JP4297691B2 - Pan head and camera system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a pan head having a mechanism for rotating a driven body around two rotation axes orthogonal to each other.And a camera system using this pan headIt is about.
[0002]
[Prior art]
As a pan head, it is proposed by patent document 1, for example.
[0003]
FIG. 4 shows a pan head (first conventional example) having a driven body on which a surveillance camera is mounted, and can freely move in a pan direction (arrow B direction) and a tilt direction (arrow A direction). The driven body can be rotated.
[0004]
The tilting motor 411 is connected to a speed reduction mechanism 417, and a driven body 406 is coupled to the speed reduction mechanism 417. The driven body 406 receives the driving force from the tilting motor 411 and is centered on the rotation axis L1. Rotate in the tilt direction.
[0005]
The pan motor 401 is connected to a speed reduction mechanism 407, and the speed reduction mechanism 407 is connected to a case 421 to which a driven body 406 is fixed. When the pan motor 401 is driven, the case 421 rotates in the pan direction around the rotation axis L2 together with the tilt motor 411 and the speed reduction mechanism 417.
[0006]
5 is also a pan head (second conventional example) provided with a driven body (mounted with a monitoring camera), but the pan head shown in FIG. 4 is for rotating in the tilt direction. The mechanism is different.
[0007]
That is, in the pan head shown in FIG. 4, the tilt motor 411 and the pan motor 401 are arranged so as to be orthogonal to each other, but in the pan head shown in FIG. 5, the pan motor 501 and the tilt motor 511 are arranged. Are arranged side by side substantially parallel to the rotation axis L2. This is to make the space (operation space) generated by the pan head rotation in the pan direction as small as possible.
[0008]
In FIG. 5, speed reduction mechanisms 517A and 517B are connected to the tilt motor 511, and a driven body 506 is connected to the speed reduction mechanism 517B. The panning motor 501 is connected to a speed reduction mechanism 507, and the speed reduction mechanism 507 is connected to a case 521 to which a driven body 506 is fixed.
[0009]
When the tilt motor 511 is driven, the output (rotation output in the pan direction) of the tilt motor 511 is converted into the rotation output in the tilt direction by the speed reduction mechanisms 517A and 517B, and the driven body 506 rotates in the tilt direction. When the pan motor 501 is driven, the case 521 to which the driven body 506 is fixed rotates in the pan direction together with the tilt motor 511 and the speed reduction mechanisms 517A and 517B.
[0010]
[Patent Document 1]
Japanese Patent Laid-Open No. 2000-47292 (page 2, FIG. 4)
[0011]
[Problems to be solved by the invention]
In the above-described prior art, when a surveillance camera is mounted on a driven body, the camera is preferably disposed on pan and tilt rotation axes (L1, L2). This is because the camera can be easily rotated in the intended direction and the entire apparatus can be easily miniaturized.
[0012]
In the configuration of the pan head that is the first conventional example, when the camera is arranged on the pan and tilt rotation axes (L1, L2) and the pan motor 401 is driven, the tilt motor 411 rotates in the pan direction together with the camera. Will do. Therefore, a drive source (pan motor 401) other than the tilt motor is arranged at a position different from the rotation locus of the tilt motor 411 so that rotation of the tilt motor in the pan direction is not hindered.
[0013]
On the other hand, in the pan head which is the second conventional example, the pan motor 501 and the tilt motor 511 are substantially parallel to reduce the space (operation space) occupied by the movement of the tilt motor 511 when rotating in the pan direction. Is arranged. Therefore, in the pan head of the second conventional example, the operation space of the apparatus can be reduced as compared with the pan head of the first conventional example.
[0014]
However, because the pan motor 501 and the tilt motor 511 are arranged in the same direction as in the second conventional example, the pan motor 501 is arranged separately from the space occupied by the rotation locus of the tilt motor 511. There is no change in the need to provide a space to perform.
[0015]
That is, in the first and second conventional examples, the minimum required space other than the space occupied by the driven body such as a camera is a space for storing the pan motor, a space for storing the tilt motor, and the tilt motor. A space for securing the rotation trajectory is required.
[0016]
In the first and second conventional examples, since the tilt motor is arranged only on one side with respect to the output shaft of the pan motor, the left and right mass balance around the output shaft of the pan motor is balanced. There is a problem that it becomes very bad and it is difficult to drive with high accuracy.
[0017]
In order to solve this problem, a method of adjusting the mass balance around the output shaft of the pan motor by providing a weight on the opposite side of the tilt motor can be considered, but the drive torque of the pan motor is increased by the added weight. This is necessary, and there is a problem that miniaturization of the pan motor itself is hindered.
[0018]
These problems can be similarly applied to a pan head in which the pan motor rotates with the driven body when the tilt motor is driven.
[0019]
[Means for Solving the Problems]
  A pan head according to a first invention of the present application is connected to a driven body, and includes a first driving source that rotates the driven body around the first rotation axis, and the first driving axis on the driven shaft. A pan head main body which is arranged on the opposite side of the body from the first drive source side and which can rotate around a second rotation axis; and a support means which rotatably supports the pan head main body; Conversion means for converting rotation of the drive source around the first rotation axis into rotation around the second rotation axis.
  According to the first invention of this application, since the first drive source and the second drive source are arranged on the same axis (on the first rotating shaft), the pan head can be reduced in size (first) compared to the prior art. 2). In addition, since the movement trajectories of the first drive source and the second drive source substantially overlap when the pan head body rotates around the second rotation axis, the size of the pan head including the operation space can be reduced. Can be made smaller.
  Furthermore, even in the above arrangement, by providing the conversion means, the driven body and the rotating shafts (first and second rotating shafts) orthogonal to each other using the first driving source and the second driving source. Can be rotated around.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
(First embodiment)
FIG. 1 shows a cross-sectional view of a pan head that is a first embodiment of the present invention.
[0021]
In the figure, reference numerals 101 and 111 denote a tilting motor (first driving source) and a panning motor (second driving source) each composed of an electromagnetic motor, both of which are fixed to a case (head unit body) 121. Has been. Reference numeral 106 denotes a driven body on which a camera is mounted. In this embodiment, a camera is mounted on the driven body 106 and used as a monitoring camera, but an apparatus other than the camera can be mounted on the driven body 106.
[0022]
Reference numerals 107 and 117 denote reduction mechanisms, which are connected to the tilt motor 101 and the pan motor 111, respectively. The speed reduction mechanism 107 is connected to a driven body 106, and the driven body 106 rotates in the tilt direction (arrow A direction) by receiving a driving force from the tilt motor 101.
[0023]
The driven body 106 is arranged at a position where a pan rotation axis L2 (second rotation axis) and a tilt rotation axis (first rotation axis) L1 intersect each other at right angles. At this position, the pan direction (arrow B) Direction) and tilt direction.
[0024]
Reference numerals 116A and 116B denote helical gears (conversion means), which are arranged and meshed with each other in an inclined state of approximately 90 degrees. The helical gear 116B is fixed to the pedestal 122 via a shaft 128, and the case 121 is rotatably supported by the pedestal 122 (supporting means including the shaft 128) via a bearing 123.
[0025]
The helical gears 116A and 116B act as a power conversion mechanism for converting the output in the tilt direction of the pan motor 111 into the output in the pan direction (arrow B direction). In the present embodiment, the helical gears 116A and 116B are used, but any configuration is possible as long as the gear configuration can convert the output in the tilt direction of the pan motor 111 into the output in the pan direction.
[0026]
The tilt motor 101 is connected to the driven body 106 via the speed reduction mechanism 107 and directly rotates the driven body 106 in the tilt direction.
[0027]
The pan motor 111 is connected to the speed reduction mechanism 117 and the helical gear 116A. When the pan motor 111 is driven, the helical gear 116A rotates, and the helical gear 116A and the helical gear 116B engage with each other, so that the helical gear 116A is pedestal. The helical gear 116B fixed to 122 is turned around.
[0028]
Here, since the speed reduction mechanism 117 is fixed to the helical gear 116A and the panning motor 111 is fixed to the case 121, when the helical gear 116A rotates around the helical gear 116B, the case 121 moves in the pan direction. And the driven body 106 also rotates in the pan direction.
[0029]
Reference numerals 124 and 125 denote an encoder scale and a head for detecting the rotational state of the driven body 106 in the tilt direction. The encoder scale 124 is fixed to the rotating shaft 101a and rotates together with the rotating shaft 101a. The head 125 is fixed to the case 121 at a position facing a part of the encoder scale 124.
[0030]
In this configuration, when the encoder scale 124 rotates around the rotation axis 101a (tilt direction), a signal corresponding to the rotation position of the encoder scale 124 is output from the head 125. This signal is input to a control circuit (not shown), and the control circuit detects the rotational position of the driven body 106 in the tilt direction based on the input signal.
[0031]
Reference numerals 126 and 127 denote an encoder scale and a head for detecting the rotation state of the case 121 in the pan direction. The encoder scale 126 is fixed to the helical gear 116B. The head 127 is fixed to the case 127 at a position facing a partial area of the encoder scale 126.
[0032]
In this configuration, when the head 127 rotates around the axis 128 (pan direction) together with the case 121, the head 127 outputs a signal corresponding to the rotational position of the case 127. This signal is input to a control circuit (not shown), and the control circuit detects the rotational position of the case 127 (driven body 106) in the pan direction based on the input signal.
[0033]
Here, the tilt motor 101 and the pan motor 111 are located on the tilt rotation axis L1 so as to face each other across the pan rotation axis L2 and the driven body 106, and are equidistant from the pan rotation axis L2. It is arranged only at a position apart.
[0034]
When the pan head having such a configuration is rotated in the pan direction, the rotation trajectory of the tilt motor 101 and the rotation trajectory of the pan motor 111 are superimposed, and the pan motor 111 is disposed within the operation region of the tilt motor 101. An area for doing so can be secured. For this reason, it is not necessary to arrange the pan motor in a region different from the operation region of the tilt motor as in the prior art.
[0035]
That is, according to the present embodiment, the size of the camera platform including the operation space of the apparatus can be reduced as compared with the conventional technique. In addition, the size in the apparatus height direction can be reduced as compared with the first and second conventional examples described above.
[0036]
Here, if motors having the same configuration are used as the tilt motor 101 and the pan motor 111, the masses of the motors 101 and 111 located on both sides of the pan rotation axis L2 are substantially equal. Since the tilt motor 101 and the pan motor 111 are arranged at the same distance from the pan rotation axis L2 as described above, the right and left mass balance with respect to the pan rotation axis L2 becomes good (the left and right And the driven body 106 can be rotated with high accuracy.
[0037]
Therefore, according to the pan / tilt head of this embodiment, the driven body 106 can be rotationally driven with a smaller size and higher accuracy.
[0038]
In the present embodiment, the two motors 101 and 111 are disposed on the tilt rotation axis L1, but the two motors 101 and 111 may be disposed on the pan rotation axis L2.
[0039]
Even when the tilt motor 101 and the pan motor 111 having different masses are used, the right and left masses with respect to the rotation axis L2 can be changed by appropriately changing the distance from the rotation axis L2 of the tilt motor 101 and the pan motor 111. Balance can be maintained.
[0040]
(Second Embodiment)
FIG. 2 shows a cross-sectional view of a pan head that is a second embodiment of the present invention.
[0041]
In the first embodiment, an electromagnetic motor is used as a pan head drive source (tilt motor and pan motor). In this embodiment, a vibration wave motor (ultrasonic motor) is used as a pan head drive source. is doing.
[0042]
Two motors (for tilting and panning) are opposed to each other on the tilt rotation axis (first rotation axis) L1 across the pan rotation axis (second rotation axis) L2, and from the pan rotation axis L2. The configuration arranged at a position separated by a distance and the configuration for converting the output in the tilt direction of the pan motor to the output in the pan direction using the helical gear are the same as in the first embodiment. Moreover, about the thing which fulfill | performs the same function as the member demonstrated in 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.
[0043]
Hereinafter, a description will be given focusing on a configuration different from the first embodiment.
[0044]
As an example of the configuration of the vibration wave motor, an electro-mechanical energy conversion element such as a piezoelectric element having a predetermined electrode pattern formed on the bottom surface of an elastic body made of metal or the like formed in an annular shape is fixed. A plurality of standing waves are generated on the surface of the elastic body by supplying a drive signal to the mechanical energy conversion element.
[0045]
By providing a predetermined temporal phase difference (90 degrees for two standing waves and 120 degrees for three standing waves) to the plurality of standing waves, A traveling wave traveling along the ring is generated on the surface of the elastic body.
[0046]
At this time, each mass point on the surface of the elastic body performs an elliptical motion, and if the rotor is pressed against the surface of the elastic body, the rotor moves in the direction in which the traveling wave travels due to the elliptical motion and frictional force on the surface of the elastic body. Rotate to the opposite side.
[0047]
As a method of bringing the rotor into pressure contact with the elastic body, it is easiest to press the rotor against the elastic body with a spring, and it is easy to adjust the applied pressure.
[0048]
In FIG. 2, 201 and 211 are vibrators composed of an elastic body such as metal and an electro-mechanical energy conversion element, and 202 and 212 are rotors pressed against the surface of the elastic body. Here, the vibrator 201 and the rotor 202 constitute a tilt motor (first drive source) 200A, and the vibrator 211 and the rotor 212 constitute a pan motor (second drive source) 200B.
[0049]
The vibrators 201 and 211 are fixed inside a pan head case (head body) 221, and shafts 203 and 213 are provided at the center of the vibrators 201 and 211. Spring receivers (fixing members) 204 and 214 are provided at one end portions of the shafts 203 and 213, respectively.
[0050]
The spring receivers 204 and 214 (shafts 203 and 213) are fitted to the case 221 and the vibrators 201 and 211 so as to be allowed to move to some extent in the rotation axis direction (thrust direction) of the rotors 202 and 212. .
[0051]
The tilt motor 200A and the pan motor 200B are arranged so as to sandwich the driven body 206 on which a camera or the like is mounted on the tilt rotation axis L1. The rotors 202 and 212 are located on the pan rotation axis L2 side with respect to the vibrators 201 and 211, and are disposed so as to face each other.
[0052]
A rotor 202 (including a support member 207 described later) and a rotor 212 (including a helical gear 216A described later) are sandwiched between bearings 205 and 215 fixed to vibrators 201 and 211 and spring receivers 204 and 214. And rotate around axes 203 and 213 provided at the center of the vibrators 201 and 211.
[0053]
The spring receivers 204 and 214 are disposed so as to face each other inside the support member 207 having a hollow structure. A spring (biasing means) 210 is disposed between the spring receivers 204 and 214, and the spring 210 biases the spring receivers 204 and 214 in a direction to separate them from each other at both ends.
[0054]
The spring receivers 204 and 214 are urged so as to be pushed toward the vibrator by the spring 210, and the rotors 202 and 212 are applied to the spring receivers 204 and 214 via the support member 207 or the helical gear (conversion means) 216A. In response to the urging force from the fixed bearings 205 and 215, the surfaces of the vibrators 201 and 211 are pressed and contacted.
[0055]
The rotor 202 (support member 207) and the rotor 212 (Hasuba gear 216A) can be freely rotated with respect to the shafts 203 and 213 and the spring receivers 204 and 214 by bearings 205 and 215.
[0056]
A support member 207 attached to the driven body 206 is fixed to the rotor 202, and when a drive signal is supplied to the vibrator 201, the support member 207 rotates in the tilt direction together with the rotor 202. Further, a helical gear 216A is fixed to the rotor 212. When a driving signal is supplied to the vibrator 211, the helical gear 216A rotates around the tilt rotation axis L1 together with the rotor 212.
[0057]
In the configuration described above, the tilt motor 200 </ b> A and the pan motor 200 </ b> B are connected via the spring 210, but the bearings 205 and 215 are disposed between the tilt motor 200 </ b> A and the pan motor 200 </ b> B and the spring 210. Therefore, the two motors 200A and 200B (rotors 202 and 212) can rotate independently of each other.
[0058]
The helical gear 216A fixed to the rotor 212 meshes with a helical gear (conversion means) 216B disposed at an inclination of 90 degrees with respect to the helical gear 216A. The helical gear 216B is fixed to the pedestal 122.
[0059]
When the helical gear 216A rotates about the pan rotation axis L1 together with the rotor 212, the case 221 rotates in the pan direction with respect to the pedestal 122 by the meshing action of the helical gear 216A and the helical gear 216B. Thereby, the driven body 206 disposed in the case 221 also rotates in the pan direction.
[0060]
Seal members 228 and 229 are attached to cover an opening formed on the upper surface of the case 221 and a gap formed between the case 221 and the helical gear 216B. Thereby, the inside of an apparatus can be made into a sealed state and it can prevent that dust etc. enter into an apparatus.
[0061]
Normally, a pressure member (spring or the like) that presses the rotor against the vibrator is required for each vibration wave motor. However, in the configuration of the present embodiment, the two vibration wave motors (tilting motor 200A and pan motor 200B) are on the same axis (L1) and face each other. The rotors 202 and 212 can be brought into pressure contact with the vibrators 201 and 211 only by arranging one pressure member (spring 210) therebetween. Thereby, the number of parts can be reduced.
[0062]
In addition, since the spring 210 biases the rotors 202 and 212 via members that do not rotate around the rotation axis L1 (the inner peripheral portions of the spring receivers 204 and 214 and the bearings 205 and 215), the rotors 202 and 212 are Rotating will not be affected by this.
[0063]
Also in this embodiment, since the rotation trajectories of the tilting motor and the panning motor are superimposed, the same effect as in the first embodiment can be obtained.
[0064]
(Third embodiment)
FIG. 3 shows a cross-sectional view of a pan head that is a third embodiment of the present invention. (A) of the figure shows a top view of the apparatus, and (b) shows a front view of the apparatus.
[0065]
The pan head of the present embodiment is a vertical type improved from the horizontal pan head shown in the second embodiment, and is further downsized. Hereinafter, a description will be given focusing on a configuration different from the first and second embodiments.
[0066]
Reference numerals 301 and 311 denote vibrators, and reference numerals 302 and 312 denote rotors that are pressed against the surfaces of the elastic bodies constituting the vibrators 301 and 311. The vibrator 301 and the rotor 302 constitute a panning motor (first driving source), and the vibrator 311 and the rotor 312 constitute a tilting motor (second driving source).
[0067]
The vibrator 301 is fixed inside a pedestal (support means) 322, and the vibrator 311 is fixed inside a case (head unit body) 321.
[0068]
A common shaft 303 extending in the direction of the pan rotation axis (first rotation axis) L2 is disposed at the center of the vibrators 301 and 311. A case 321 is fixed to one end of the shaft 303, and is near the other end. The rotor 302 is fixed.
[0069]
The shaft 303 is supported by the pedestal 322 through bearings 304 and 305 having backlash in the thrust direction between the inner peripheral portion and the outer peripheral portion. The inner peripheral portions of the bearings 304 and 305 are fixed to the shaft 303, and the outer peripheral portion is fixed to the pedestal 322. Therefore, the shaft 303 can be displaced in the thrust direction with respect to the base 322 within the allowable range of play of the bearings 304 and 305.
[0070]
An encoder scale 324 is fixed to the rotor 302, and a head 325 fixed to a pedestal 322 is disposed at a position facing a part of the encoder scale 324. The encoder scale 324 and the head 325 are for detecting the rotational state of the rotor 302 in the pan direction as described in the first embodiment.
[0071]
A helical gear (conversion means) 316A is fixed to the rotor 312 via an encoder scale 326. The helical gear 316A rotates in the pan direction together with the rotor 312 when a drive signal is supplied to the vibrator 311.
[0072]
The encoder scale 326 and the head 327 arranged in the vicinity of the encoder scale 326 are for detecting the rotation state of the rotor 312 in the pan direction.
[0073]
The helical gear 316A meshes with a helical gear (conversion means) 316B disposed at an inclination of 90 degrees with respect to this gear. The helical gear 316B is fixed to a turntable 317, and the turntable 317 is fixed to the case 321 so as to be rotatable in the tilt direction.
[0074]
Accordingly, when the helical gear 316A rotates in the pan direction, the helical gear 316B rotates in the tilt direction due to the meshing action with the helical gear 316A.
[0075]
Here, when the pan head is viewed from the upper surface (FIG. 3A), the driven body 306 on which the camera or the like is mounted has a U-shape, and this driven body 306 is disposed inside this. It can rotate in the tilt direction as long as it does not contact the spring (biasing means) 310.
[0076]
The rotor 312 and the helical gear 316A are supported in a rotatable state relative to the shaft 303 by bearings 307 and 308 having backlash in the thrust direction between the inner peripheral portion and the outer peripheral portion.
[0077]
A spring 310 is disposed between the pedestal 322 and the outer peripheral portion of the bearing 307, and the outer peripheral portion of the bearing 307 receives a biasing force in a direction away from the pedestal 322 by the spring 310.
[0078]
The outer periphery of the bearing 307 that receives the urging force from the spring 310 is fixed to the helical gear 316A. Since the encoder scale 316A and the rotor 312 are fixed to the helical gear 316A, the rotor 312 is attached to the spring 310. The force is received and pressed against the surface of the vibrator 311.
[0079]
Since the bearings 307 and 308 have backlash in the thrust direction of the shaft 303 as described above, the rotor 312 can be pressed against the vibrator 311 fixed to the shaft 303 via the case 321. .
[0080]
Further, when the rotor 312 receives a strong biasing force (pressing force) from the spring 310, the vibrator 311 pushed into the rotor 312 thrusts upwards (above FIG. 3B).
[0081]
Since the shaft 303 is fixed to the vibrator 311 via the case 321, the shaft 303 also thrusts upward along with the vibrator 311 within the allowable range of the play of the bearings 304 and 305. Due to the thrust movement of the shaft 303, the rotor 302 fixed to the shaft 303 comes into pressure contact with the surface of the vibrator 301.
[0082]
As described above, also in this embodiment, one spring (pressurizing member) is sufficient for the two vibration wave motors as in the second embodiment, and the number of parts can be reduced.
[0083]
On the other hand, when a drive signal is supplied to the vibrator 301, the shaft 303 rotates in the pan direction together with the rotor 302, and the case 321 and the components (the driven body 306 and the like) disposed therein are rotated in the pan direction.
[0084]
Note that seal members 328 and 329 are attached to cover an opening formed on one side surface of the case 321 and a gap formed between the case 321 and the pedestal 322. Thereby, the inside of an apparatus can be made into a sealed state and it can prevent that dust etc. enter into an apparatus.
[0085]
According to this embodiment, only one of the two vibrators (vibrator 311) rotates, and the positions of the two vibration wave motors do not change. Therefore, it is not necessary to secure the rotation trajectory of the motor, and a space for storing the two vibration wave motors and the driven body arranged between these motors is sufficient, and the pan head can be downsized. .
[0086]
In the present embodiment, a vertically long device configuration is used, but this may be a horizontally long device configuration. That is, the vibration wave motor for pan arranged in the base 322 can be used as a drive source for tilt, and the vibration wave motor for tilt arranged in the case 321 can be used as a drive source for pan.
[0087]
In this embodiment, the driven body 306 is disposed between the pan motor and the tilt motor. However, the two motors and the driven body 306 may be disposed on the same axis (L2). Specifically, the driven body 306 may be disposed above the case 321 and the tilt motor may be disposed below the case 321.
[0103]
【The invention's effect】
According to the present invention, it is possible to downsize the apparatus and to drive the apparatus stably.
[Brief description of the drawings]
FIG. 1 is a cross-sectional view of a pan head according to a first embodiment of the present invention.
FIG. 2 is a cross-sectional view of a pan head according to a second embodiment of the present invention.
FIG. 3 is a cross-sectional view of a pan head according to a third embodiment of the present invention.
FIG. 4 is a cross-sectional view of a conventional biaxial rotating device.
FIG. 5 is a cross-sectional view of another conventional biaxial rotating device.
[Explanation of symbols]
101, 111: Electromagnetic motor
106, 206, 306: driven body
107, 117: Deceleration mechanism
116A, 116B, 216A, 216B, 316A, 316B: Hasuba gear
121, 221, 321: Case
122, 322: pedestal
123, 205, 215, 304, 305, 307, 308: Bearing
124, 126, 324, 326: Encoder scale
125, 127, 325, 327: head
201, 211, 301, 311: vibrator
202, 212, 302, 312: rotor
203, 213, 303: axis
204, 214: Spring support
207: Support member
210, 310: Spring
228, 229, 328, 329: seal members
317: Turntable

Claims (5)

A first drive source coupled to the driven body and rotating the driven body about a first rotation axis;
A second drive source disposed on the first rotating shaft and disposed on the opposite side of the driven body from the first drive source side;
A head body that holds the first drive source and the second drive source and is rotatable around a second rotation axis that is orthogonal to the first rotation axis;
A support means for rotatably supporting the pan head body;
A pan head comprising: changing means for converting rotation of the second drive source around the first rotation axis into rotation around the second rotation axis.   2. The pan / tilt head according to claim 1, wherein the first drive source and the second drive source are arranged so that moments on both sides of the second rotation shaft are substantially equal. The first driving source and the second driving source are in contact with a vibrating body that excites vibration by input of a driving signal, and pressurizing and contacting the vibrating body, and can rotate by receiving vibration from the vibrating body. 3. The pan / tilt head according to claim 1 , wherein the pan head is a vibration type drive unit having a body and a biasing unit that biases the rotating body to the vibrating body. 4. The pan / tilt head according to claim 3 , wherein the urging unit urges both of the rotating bodies in two vibration type drive units. The pan head according to claim 4 , wherein the urging unit urges both of the rotating bodies through a fixing member that is prevented from rotating.

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