the tilting motor. A central shaft is fixed to the camera holding bracket so as to extend through a tilting shaft of the positioning device, and the inner rotor assembly is further mounted on a rotary electric device mounted inside a hollow portion of the central shaft. The electric motor comprising: coupling means; third and fourth electric wire means connected to the rotary electrical coupling means; and electrical connector means positioned at both ends of the central shaft and coupled to the rotary electrical coupling means. While driving the tilting motion of the camera directly by rotating about the tilting axis, the second, third, and second Without twisting or deflecting the wires of the second wire means, the electrical connector means at least of the power and the electrical signal carried by the third wire means associated with the second wire means 60. The positioning device according to claim 59 , wherein one is transmitted to the fourth electric wire means associated with the camera holding bracket via the rotary electric coupling means. The tilting motor includes an inner rotor assembly having a central shaft that is at least partially hollow, and a stator assembly that forms an outer body of the tilting motor. The rotary shaft is fixed to the camera holding bracket so that the central shaft extends through the tilting shaft of the positioning device, and the rotor assembly further includes rotary electric coupling means mounted inside the hollow central shaft And third and fourth electric wire means connected to the rotary electric coupling means, and electric connector means positioned at both ends of the hollow central shaft and coupled to the rotary electric coupling means, the electric motor comprising: While driving the tilting motion of the camera directly by rotating about the tilting axis, the second, third and fourth At least one of electric power and electric signal carried by the third electric wire means associated with the second electric wire means without the electric wire of the wire means being twisted or bent. 60. A positioning device according to claim 59 , wherein said positioning device is configured to transmit to said fourth electric wire means associated with said camera holding bracket via said rotary electrical coupling means. The positioning device further includes a dome-shaped housing that is at least partially transparent, and three axes comprising the panning axis, the tilting axis, and the axis of a camera lens attached to the camera holding bracket are the dome-shaped 58. The positioning device of claim 57 , wherein the positioning device traverses a substantially geometric center of the housing. The positioning device further includes a dome-shaped housing that is at least partially transparent, and three axes comprising the panning axis, the tilting axis, and the axis of a camera lens attached to the camera holding bracket are the dome-shaped 59. The positioning device of claim 58 , wherein the positioning device traverses substantially the geometric center of the housing. The positioning device further includes a dome-shaped housing that is at least partially transparent, and three axes comprising the panning axis, the tilting axis, and the axis of a camera lens attached to the camera holding bracket are the dome-shaped 60. The positioning device of claim 59 , wherein the positioning device traverses substantially the geometric center of the housing. The positioning device further includes a dome-shaped housing that is at least partially transparent, and three axes comprising the panning axis, the tilting axis, and the axis of a camera lens attached to the camera holding bracket are the dome-shaped 61. The positioning device of claim 60 , wherein the positioning device traverses a substantially geometric center of the housing. The positioning device further includes a dome-shaped housing that is at least partially transparent, and three axes comprising the panning axis, the tilting axis, and the axis of a camera lens attached to the camera holding bracket are the dome-shaped 62. The positioning device of claim 61 , wherein the positioning device traverses substantially the geometric center of the housing. The positioning device further includes a dome-shaped housing that is at least partially transparent, and three axes comprising the panning axis, the tilting axis, and the axis of a camera lens attached to the camera holding bracket are the dome-shaped 64. The positioning device of claim 62 , wherein the positioning device traverses a substantially geometric center of the housing. The tilting motor includes an inner stator assembly having a hollow central shaft and an outer rotor assembly forming an outer body of the tilting motor, and a rotary electric coupling means is provided inside the hollow central shaft. 60. The positioning device according to claim 59 , wherein the positioning device is placed. The tilting motor includes an inner stator assembly having a hollow central shaft and an outer rotor assembly forming an outer body of the tilting motor, and a rotary electric coupling means is provided inside the hollow central shaft. 61. The positioning device according to claim 60 , wherein the positioning device is placed. 46. The positioning device according to claim 45 , wherein the frame means is selected from a wall, a ceiling, and a pillar. 58. The positioning device according to claim 57 , wherein the frame means is selected from a wall, a ceiling, and a pillar.

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