JP6557823B2 - Space stabilizer - Google Patents

Description

  The present invention relates to a space stabilizer.

There is a space stabilization device that can fix a camera to a flying object such as a helicopter, a movable object such as a vehicle, and arbitrarily change the imaging direction of the camera.
For example, Patent Literature 1 describes a space stabilization device that can hold a camera movably and can be attached to a moving body such as an aircraft or a ship. The space stabilizer includes a support base attached to the moving body, and holds the camera movably with respect to the support base. The held camera includes a rotational movement in the yaw direction about the yaw axis perpendicular to the support base, a rotational movement in the pitching direction about the pitching axis perpendicular to the yaw axis, and a vertical movement to the pitching axis and the yaw axis. A rotational movement in the roll direction about a roll axis extending so as to intersect the axis can be performed.

JP 2010-98575 A

  In the space stabilizer, there may be a limitation on the rotation angle in the yaw direction, the pitching direction, or the roll direction. In this case, a restraining mechanism is provided to prevent rotation exceeding the limit, and in the restraining mechanism, rotation of the rotating portion is restrained by contacting the rotating portion with a stopping portion such as a stopper. In order to prevent the impact caused by the contact when stopping the rotation from being transmitted to the camera, it is necessary to provide a mechanism for buffering the impact. Miniaturization of the mechanism is required.

  The present invention has been made to solve such problems, and it is an object of the present invention to provide a space stabilizer that can reduce the size of a structure that stops rotation of a rotating portion with buffering.

In order to solve the above problems, a space stabilizer according to the present invention is a space stabilizer including a holding body for an object and a support portion that rotatably supports the holding body. And a rotation restraining portion for restraining the rotation of the holding body. The rotation restraining portion includes an engagement body provided to be able to engage with the protruding portion of the rotating holding body, a support portion that movably accommodates the engagement body and is supported. A movable body provided to be movable relative to the movable body, a fixed body provided adjacent to the movable body and fixed to the support portion, and a first biasing member provided between the engaging body and the movable body, A second urging member provided between the movable body and the fixed body, and the direction of action of the urging force of the first urging member and the direction of action of the urging force of the second urging member are determined by rotation of the holding body. What direction der inclined with respect to and to each other to face the direction, the rotation restraining portion, the movable body Between the movable body and the second fixed body, a second fixed body that is positioned adjacent to the first fixed body that is the fixed body in the rotation direction of the holding body and is adjacent to the first fixed body, and is fixed to the support portion. A biasing force acting direction of the third biasing member is opposed to a rotation direction of the holding body and is inclined with respect to a biasing force acting direction of the first biasing member. direction der Ru.

The engaging body may be supported by the engaging body guide member provided on the movable body so as to be movable along the engaging body guide member, and the first biasing member may be provided on the engaging body guide member.
The movable body may be supported by a movable body guide member provided on the fixed body so as to be movable along the movable body guide member, and the second urging member may be provided on the movable body guide member .
Movable body is by the second movable body guide member and the first movable body guide members is a and the movable body guide member provided on the second fixing member provided separately from, movable along the second movable body guide member The supported third biasing member may be provided on the second movable body guide member.

  According to the space stabilizer according to the present invention, it is possible to reduce the size of the structure that stops rotation of the rotating part with buffering.

It is a typical side view of the space stabilizer concerning an embodiment of this invention. It is the figure which looked at the rotation stop mechanism in the cross section along the II-II line | wire of FIG. 1 from the camera imaging part side. It is sectional drawing along the III-III line of FIG. It is sectional drawing along the IV-IV line of FIG.

Hereinafter, a space stabilizer 1 according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Referring to FIG. 1, the space stabilization device 1 is configured to be mounted on a moving body such as an aircraft, a ship, or a vehicle. The space stabilizing device 1 includes a base-like attachment portion 2 attached and fixed on the surface of the exterior A of the moving body, and a base portion 3b disposed on one surface of the attachment portion 2 and inside the attachment portion 2. Is embedded, a spherical camera housing 4 held by the frame 3, and a camera imaging unit 5 accommodated in the camera housing 4. Here, the attachment part 2 constitutes a support part, the frame 3 constitutes a holding body, and the camera imaging part 5 constitutes an object.
The frame body 3 is integrated with a frame main body portion 3a having a U-shaped cross section extending in the depth direction of the paper surface and facing upward on the paper surface, and the attachment portion 2 side of the frame main body portion 3a. And an annular base portion 3b extending toward the attachment portion 2.

A part of the base portion 3 b is located in the attachment portion 2 and is engaged with the attachment portion 2 so as not to deviate from the attachment portion 2.
The attachment portion 2 has a support column 2a extending so as to protrude into the frame main body portion 3a of the frame body 3 at the center inside the annular base portion 3b. Furthermore, the bearing 2b is provided between the outer peripheral surface of this support | pillar 2a and the inner peripheral surface of the base 3b. The base 3b of the frame 3 is supported by the bearing 2b and the support 2a so as to be rotatable in the yaw direction around the support 2a.

  Moreover, the camera housing | casing 4 is comprised by the spherical main body part 4a and the cylindrical part 4b which protrudes from the main body part 4a. A lens of the camera imaging unit 5 is embedded in the cylindrical part 4b. The main body 4a is rotatably supported from both sides by a U-shaped frame main body 3a. The main body portion 4a can rotate around an axis 4c perpendicular to the axial direction of the support column 2a of the mounting portion 2, that is, rotate in the pitching direction.

Further, the attachment portion 2 and the frame body 3 are provided with a rotation stopping mechanism 100 that stops rotation of the frame body 3 with respect to the attachment portion 2 in the yaw direction.
1 to 4, the rotation stopping mechanism 100 includes two protrusions 3 d and 3 e that protrude from the bottom surface 3 c of the frame main body 3 a of the frame 3 toward the attachment portion 2, and a circle of the attachment portion 2. And a protrusion restraining portion 10 provided on the ring-shaped upper surface 2c. Here, the protrusions 3d and 3e constitute a protrusion of the holding body, and the protrusion restraining part 10 constitutes a rotation restraining part.
The two protrusions 3d and 3e are arranged at a distance from each other along the circumferential direction of the yaw rotation, that is, the circumferential direction of the surface 2c having an annular band centering on the central axis of the support column 2a.
Referring to FIGS. 2 to 4 together, the protrusion restraining portion 10 includes two fixed blocks 13 and 14 and two movable blocks 11 and 12.
The fixing blocks 13 and 14 are fixed on the ring-shaped surface 2c, and are further spaced apart from each other along the circumferential direction of the surface 2c. The fixing blocks 13 and 14 have shapes symmetrical to each other with respect to a plane that passes through the radius of the annular surface 2c located between them and is perpendicular to the surface 2c.

The first fixing block 13 includes a plate-like bottom wall portion 13a having a planar shape that is fixed on the surface 2c and forms a part of an annular band, and a radius of the annular surface 2c perpendicular to the bottom wall portion 13a. Radial wall 13b extending in the direction, and circumferential wall extending vertically from the bottom wall 13a and extending from both ends of the radial wall 13b to the second fixed block 14 13c and 13d are integrally included. The circumferential wall portions 13c and 13d extend along the inner peripheral edge and the outer peripheral edge of the bottom wall 13a, respectively. Here, the first fixed block 13 constitutes a fixed body and a first fixed body.
The bottom wall portion 13a is formed with a size that fits within the ring-shaped surface 2c. The radial wall 13b has a planar shape that forms a part of the annular band, that is, a substantially trapezoidal planar shape. A substantially rectangular parallelepiped recess 13e surrounded by the radial wall 13b and the circumferential walls 13c and 13d is defined above the bottom wall 13a. Furthermore, a through hole 13ba is formed that penetrates the radial wall 13b in the circumferential direction. The through-hole 13ba has a straight central axis and is formed linearly. The central axis of the through hole 13ba is perpendicular to the surface of the radial wall portion 13b on the second fixed block 14 side.

The second fixing block 14 includes a plate-like bottom wall portion 14a that is fixed on the surface 2c and has a planar shape that forms a part of an annular band, and a radius of the annular surface 2c that is perpendicular to the bottom wall portion 14a. Radial wall portion 14b extending in the direction and circumferential wall portion extending perpendicularly from the bottom wall portion 14a and extending from both ends of the radial wall portion 14b toward the first fixed block 13 14c and 14d are integrally included. The circumferential wall portions 14c and 14d extend along the inner peripheral edge and the outer peripheral edge of the bottom wall 14a, respectively. Here, the second fixed block 14 constitutes a second fixed body.
The bottom wall portion 14a is formed with a size that fits within the ring-shaped surface 2c. The radial wall portion 14b has a planar shape forming a part of the annular band, that is, a substantially trapezoidal planar shape. A substantially rectangular parallelepiped concave portion 14e surrounded by the radial wall portion 14b and the circumferential wall portions 14c and 14d is partitioned and formed above the bottom wall portion 14a. Furthermore, a through hole 14ba is formed that penetrates the radial wall portion 14b in the circumferential direction. The through hole 14ba has a linear center axis and is formed linearly. The central axis of the through hole 14ba is perpendicular to the surface of the radial wall 14b on the first fixed block 13 side.

  The second movable block 12 is disposed between the first fixed block 13 and the second fixed block 14 at intervals from the fixed blocks 13 and 14 in the circumferential direction, but is not fixed to the surface 2c. . The second movable block 12 has a planar shape that forms a part of an annular band and extends in parallel to the surface 2c, and is perpendicular to the bottom wall 12a at both ends of the bottom wall 12a. End wall portions 12b and 12c extending in the radial direction of the annular surface 2c, and a side wall portion 12d extending from the bottom wall portion 12a perpendicularly and along the inner peripheral side edge of the bottom wall portion 12a, Is included. The side wall portion 12d extends from the end wall portion 12b to the end wall portion 12c. The end wall portions 12b and 12c have a planar shape forming a part of the annular band, that is, a substantially trapezoidal planar shape. A substantially rectangular parallelepiped concave portion 12e surrounded by the end wall portions 12b and 12c and the side wall portion 12d is partitioned and formed above the bottom wall portion 12a. Here, the second movable block 12 constitutes a movable body.

  A first insertion hole 12bb extending from the surface on the first fixed block 13 side in the first end wall portion 12b to the middle of the first end wall portion 12b is formed. The first insertion hole 12bb is linearly formed with a straight central axis, has the same cross section as the through hole 13ba of the first fixed block 13, and is aligned with the through hole 13ba on the same axis. Is arranged. Furthermore, the 1st through-hole 12ba which penetrates the 1st end wall part 12b in the circumferential direction is formed. The first through hole 12ba is linearly formed with a linear center axis, and is disposed on the outer peripheral side of the surface 2c with respect to the first insertion hole 12bb. The central axis of the first through hole 12ba is perpendicular to the surface of the first end wall portion 12b on the second end wall portion 12c side. The central axis of the first insertion hole 12bb is perpendicular to the surface of the first end wall 12b on the first fixed block 13 side. The central axis of the first through hole 12ba and the central axis of the first insertion hole 12bb are inclined with respect to each other so as to be along the circumferential direction of the annular surface 2c.

  A second insertion hole 12cb extending from the surface of the second end wall portion 12c on the second fixed block 14 side to the middle of the second end wall portion 12c is formed. The second insertion hole 12cb is linearly formed with a straight central axis, has the same cross section as the through hole 14ba of the second fixed block 14, and is aligned with the through hole 14ba on the same axis. Is arranged. Furthermore, the 2nd through-hole 12ca which penetrates the 2nd end wall part 12c in the circumferential direction is formed. The second through hole 12ca is linearly formed with a linear center axis, and is disposed on the outer peripheral side of the surface 2c with respect to the second insertion hole 12cb. The central axis of the second through hole 12ca is perpendicular to the surface of the second end wall portion 12c on the first end wall portion 12b side. The second through holes 12ca have the same cross section as the first through holes 12ba and are arranged so as to be aligned with the first through holes 12ba in a line. The central axis of the second insertion hole 12cb is perpendicular to the surface of the second end wall portion 12c on the second fixed block 14 side. The central axis of the second through hole 12ca and the central axis of the second insertion hole 12cb are inclined with respect to each other so as to be along the circumferential direction of the annular surface 2c.

  The 1st movable block 11 is arrange | positioned in the recessed part 12e of the 2nd movable block 12 at intervals in the circumferential direction from the 1st end wall part 12b and the 2nd end wall part 12c. The first movable block 11 includes a bottom wall portion 11a having a planar shape forming a part of an annular band and extending in parallel to the bottom wall portion 12a of the second movable block 12 with a space therebetween. A contact wall portion 11b extending perpendicularly from the bottom wall portion 11a at the center in the circumferential direction of 11a and extending in the radial direction of the surface 2c, and an end portion on the inner peripheral side of the contact wall portion 11b perpendicular to the bottom wall portion 11a. And a side wall portion 11c extending along the inner peripheral side edge of the bottom wall portion 11a. The contact wall portion 11 b and the side wall portion 11 c protrude toward the frame body 3 from the wall portions of the second movable block 12, the first fixed block 13, and the second fixed block 14. The first movable block 11 is formed so as to fit within the recess 12e while being spaced from the first end wall portion 12b, the second end wall portion 12c and the side wall portion 12d of the second movable block 12. Has been. Moreover, in the 1st movable block 11, 3rd through-hole 11ba which penetrates the contact wall part 11b in the circumferential direction of the bottom wall part 11a is formed. The third through hole 11ba is linearly formed with a straight central axis, and is the same as the first through hole 12ba of the first end wall portion 12b and the second through hole 12ca of the second end wall portion 12c. The first through hole 12ba and the second through hole 12ca have a cross section and are arranged in a line on the same axis. Here, the first movable block 11 constitutes an engaging body.

  A first guide pin 15 having a linear round bar shape is provided through the first through hole 12ba, the third through hole 11ba, and the second through hole 12ca in this order. The first guide pin 15 extends from the first through hole 12ba through the third through hole 11ba to the second through hole 12ca. The first guide pin 15 has an outer diameter equivalent to the inner diameter of the first through-hole 12ba, the second through-hole 12ca, and the third through-hole 11ba, and is slidably inserted into these. Yes. The first movable block 11 is positioned with a space from the bottom wall portion 12 a of the second movable block 12 by the first guide pin 15. The second movable block 12 supports the first movable block 11 through the first guide pin 15 so as to be movable along the first guide pin 15. Here, the first guide pin 15 constitutes an engaging body guide member.

A coil spring-like first spring 16 is wound around the first guide pin 15 between the first end wall portion 12b of the second movable block 12 and the contact wall portion 11b of the first movable block 11. Yes. The first spring 16 applies an urging force in a direction in which the first spring 16 is pulled away from the first end wall portion 12b and the contact wall portion 11b.
A coil spring-like second spring 17 is wound around the first guide pin 15 between the abutting wall portion 11 b of the first movable block 11 and the second end wall portion 12 c of the second movable block 12. Yes. The second spring 17 applies a biasing force in a direction in which the second spring 17 is pulled away from the abutting wall portion 11b and the second end wall portion 12c.
Thereby, the 1st movable block 11 is positioned at intervals from the 1st end wall part 12b and the 2nd end wall part 12c of the 2nd movable block 12. As shown in FIG. Here, the first spring 16 and the second spring 17 arranged in series constitute a first urging member.

  A second guide pin 18 is provided, which is inserted into the first insertion hole 12bb of the first end wall portion 12b of the second movable block 12 through the through hole 13ba of the radial wall portion 13b of the first fixed block 13. Yes. The second guide pin 18 has a linear round bar shape and extends from the through hole 13ba to the first insertion hole 12bb. The second guide pin 18 has an outer diameter equivalent to the inner diameter of the through hole 13ba and the first insertion hole 12bb, and is slidably inserted into the through hole 13ba and the first insertion hole 12bb in a tight state. . Furthermore, the axial direction of the second guide pin 18 is inclined with respect to the axial direction of the first guide pin 15 so as to be along the circumferential direction of the surface 2c. The first fixed block 13 supports the second movable block 12 through the second guide pin 18 so as to be movable along the second guide pin 18. Here, the second guide pin 18 constitutes a movable body guide member and a first movable body guide member.

  A coil spring-like third spring 19 is wound around the second guide pin 18 between the radial wall 13b and the first end wall 12b. The third spring 19 applies a biasing force in a direction in which the third spring 19 is pulled away from the radial wall 13b and the first end wall 12b. The third spring 19 is arranged in series with respect to the first spring 16 and the second spring 17, but the direction of application of the urging force of the third spring 19 is that of the first spring 16 and the second spring 17. It inclines so that the circumferential direction of the surface 2c may be followed with respect to the action direction of urging | biasing force. Here, the third spring 19 constitutes a second urging member.

  A third guide pin 20 is provided, which is inserted into the second insertion hole 12cb of the second end wall portion 12c of the second movable block 12 through the through hole 14ba of the radial wall portion 14b of the second fixed block 14. Yes. The third guide pin 20 has a straight round bar shape and extends from the through hole 14ba to the second insertion hole 12cb. The third guide pin 20 has an outer diameter equivalent to the inner diameter of the through hole 14ba and the second insertion hole 12cb, and is slidably inserted into the through hole 14ba and the second insertion hole 12cb in a tight state. . Further, the axial direction of the third guide pin 20 is inclined with respect to the circumferential direction of the surface 2 c with respect to the axial direction of the first guide pin 15. The second fixed block 14 supports the second movable block 12 movably along the third guide pin 20 via the third guide pin 20. Here, the third guide pin 20 constitutes a second movable body guide member.

  Further, a coil spring-like fourth spring 21 is wound around the third guide pin 20 between the radial wall portion 14b and the second end wall portion 12c. The fourth spring 21 applies a biasing force in a direction in which the fourth spring 21 is pulled away from the radial wall 14b and the second end wall 12c. The fourth spring 21 is arranged in series with respect to the first spring 16 and the second spring 17, but the acting direction of the urging force of the fourth spring 21 is that of the first spring 16 and the second spring 17. It inclines so that the circumferential direction of the surface 2c may be followed with respect to the action direction of urging | biasing force. Here, the fourth spring 21 constitutes a third urging member.

As a result, the second movable block 12 is positioned at a distance from the surface 2c by the second guide pin 18 and the third guide pin 20, and the first fixed block 13 and the third spring 19 and the fourth spring 21 are positioned. Positioned at a distance from the second fixed block 14. At this time, the tops of the respective wall portions in the second movable block 12, the first fixed block 13, and the second fixed block 14 have the same height from the surface 2c.
The second movable block 12 can move in the direction along the extending direction of the through hole 13ba with respect to the first fixed block 13, and the extending of the through hole 14ba with respect to the second fixed block 14. It can move in a direction along the direction.

  The two protrusions 3d and 3e of the frame 3 are always spaced from the second movable block 12, the first fixed block 13 and the second fixed block 14 at their lower distal ends 3da and 3ea. The frame body 3 projects from the bottom surface 3c of the frame body 3 at a projecting amount and position so as to contact the contact wall portion 11b of the first movable block 11 when the frame body 3 rotates in the yaw direction.

The frame 3 of the space stabilization device 1 having the above-described configuration has a yaw rotation direction R1 that is a clockwise direction on the paper surface of FIG. 2 or a counterclockwise rotation with the center of the ring of the surface 2c as the rotation center. If the rotation continues in the yaw rotation direction R <b> 2, one of the protrusions 3 d and 3 e of the frame body 3 collides with the contact wall portion 11 b of the first movable block 11.
When the projection 3e collides with the contact wall portion 11b by the rotation of the frame body 3 in the rotation direction R1, the first movable block 11 is moved along the first guide pin 15 in the rotation direction R1. The elastic force of the first spring 16 compressed and compressed by the compressive force received from the first movable block 11 acts on the second movable block 12 and moves the second movable block 12 in the rotational direction R1. The second movable block 12 moves toward the first fixed block 13 together with the second guide pin 18 while pressing and contracting the third spring 19. At this time, since the moving direction of the second guide pin 18 is regulated in the axial direction of the through hole 13ba by the through hole 13ba of the first fixed block 13, the second movable block 12 is in the axial direction of the through hole 13ba. Move along.

And the impact force to the contact wall part 11b of the processus | protrusion 3e is received by the elastic force which match | combined the elastic force of the 1st spring 16 and the 3rd spring 19 to be compressed. Further, when the combined elastic force is balanced with the impact force of the protrusion 3e on the contact wall portion 11b, the protrusion 3e and the frame 3 are stopped. At this time, the elastic force of the first spring 16 and the third spring 19 acts in cooperation, so that the collision of the first movable block 11 with the second movable block 12 and the first of the second movable block 12 occur. Collision with the fixed block 13 is prevented.
Therefore, the impact when the protrusion 3e collides with the contact wall portion 11b and the rotation of the frame 3 is stopped is buffered.

  Further, when the projection 3e is restrained, the movement range of the first movable block 11 is accommodated in the recess 12e of the second movable block 12, and the movement range of the second movable block 12 is along the axial direction of the through hole 13ba. Limited to moving range. For this reason, the area occupied on the surface 2c by the first fixed block 13, the second movable block 12, and the first movable block 11 including both when the movable blocks 11 and 12 are stopped and moved is limited. It becomes.

  Further, the same operation as described above is performed when the projection 3d collides with the abutting wall portion 11b as the frame body 3 rotates in the rotation direction R2. That is, the first movable block 11 is moved in the rotation direction R2, and the elastic force of the second spring 17 that is compressed at this time moves the second movable block 12 in the rotation direction R2. The second movable block 12 moves along with the third guide pin 20 along the axial direction of the through hole 14ba of the second fixed block 14 while pressing and contracting the fourth spring 21. At this time, the elastic force obtained by combining the elastic forces of the second spring 17 and the fourth spring 21 receives the impact force of the protrusion 3d on the contact wall portion 11b, and the impact force of the protrusion 3d on the contact wall portion 11b. When balanced, the projection 3d and the frame 3 are stopped. Further, the elastic forces of the second spring 17 and the fourth spring 21 act in cooperation to collide between the first movable block 11 and the second movable block 12, and the second movable block 12 and the second spring 21. The collision between the two fixed blocks 14 is prevented, and the occurrence of impact is suppressed. Furthermore, when stopping the projection 3d, the movement range of the first movable block 11 is accommodated in the recess 12e of the second movable block 12, and the movement range of the second movable block 12 is along the axial direction of the through hole 14ba. Limited to moving range.

  The frame 3 rotates in the rotation direction R1 and the protrusion 3e contacts the contact wall 11b of the first movable block 11, and then rotates in the rotation direction R2 and the protrusion 3d contacts the contact wall 11b. The yaw rotation can be performed within an angle range up to the state of contact with.

  As described above, the space stabilization device 1 according to the embodiment of the present invention includes the frame body 3 that holds the camera imaging unit 5, the attachment portion 2 that rotatably supports the frame body 3, and the frame body 3. A protrusion restraining portion 10 that engages with the protrusion 3e to restrain the rotation of the frame 3. The protrusion restraining portion 10 is provided so as to be engageable with the protrusion 3 e of the rotating frame 3, and the first movable block 11 is movably accommodated and is movable relative to the attachment portion 2. Between the first movable block 11 and the second movable block 12, the first movable block 12 positioned adjacent to the second movable block 12 and fixed to the mounting portion 2. And a third spring 19 provided between the second movable block 12 and the first fixed block 13. The direction of application of the urging force of the first spring 16 and the second spring 17 and the direction of application of the urging force of the third spring 19 are opposed to the rotational direction of the frame 3 and are inclined with respect to each other.

  In the above configuration, when the rotating projection 3 e of the frame 3 collides with the first movable block 11, the rotational force transmitted from the frame 3 to the first movable block 11 is transmitted via the first spring 16 to the first movable block 11. This is transmitted to the two movable blocks 12. Further, the rotational force transmitted to the second movable block 12 is transmitted to the first fixed block 13 via the third spring 19. At this time, the first spring 16 and the third spring 19 absorb the rotational force by contracting, preventing the occurrence of collision among the first movable block 11, the second movable block 12, and the first fixed block 13, and the impact. Can be suppressed. Furthermore, since the first spring 16 and the third spring 19 are arranged with different urging directions, the first movable block 11, the second movable block 12, and the first fixed block 13 are arranged in a straight line. It can arrange | position along the rotation direction of the frame 3 instead of doing, and also the moving direction of the 1st movable block 11 and the 2nd movable block 12 can also be made to turn to a rotation direction. Therefore, the occupied area on the attachment portion 2 by the first movable block 11, the second movable block 12, and the first fixed block 13 is set so as to be along the rotation direction and to prevent the spread in the direction intersecting the rotation direction. It can be a limited area. Further, since the first spring 16 and the third spring 19 are arranged in series, the first movable block 11 matches the contraction strokes of the first spring 16 and the third spring 19 when the projection 3e collides. Can move by distance. Therefore, the projection 3e and the frame 3 can be gently stopped.

  In the space stabilizer 1, the first movable block 11 is supported by a first guide pin 15 provided on the second movable block 12 so as to be movable along the first guide pin 15. The second spring 17 is provided on the first guide pin 15. With the above-described configuration, it is possible to limit the moving direction of the first movable block 11 and reduce the occupied area of the first movable block 11, and further, the first spring 16, the second spring 17, and the first guide pin 15. Space can be saved.

  In the space stabilizer 1, the second movable block 12 is supported by a second guide pin 18 provided on the first fixed block 13 so as to be movable along the second guide pin 18, and the third spring 19 is The second guide pin 18 is provided. With the above-described configuration, it is possible to limit the moving direction of the second movable block 12 to reduce the occupied area of the second movable block 12, and to save space for the third spring 19 and the second guide pin 18. It can be made into a space.

  Further, in the space stabilizer 1, the protrusion restraining portion 10 is positioned adjacent to the second movable block 12 on the opposite side to the first fixed block 13 in the rotational direction of the frame 3, and on the attachment portion 2. It includes a second fixed block 14 that is fixedly provided, and a fourth spring 21 that is provided between the second movable block 12 and the second fixed block 14. This is a direction that is opposed to the rotational direction of the body 3 and that is inclined with respect to the direction in which the first spring 16 and the second spring 17 act. With the above-described configuration, the frame body 3 can be gently stopped with effective buffering in any of the two rotational directions.

  Further, in the space stabilizer 1, the second movable block 12 is moved along the third guide pin 20 by the third guide pin 20 provided on the second fixed block 14 and provided separately from the second guide pin 18. The fourth spring 21 is provided on the third guide pin 20 so as to be supported. With the above-described configuration, the moving area of the second movable block 12 can be limited to reduce the occupied area of the second movable block 12, and space for the fourth spring 21 and the third guide pin 20 can be saved. It can be made into a space.

Moreover, in the space stabilizer 1 which concerns on embodiment, although two fixed blocks were provided, when it is sufficient to stop only the rotational movement of the frame 3 in one direction, only one fixed block is provided. May be.
Moreover, in the space stabilizer 1 which concerns on embodiment, although the rotation stop mechanism 100 was comprised so that rotation of a yaw direction might be controlled, it is not limited to this. The rotation stopping mechanism 100 may be provided to restrict any rotational movement including rotation in the pitching direction and rotation in the roll direction.

In addition, the space stabilizer 1 according to the embodiment may be mounted on any flying body that moves in the air including an aircraft, any traveling body that moves on land including a vehicle, and any navigation body that moves on the sea including a ship. Good.
Moreover, although the space stabilizer 1 which concerns on embodiment shall hold | maintain the camera imaging part 5, it may hold | maintain what.

  DESCRIPTION OF SYMBOLS 1 Space stabilizer 2, 2 attachment part (support part), 3 frame (holding body), 3e protrusion (protrusion part), 5 camera imaging part (target object), 10 protrusion control part (rotation control part), 11 1st Movable block (engagement body), 12 Second movable block (movable body), 13 First fixed block (fixed body, first fixed body), 14 Second fixed block (second fixed body), 15 First guide pin ( Engagement body guide member), 16 first spring (first urging member), 17 second spring (first urging member), 18 second guide pin (movable body guide member, first movable body guide member), 19 3rd spring (2nd urging member), 20 3rd guide pin (2nd movable body guide member), 21 4th spring (3rd urging member), 100 rotation stopping mechanism.

Claims (4)

In a space stabilizer including a holding body of an object and a support portion that rotatably supports the holding body,
A rotation stopping portion that engages with the protrusion of the holding body to stop the rotation of the holding body;
The rotation stop portion is
An engagement body provided to be engageable with the protrusion of the rotating holding body;
A movable body that movably accommodates the engaging body and is movably provided with respect to the support;
A stationary body located adjacent to the movable body and fixed to the support;
A first biasing member provided between the engaging body and the movable body;
A second urging member provided between the movable body and the fixed body,
What the working direction of the biasing force of the working direction and the second biasing member biasing force of the first urging member, the direction der inclined with respect to the opposite and each other in the rotational direction of the holding member,
The rotation stop portion is
A second fixed body that is positioned adjacent to the movable body on the opposite side of the first fixed body that is the fixed body in the rotation direction of the holding body, and is fixed to the support portion;
A third urging member provided between the movable body and the second fixed body;
Including
The space stabilizing device , wherein an acting direction of the urging force of the third urging member is a direction that is opposed to a rotation direction of the holding body and is inclined with respect to an acting direction of the urging force of the first urging member . The engagement body is supported by an engagement body guide member provided on the movable body so as to be movable along the engagement body guide member.
The space stabilizer according to claim 1, wherein the first urging member is provided on the engagement body guide member. The movable body is supported movably along the movable body guide member by a movable body guide member provided on the fixed body,
The space stabilizer according to claim 1, wherein the second urging member is provided on the movable body guide member. The movable body is provided along the second movable body guide member by a second movable body guide member provided on the second fixed body and provided separately from the first movable body guide member which is the movable body guide member. Supported movably,
The space stabilizer according to claim 3, wherein the third urging member is provided on the second movable body guide member.

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