JP4328731B2 - Pan head device and pan head system - Google Patents

Description

  The present invention relates to a pan head device that can rotate around two axes.

  There is a pan head device that rotates a driven body such as a surveillance camera in two axial directions (for example, a pan direction and a tilt direction). The configuration of this pan head apparatus will be described with reference to FIGS.

  The pan head apparatus shown in FIG. 6 includes a support member 406 on which a monitoring camera (not shown) is mounted, and the support member 406 can be rotated in the pan direction (arrow B direction) and the tilt direction (arrow A direction). (For example, refer to Patent Document 1).

  A tilting motor 411 is connected to the support member 406 via a speed reduction mechanism 417. The support member 406 receives a driving force from the tilting motor 411 and rotates in the tilt direction about the rotation axis L1.

  A pan motor 401 is connected to the case 421 to which the support member 406 is fixed via a speed reduction mechanism 407. When the pan motor 401 is driven, the case 421 is moved together with the tilt motor 411 and the speed reduction mechanism 417. It rotates in the pan direction around the rotation axis L2.

  The pan head apparatus shown in FIG. 7 includes a support member 506 on which a surveillance camera is mounted. The pan head apparatus shown in FIG. 6 has a mechanism for rotating in the tilt direction. That is, in the pan head apparatus shown in FIG. 6, the tilt motor 411 and the pan motor 401 are arranged so that the rotation axes are orthogonal to each other, but in the pan head apparatus shown in FIG. 7, the pan motor 501 and the tilt motor are tilted. Motors 511 are arranged substantially parallel to the rotation axis L2. Thereby, the operation space generated by the rotation of the pan head device in the pan direction can be reduced as compared with the pan head device of FIG.

  In FIG. 7, reduction mechanisms 517A and 517B are connected to the tilt motor 511, and a support member 506 is connected to the 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 support member 506 is fixed.

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 support member 506 is moved in the tilt direction (arrow A direction). Rotate. When the pan motor 501 is driven, the case 521 to which the support member 506 is fixed rotates in the pan direction (arrow B direction) together with the tilt motor 511 and the speed reduction mechanisms 517A and 517B.
Japanese Unexamined Patent Publication No. 2000-47292 (paragraph numbers 0021 to 0026, FIG. 1, etc.)

  In a conventional pan head device, when a monitoring camera is mounted on a support member, it is preferable to arrange the camera at a position where rotation axes L1 and L2 in the pan direction and the tilt direction intersect. This is because the camera can be easily rotated in the intended direction and the pan head apparatus can be miniaturized.

  Here, in the pan head apparatus shown in FIG. 6, the camera can be disposed at a position where the rotation axes L1 and L2 in the pan direction and the tilt direction intersect, and when the pan motor 401 is driven, the tilt motor 411 is moved to the camera. And rotate in the pan direction. For this reason, the pan motor 401 is arranged at a position different from the rotation locus of the tilt motor 411 so that rotation of the tilt motor 411 in the pan direction is not hindered.

  On the other hand, in the pan head apparatus shown in FIG. 7, as described above, the pan motor 501 and the tilt motor 511 are disposed so as to be substantially parallel to the rotation axis L2 in the pan direction.

  However, in the configuration of the pan / tilt head device shown in FIGS. 6 and 7, since the tilting motors 411 and 511 are arranged only on one side with respect to the output shafts of the panning motors 401 and 501, the output shaft of the panning motor The mass balance on the left and right centering on the will become worse. When the mass balance is thus deteriorated, it is difficult to drive with high accuracy.

Panhead device is a first aspect of the invention, a first motor having a first motor main body and the rotary shaft, a second motor having a second motor main body and the rotary shaft, the first and second the motor main body rotatably supported coaxially of a support member rotatable in a first axis around and connected to a rotary shaft of said first and second motor, rotatable second axis around A rotating member is connected to the first and second motor bodies, and the rotational force of the motor body accompanying the driving of at least one of the first and second motors is rotated about the first axis. Conversion means for converting to force.

Panhead device is a second aspect of the invention, a first motor having a first motor main body and the rotary shaft, a second motor having a second motor main body and the rotary shaft, the first and second The motor main body is rotatably supported on the same axis, is connected to the support member rotatable about the first axis, and the first and second motor main bodies, and the motor main body is rotated around the second axis. And a rotation member that is rotatable with the rotation shafts of the first and second motors , and converts the rotation force of the rotation shaft into a rotation force that rotates at least one of the support member and the rotation member. Conversion means .

  According to the above-described present invention, the first and second motor bodies are arranged on the same axis, whereby the size of the pan head apparatus including the operation space can be reduced, and the first and second motor bodies can be reduced. It is possible to arrange the motors in a well-balanced manner.

  Examples of the present invention will be described below.

  A pan head apparatus that is Embodiment 1 of the present invention will be described with reference to FIG.

  The first motor 104 has a rotating shaft 104a, an outer cylinder (motor body) 104b, and a support shaft 104c fixed to the outer cylinder 104b. The rotating shaft 104a is rotatably supported by the support member 107. The support shaft 104c is rotatably supported by the support member 106.

  The second motor 105 has a rotating shaft 105a, an outer cylinder (motor body) 105b, and a support shaft 105c fixed to the outer cylinder 105b. The rotating shaft 105a is rotatably supported by the support member 108. The support shaft 105c is rotatably supported by the support member 106.

  A rotating member 101 is fixed to the rotating shafts 104a and 105a. Instead of fixing both end sides of the rotating member 101 to the rotating shafts 104a and 105a, the rotating member 101 and the rotating shafts 104a and 105a can be connected via a power transmission mechanism (gear or the like) having the same reduction ratio.

  A wire 102 is wound around the outer cylinders 104 b and 105 b, and the wire 102 is engaged with a pulley 103.

  The operation when the first motor 104 is driven and the rotating shaft 104a is rotated in the direction of the arrow NAR without driving the second motor 105 in the above-described configuration of the pan / tilt head device will be described.

  When only the first motor 104 is driven, the rotating shaft 104a tries to rotate, but the rotating shaft 104a is connected to the rotating shaft 105a of the second motor 105 in a non-energized state via the rotating member 101. The outer cylinder 104b receives the rotational force of the rotating shaft 104a and rotates in the arrow NAS direction.

  When the outer cylinder 104b rotates in the arrow NAS direction, the wire 102 advances in the direction indicated by the arrow, so that the outer cylinder 105b rotates in the arrow NBS direction. The operation of the wire 102 generates a rotational force in the direction of the arrow NAP with the pulley 103 as a rotation axis. The rotating member 101 rotates by receiving the rotational force in the direction of the arrow NAP.

  Further, the rotation of the outer cylinder 105b in the arrow NBS direction enables the rotation shaft 105a to rotate in the arrow NBR direction. That is, when the second motor 105 is in a non-energized state, the rotating shaft 105a and the outer cylinder 105b rotate together.

  Here, since the rotating shaft 104a rotates in the arrow NAR direction as described above, the rotating member 101 rotates in the arrow NAT direction by the rotation of the rotating shaft 105a in the arrow NBR direction (the same direction as the arrow NAR direction). be able to.

  When a driven body such as a camera is mounted on the rotating member 101, the driven body is moved in the tilt direction (corresponding to the arrow NAT direction) and the pan direction (in the arrow NAP direction) by rotating the rotating member 101 in the arrow NAT direction and the NAP direction. Corresponding) can be rotated. In addition, if the rotating shaft 104a of the first motor 104 is rotated in the direction opposite to the arrow NAR direction, the rotating direction of the rotating member 101 can be switched.

  In the above-described operation, if the driving amount of the first motor 104 is NA and the driving amount of the second motor 105 is NB, the driving amounts in the tilt direction and the pan direction are as follows. As described above, since the second motor 105 is not driven, the driving amount (NB) of the second motor is zero.

NA = NAS + NAR (1)
NB = NBS-NBR = 0 (2)
NAR = NAT = NBR = NBS = NAP = NAS (3)
Here, NAS and NAR indicate rotation amounts of the outer cylinder 104b and the rotation shaft 104a, and NBS and NBR indicate rotation amounts of the outer cylinder 105b and the rotation shaft 105a. NAT and NAP indicate the rotation amounts of the rotating member 101 and the pulley 103, that is, the driving amounts in the tilt direction and the pan direction.

  From the above formulas (1) to (3), the following formulas (4) and (5) are obtained.

NA = 2NAT = 2NAP (4)
NAT = NAP = NA / 2 (5)
As described above, when only the first motor 104 is driven with the driving amount NA, the rotating shaft 104a rotates in the arrow NAR direction, and the outer cylinder 104b rotates in the arrow NAS direction. That is, the rotation shaft 104a and the outer cylinder 104b have the same rotation amount (NA / 2) and rotate in different directions.

  As a result, the rotating member 101 rotates in the arrow NAT direction by the amount of rotation “NA / 2”, and the rotating shaft 105a and the outer cylinder 105b rotate in the same direction (in the directions of arrows NBR and NBS) by the amount of rotation “NA / 2”. ). Here, the wire 102 moves in the direction indicated by the arrow by the rotation of the outer cylinders 104 b and 105 b described above, and the pan head device (including the rotating member 101) rotates in the pan direction around the pulley 103. The rotation amount in the pan direction is “NA / 2”.

  Thus, in the pan head apparatus of the present embodiment, the rotating member 101 can be driven with the same rotation amount (rotational speed) in the tilt direction and the pan direction.

  Next, a case where the first and second motors 104 and 105 are driven with different drive amounts (drive speeds) in the pan head apparatus of the present embodiment will be described.

  Here, the drive amount of the first motor 104 is made larger than the drive amount of the second motor 105. In this case, the drive amount of the first motor 104 is NA, and the drive amount of the second motor 105 is set. Assuming that NB, the following equation (6) is obtained.

NA-NB = NC (6)
Here, NC indicates a difference in driving amount between the first and second motors 104 and 105.

  When the first motor 104 is driven with the drive amount NA (> NB), the rotating shaft 104a rotates in the arrow NAR direction, thereby rotating the rotating member 101 in the arrow NAT direction.

  Here, since the second motor 105 is driven so as to have a driving amount NB smaller than the driving amount NA, the second motor 105 is connected to the rotating shaft 104a of the first motor 104 via the rotating member 101. The reaction force by 105 works. Thereby, the outer cylinder 104b of the first motor 104 rotates in a direction (arrow NAS direction) different from the rotation direction of the rotating shaft 104a.

  The rotation of the outer cylinder 104b in the direction of the arrow NAS moves the wire 102 in the direction indicated by the arrow, and thereby the outer cylinder 105b also rotates in the direction of the arrow NBS. By the operation of the wire 102, the pan head apparatus (including the rotating member 101) of this embodiment rotates in the arrow NAP direction (pan direction) around the pulley 103.

  Further, the rotation member 101 rotates in the arrow NAT direction (tilt direction) by the rotation of the rotation shaft 104a in the arrow NAR direction and the rotation of the rotation shaft 105a in the arrow NBR direction.

  Here, when the rotation amount of the rotation member 101 in the tilt direction is NAT and the rotation amount of the rotation member 101 in the pan direction is NAP, the following equations (7) and (8) are obtained.

NAT = NB + (NA-NB) / 2 = NB + NC / 2 (7)
NAP = (NA-NB) / 2 = NC / 2 (8)
NC indicates the difference between the driving amounts of the first and second motors 104 and 105 as described above, and NC / 2 is added to the driving in the tilt direction and the pan direction to perform a differential operation.

  Thus, by making the drive amounts (drive speeds) of the first and second motors 104 and 105 different, it is possible to increase the drive amount in one direction out of the drive amounts in the pan direction and the tilt direction. The driving amount in the direction can be reduced.

  In other words, the drive speed in one direction of the pan direction and the tilt direction can be increased and the drive speed in the other direction can be reduced according to the difference in the drive amount between the first and second motors 104 and 105. it can.

  In addition, if the rotation shaft 104a of the first motor 104 and the rotation shaft 105a of the second motor 105 are rotated in directions opposite to the rotation directions (arrow NAR direction and arrow NBR direction) shown in FIG. The pan / tilt head device can be rotated in directions different from the directions (arrow NAT direction and arrow NAP direction) shown in FIG. 2 in each of the pan direction and the tilt direction. In addition, the amount of rotation in the pan direction and the tilt direction can be varied.

  Next, in the pan head apparatus of the present embodiment, a case where the rotating member 101 is rotated only in one of the pan direction and the tilt direction will be described with reference to FIG.

  When the pan head device (rotating member 101) is rotated only in one of the pan direction and the tilt direction, the relationship between the drive amount NA of the first motor 104 and the drive amount NB of the second motor 105 is as follows. (9) and (10).

NA = NB (9)
NA-NB = NC = 0 (10)
At this time, driving states (rotation amounts) in the tilt direction and the pan direction are as shown in the following equations (11) and (12).

NAT = NA = NB (11)
NAP = 0 (12)
The rotation direction of the rotation shaft 104 a in the first motor 104 and the rotation direction of the rotation shaft 105 a in the second motor 105 are the same direction with respect to the common axis L, and the first and second motors 104. , 105 have the same driving amount, the pan head device rotates only in the tilt direction.

  At this time, since the outer cylinders 104b and 105b are not rotated by the wire 102 that connects the outer cylinders 104b and 105b, no rotational force is generated around the pulley 103 as the wire 102 moves. That is, the rotating member 101 does not rotate in the pan direction.

  On the other hand, the rotation direction of the rotation shaft 104a in the first motor 104 and the rotation direction of the rotation shaft 105a in the second motor 105 are different directions with respect to the common axis L, and the first and second directions are the same. When the driving amounts of the motors 104 and 105 are the same, the pan / tilt head device rotates only in the pan direction.

  That is, when the rotation directions of the rotation shafts 104a and 105a are opposite and the rotation amounts are equal, the rotation forces of the rotation shafts 104a and 105a are canceled out, and the rotation member 101 rotates in the tilt direction (arrow NAT direction). do not do. On the other hand, the outer cylinders 104b and 105b rotate in opposite directions with respect to the support member 106.

  As the outer cylinders 104b and 105b rotate in directions opposite to each other with respect to the axis L in this manner, the wire 102 moves, and the pan head device (including the rotating member 101) rotates in the pan direction around the pulley 103 as an axis. To do.

  As described above, when the pan head apparatus is driven only in one of the pan direction and the tilt direction, the driving forces in the first motor 104 and the second motor 105 are combined, so that the double driving force ( Torque).

  In addition, in the pan head apparatus of a present Example, although the wire 102 is used, you may use a belt.

  Next, a pan head apparatus that is Embodiment 2 of the present invention will be described with reference to FIG. In the pan head apparatus of the first embodiment, the pan head apparatus is rotated in the pan direction using the wire and the pulley. In the present embodiment, the pan head apparatus is rotated in the pan direction using a gear as will be described later. Is.

  The first motor 207 has a rotating shaft 207a and an outer cylinder 207b, and the second motor 208 has a rotating shaft 208a and an outer cylinder 208b. The first and second motors 207 and 208 are arranged on the same axis. The rotating shafts 207a and 208a are fixed to the rotating member 204.

  Bevel gears 201 and 202 are fixed to the outer cylinders 207b and 208b, respectively. The bevel gears 201 and 202 mesh with the bevel gear 203. The bevel gear 203 is supported by the shaft member 206.

  The outer cylinders 207b and 208b are provided with support shafts 207c and 208c. The support shafts 207c and 208c are supported by the shaft member 206 in a rotatable state.

  The support member 205 supports the first and second motors 207 and 208 (outer cylinders 207b and 208b) at both ends in a rotatable state. Further, the support member 205 is rotatable with respect to the shaft member 206.

  In the above-described configuration of the pan / tilt head device, the operation when the first motor 207 is driven and the rotating shaft 207a is rotated in the direction of the arrow NAR without driving the second motor 208 will be described.

  When only the first motor 207 is driven, the rotating shaft 207a tries to rotate, but the rotating shaft 207a is connected to the rotating shaft 208a of the second motor 208 in a non-energized state via the rotating member 204. The outer cylinder 207b receives the rotational force of the rotary shaft 207a and rotates in the arrow NAS direction.

  When the outer cylinder 207b rotates in the arrow NAS direction, the bevel gear 201 also rotates in the same direction. Here, the bevel gears 201 and 202 move along the bevel gear 203, whereby the support member 205 rotates in the direction of the arrow NAP with respect to the shaft member 206. The pan head device (including the rotating member 204) rotates in the pan direction by the rotation of the support member 205 in the arrow NAP direction.

  When the bevel gear 203 is rotated in the arrow NBS direction by the rotation of the bevel gear 203, the outer cylinder 208b is rotated in the arrow NBS direction. Here, since the second motor 208 is in a non-energized state, the rotation shaft 208a also rotates in the same direction by the rotation of the outer cylinder 208b.

  Therefore, the rotating member 204 rotates in the arrow NAT direction (tilt direction) by the rotation of the rotating shaft 207a in the arrow NAR direction and the rotation of the rotating shaft 208a in the arrow NBR direction.

  In this embodiment, by driving only the first motor 207, the pan head apparatus can be rotated with the same rotation amount in the pan direction and the tilt direction. This operation principle is substantially the same as that described in the first embodiment.

  If the first and second motors 207 and 208 (rotating shafts 207a and 208a) are driven in the same direction and with different driving amounts as in the first embodiment described above, each direction of the pan direction and the tilt direction is determined. The amount of rotation at can be increased or decreased.

  Further, as in the first embodiment described above, if the first and second motors 207 and 208 (rotating shafts 207a and 208a) are driven in the same direction and with the same driving amount, the pan head device is tilted. It can be operated, and can be operated in the pan direction if driven in different directions and with the same driving amount.

  Next, a pan head apparatus that is Embodiment 3 of the present invention will be described with reference to FIG. Here, the same reference numerals are used for members having the same functions as those described in the fourth embodiment (FIG. 4).

  A bevel gear 201 is fixed to the rotating shaft 207 a of the first motor 207, and a rotating member 204 is fixed to the outer cylinder 207 b of the first motor 207. A bevel gear 202 is fixed to the rotating shaft 208 a of the second motor 208, and a rotating member 204 is fixed to the outer cylinder 208 b of the second motor 208.

  The rotating shafts 207a and 208a are supported by the shaft member 206 in a rotatable state. The shaft member 206 supports the bevel gear 203.

  The support member 205 rotatably supports the support shaft 207c of the first motor 207 and the support shaft 208c of the second motor 208. Further, the support member 205 is rotatable with respect to the shaft member 206.

  In the above-described configuration of the pan / tilt head device, the operation when the first motor 207 is driven and the rotating shaft 207a is rotated in the direction of the arrow NAR without driving the second motor 208 will be described.

  When only the first motor 207 is driven, the bevel gear 201 tries to rotate together with the rotation shaft 207 a, but the bevel gear 201 is provided on the rotation shaft 208 a of the second motor 208 in a non-energized state via the bevel gear 203. Since it is connected to the bevel gear 202, the outer cylinder 207b receives the rotational force of the rotating shaft 207a and rotates in the arrow NAS direction.

  When the outer cylinder 207b rotates in the arrow NAS direction, the outer cylinder 208b rotates in the arrow NBS direction via the rotating member 204. At this time, the rotating member 204 rotates in the arrow NAT direction (tilt direction).

  Further, the rotation of the outer cylinder 208b in the arrow NBS direction enables the rotation shaft 208a to rotate in the arrow NBR direction. That is, when the second motor 208 is in a non-energized state, the rotating shaft 208a and the outer cylinder 208b rotate together.

  Here, as described above, the rotating shaft 207a rotates in the direction of the arrow NAR, and the rotating shaft 208a rotates in the direction of the arrow NBR, so that the bevel gears 201 and 202 move along the bevel gear 203. As a result, the support member 205 rotates in the arrow NAP direction with respect to the shaft member 206. By the rotation of the support member 205, the pan head apparatus (including the rotation member 204) can rotate in the pan direction.

  According to the present embodiment, the pan head device (rotating member 204) can be rotated by the same driving amount in the pan direction and the tilt direction. This operation principle is substantially the same as that described in the first embodiment.

  If the first and second motors 207 and 208 (rotating shafts 207a and 208a) are driven with different driving amounts as in the first embodiment, the amount of rotation in each of the pan direction and the tilt direction increases. Can be reduced or decreased.

  Further, as in the first embodiment described above, if the first and second motors 207 and 208 (rotating shafts 207a and 208a) are driven in different directions and with the same drive amount, the pan head device is moved in the pan direction. If they are driven in the same direction and with the same driving amount, they can be rotated in the tilt direction.

  Further, in each of the above-described embodiments, a vibration type motor, a direct current motor, or the like can be used as the first and second motors.

  The vibration type motor includes a vibrating body including a piezoelectric element as an electro-mechanical energy conversion element and an elastic member, and a contact body that contacts the vibrating body. And the vibrating body and the contact body are press-contacted by receiving the pressurizing force of the pressurizing mechanism.

  In the configuration of the vibration type motor described above, when frequency signals having different phases are applied to the piezoelectric element, progressive vibration is generated in the vibration body, and the vibration body and the contact body are relatively moved by friction between the vibration body and the contact body. Rotate.

  Here, in this embodiment, since two motors are arranged on the same axis, it is possible to press the vibrating body and the contact body in each vibration type motor by using one pressurizing mechanism. For example, each contact body can be brought into pressure contact with each vibrating body by urging the contact body in a direction opposite to each other using one pressurizing mechanism.

  According to the above-described embodiment, since the first and second motors are coaxially arranged, the size of the pan head apparatus including the operation space can be reduced as compared with the conventional pan head apparatus. . Moreover, since the first and second motors are arranged on both sides with respect to the rotation axis in the pan direction, if the same weight is used as the first and second motors, the pan direction rotation is performed with a good balance. be able to.

The figure which shows the structure of the pan head apparatus which is Example 1 of this invention. The figure which shows the structure of the pan head apparatus in Example 2 of this invention. The figure which shows the structure of the pan head apparatus in Example 3 of this invention. The figure which shows the structure of the pan head apparatus which is Example 4 of this invention. The figure which shows the structure of the pan head apparatus which is Example 5 of this invention. The figure which shows the structure of the conventional pan head apparatus. The figure which shows the structure of the conventional pan head apparatus.

Explanation of symbols

101: Rotating member 102: Wire 103: Pulleys 201, 202, 203: Bevel gear 204: Rotating member 205: Support member

Claims (7)

A first motor having a first motor main body and the rotary shaft,
A second motor body and a second motor having a rotating shaft;
A support member that rotatably supports the first and second motor bodies coaxially and is rotatable about a first axis;
A rotating member coupled to the rotating shafts of the first and second motors and rotatable about a second axis;
Connected to the first and second motor bodies, and converts the rotational force of the motor body that accompanies the drive of at least one of the first and second motors into a rotational force around the first axis. A pan / tilt head device comprising: a converting means ; A first motor having a first motor main body and the rotary shaft,
A second motor body and a second motor having a rotating shaft;
A support member that rotatably supports the first and second motor bodies coaxially and is rotatable about a first axis;
A rotating member coupled to the first and second motor bodies and rotatable about a second axis by rotation of the motor bodies;
Conversion means connected to the rotation shafts of the first and second motors , and converting the rotation force of the rotation shaft into a rotation force for rotating at least one of the support member and the rotation member. A pan head device. Claims by at least one of the drive motion to Rukoto out before Symbol first and second motors, and wherein the rotating the rotary member in at least one axis around one of the first and second axes The pan head apparatus according to 1. And the converting means, the camera platform system according to any one of claims 1 to 3, characterized in that it comprises a pulley or gear. Wherein at least one of the first and second motors, electrical - a vibrator that occur vibration by application of frequency signals to mechanical energy conversion element, relatively driving a contact body contacting the vibrating body pan head apparatus according to any one of claims 1 4, characterized in that the vibration type motor. A pan head device according to any one of claims 1 to 5,
A pan head system comprising a driven body supported by a rotating member of the pan head device. The pan head system according to claim 6, wherein the driven body is a camera.

Images