JP2002195487A - Pan head device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pan head device capable of attaching a rotated body to a position where a smaller rotation load is applied. SOLUTION: A tilt arm 6 is attached to the tip of a horizontal rotating shaft 3 rotated by a motor 4, and a pedestal 8 to which the rotated body 10 is attached is attached to the tilt arm 6 in such a way that the pedestal 8 can be moved in the left/right and upper/lower directions. The pedestal 8 is moved in the left/right directions so that the output of a torsion detecting element 9 for detecting the torsion of the rotating shaft 3 when the rotated body 10 is in a horizontal posture is zero. Next, the rotated body 10 is held at a tilting posture with an arbitrary angle α, and the rotated body 10 is moved in the upper/lower directions so that the output of the element 9 is zero.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pan head device, and more particularly to a camera, a length measuring device, a lighting device and a marker device by remotely controlling a tilt (up and down) driving portion and a pan (left and right) driving portion of the pan head. The present invention relates to a driving unit of a pan head device for positioning the camera at a desired photographing position, target, or target position.

[0002]

2. Description of the Related Art Conventionally, an image pickup apparatus (generally,
Camera) is used. This image input device can freely rotate the image pickup device up and down and left and right by a pan head device, and can freely point the image pickup device at a subject to be captured. Next, a pan head device used in such a conventional imaging device will be described with reference to FIG.

In FIG. 6, reference numeral 2 denotes a rotating mechanism, and a drive motor (not shown) is incorporated in a cover. Reference numeral 3 denotes a rotation shaft of the rotation mechanism 2 arranged in the horizontal direction. An imaging device 10 as a rotation target is attached to a pedestal 8 fixed to the tip end, and is rotated around the horizontal drive shaft 3. Reference numeral 1 denotes a base of a tilt drive unit of the pan head device, which has a role of fixing the base to a system having only a tilt rotation mechanism. In the above configuration, the rotated object (imaging device) 10 is moved vertically (in the direction of gravity).
It is structured to rotate.

[0004]

However, such a pan head device has the following problems to be solved.

[0005] As shown in FIG. 7, a rotating body 10 (imaging device) attached to a pedestal 8 rotates with respect to the rotating shaft 3.
At this time, since the object to be rotated (imaging device) 10 is fixed at an arbitrary position with respect to the pedestal 8, the rotational load 24 differs depending on the rotational position. That is, when the center of gravity of the rotating body 10 substantially coincides with the center of the rotating shaft of the rotating shaft 3, the rotating shaft 3 can be mounted at any position around the rotating shaft 3 regardless of the position of the rotating body 10. Does not act on the driven body 10, but when the position of the center of gravity of the driven body 10 deviates from the rotation center of the rotating shaft 3, the largest moment rotates when the driven body 10 is in the horizontal position. It will act on the shaft 3.

Therefore, the required torque is set in accordance with the maximum turning load 24 in the horizontal state, and the drive motor is selected.

However, when the rotation load 24 is large, "the driving motor becomes large", "heavy", "the load of the pan rotation mechanism increases", "noise" appears, and "the blurring of the image to be captured" occurs. Out "and other problems.

It is generally known that a large driving motor that generates high torque also increases the holding force of the rotating shaft. That is, when the rotating shaft of the drive motor is to be rotated by an external force, if the rotating shaft is held non-rotatable and the holding force is large, as shown in FIG. In some cases, the rotation shaft 3 may not rotate only with the rotation load 24 that is also the weight of the rotation target body 10 that occurs.

Therefore, the location where the center of gravity of the rotating body 10 and the center of the rotating shaft 3 are substantially the same is the location where the rotating load 24 is the least, and the center of gravity of the rotating body 10 of the rotating load 24 is When the rotating object 10 is manually moved to a position where the rotational load is smaller than when the unknown rotating object 10 is fixed at an arbitrary mounting position, and the rotational axis moves in the forward and reverse directions, By visually checking the feel of balance and the smoothness of rotation of the rotating shaft when operating the drive motor,
Although the fixed position of the rotating body 10 was adjusted,
If the weight is difficult to operate with human hands, the holding force increases, and the rotating shaft does not rotate with human hands. In addition, it takes a lot of time to adjust while operating.

Therefore, it is difficult to attach the pivoted body 10 to the pedestal 8 at a position where the rotational load is smaller.

[0011]

According to a first aspect of the present invention, there is provided a rotating mechanism for rotating a horizontal rotating shaft by a driving force of a driving motor, and a rotating body is attached to the rotating member. A rotatable body attaching means for rotatable around an axis, a centroid detecting means for detecting a center of gravity of the rotatable body, and the rotatable body based on detection information of the centroid detecting means. An axis adjusting means for moving the axis of rotation of the object to be rotated in two axial directions orthogonal to the axis of the axis of rotation, so that the center of gravity of the object to be rotated substantially coincides with the axis of the axis of rotation. In the device.

According to a second aspect of the present invention, in the first aspect, the driving motor of the rotating mechanism is a vibration wave motor.

According to a third aspect of the present invention, in any one of the above-mentioned inventions, the center-of-gravity detecting means outputs a torsional force of the rotating shaft of the rotating mechanism, which is generated when an arbitrary angle is made with respect to the direction of gravity. A device is provided.

In a fourth aspect based on the third aspect, each of the elements is provided at a position substantially symmetric with respect to a plane passing through the axis of the rotation shaft.

According to a fifth aspect of the present invention, in the first or second aspect, the center-of-gravity detecting means switches the vibration of the vibration wave motor from a progressive vibration to a stationary vibration so as to freely rotate the rotating shaft. It is characterized by doing.

According to a sixth aspect, in the first or second aspect, the center-of-gravity detecting means includes a mechanism for rotatably switching the rotation-object-attaching means with respect to a rotation axis of the rotation mechanism. It is characterized by the following.

According to a seventh aspect of the present invention, in any one of the above-mentioned inventions, there is provided a display means for displaying the detected center of gravity information of the rotated object.

According to an eighth aspect of the present invention, in any one of the above aspects, the shaft center adjusting means includes an electric drive mechanism for moving the center of gravity of the object to be rotated to substantially the same position as the center of the rotating shaft. I do.

According to a ninth aspect, in the eighth aspect, a vibration wave motor is used as a drive source of the electric drive mechanism.

[0020]

FIG. 13 shows an embodiment of an image input apparatus according to the present invention.

FIGS. 13 (a) and 13 (b) show an image pickup device mounted on a tilt head device. FIG. 13 (a) shows a tilting head device mounted on a traveling vehicle V, and FIG. 13 (b) shows a tilt head device. It is rotatably held by a pan rotation mechanism 2 ′, and a relationship is established in which a virtual plane passing through the rotation axis 3 of the tilt rotation mechanism 2 and the rotation axis 3 ′ of the pan rotation mechanism 2 ′ is orthogonal. keeping. Note that the present invention is not limited to this combination, and can be freely combined with other various system devices.

In the tilt head device, a tilt rotation mechanism 2 is fixed to a base 1, and a tilt arm 6 is integrated with a cylindrical output shaft 3 of the rotation mechanism 2. Have been. Although the configuration of the tilt arm 6 will be described later, a fixed portion 6a that is mounted and fixed to the output shaft 3, an arm portion 6b that is fixed to the fixed portion 6a, and moves in the Y-axis direction orthogonal to the output shaft. It comprises a slide table 6c attached to the arm portion 6b as possible. A slide mechanism that allows the pedestal 8 to move in the X-axis direction is attached to the slide table 6c.

This slide mechanism is composed of a slide table 6
c, the slide motor 18
The movable part 21 is slid in the X direction via the feed mechanism 22 driven by the, and the pedestal 8 is fixed to the movable part 21. Note that the movable section 21 may be a fixed section.

In the present embodiment, the slide motor 18
In this case, a vibration wave motor is used which is not energized except during adjustment and can fix the pedestal 8 by the holding force of the slide motor 18. Note that the slide motor 18 may be a general electric motor, but it is necessary to always energize other than during the adjustment. As described above, by using the vibration wave motor for the electric mechanism 19 that automatically moves the center of gravity of the rotated body 10 to substantially the same position as the center of the rotation axis based on the detected center of gravity information of the rotated body 10, anybody can use the vibration wave motor. It can be securely fixed in the correct position. The vibration wave motor has features such as low speed, high torque, large holding force, high stopping accuracy, small flatness, etc., and can be built into the pedestal 8 unobtrusively. become.

In this embodiment, as shown in FIG. 4, the tilt arm 6 is provided with an indicator 7 for lighting and displaying the state of adjustment of the center of gravity.

FIG. 11 (a) shows that the indicator 7a is the lighting section 1
Shows the case of In this case, when the mounting position of the rotating body 10 comes to a position where the rotating load 24 is smaller, the lighting section turns on. Similarly, the rotating object 10
The light may be turned on when the mounting position is not at a position where the rotation load 24 is smaller.

As shown in FIGS. 11 (b) and 11 (c), by providing two or more light-emitting portions, the mounting position of the object to be rotated is located at a position where the rotation load is smaller. Can be communicated to the worker.

FIG. 11 (d) shows that the display 7b is notified by vibration / sound of a speaker, a piezoelectric buzzer, a vibration motor or the like, which is the same as the provision of the lighting section. And the same effect can be obtained.

As described above, the workability of the adjuster is improved by providing the display 7 as a means for transmitting the detected center-of-gravity information of the rotating object 10 to the adjuster.

In the on-site work, a means for knowing that the user is securely fixed at the correct position is provided, and the worker's anxiety can be eliminated. Therefore, problems such as "the drive motor becomes large", "heavy", "the load of the pan rotation mechanism increases", "noise", and "the image to be captured is blurred" can be solved and easily. Can be adjusted.

As shown in FIG. 14, the vibration wave motor applies a traveling wave by applying an alternating voltage as an alternating signal to a piezoelectric element 28 as an electromechanical energy conversion element adhered to an elastic body 26 such as a metal. And a contact body 27 that comes into pressure contact with the drive section of the elastic body 26 via a disc spring 29 as a pressurizing means, and is formed in the drive section of the elastic body. The contact body is frictionally driven by the driving vibration, and the vibrating body and the contact body are relatively moved. Usually, the vibrating body is a stator,
The contact body is used as a rotor. In addition, when the piezoelectric element is not energized, the rotor is pressurized and held on the stator by the pressurizing means, so that a large holding force is obtained. As the vibrator, a vibrator having a configuration in which a ring-shaped piezoelectric element plate is adhered to one surface of a ring-shaped or disk-shaped elastic body is used, and the rotation of the rotor is taken out via an output shaft 29. .

By providing the vibration wave motor, the holding force of the rotating shaft 3 is increased, and the force acting on the center of gravity detecting means is increased by completely fixing the rotating shaft 3 at the time of stop. For this reason, the detected signal also increases, and the detection accuracy can be improved. Further, since the rotating shaft 3 is completely fixed at the time of adjusting the center of gravity, the fluctuation of the signal to be detected is reduced, so that a special processing circuit is not required. Also, the rotating shaft 3
Can be adjusted without intentionally fixing. Therefore, the structure of the center-of-gravity adjusting means is also simplified. Furthermore, the drive motor 4 can be further reduced in size and noise can be reduced due to the characteristics of the vibration wave motor.
In particular, since the stopping accuracy is high at a low speed and a high torque, it is possible to greatly reduce the blurring of the image to be captured at the time of the low speed driving. Furthermore, since the holding force is large, it is possible to de-energize at the time of stoppage, thereby saving energy. For this reason, it is possible to solve problems such as an increase in the size of the drive motor, an increase in the weight of the drive motor, an increase in the load of the pan rotation mechanism, generation of noise, blurring of an image to be captured, and a large power consumption.

FIG. 1 is a partial sectional perspective view of the camera platform device, and FIG. 2 is an external perspective view of the camera platform device.

In FIG. 1, the tilt rotation mechanism 2 includes:
A driving motor 4 is built in a case of a rotating mechanism 2 fixed to the base 1, and a rotating force generated by the driving motor 4 is formed on a motor gear 5 a and an outer peripheral portion of the output shaft 3.
The power is transmitted to the rotating shaft 3 as a rotating power via a transmission mechanism 5 composed of a gear 5b meshing with a. Note that the rotating shaft 3 can be fixed.

A torsional force detector 11 such as a strain sensor is fixed to the rotating shaft 3. As shown in FIG. 5A, a method of fixing the strain sensor as the torsion force detector 11 is an arrangement method of detecting the torsion force 9 in one axis, or as shown in FIG. There is an arrangement method for detecting the force 9 on two axes, and any number of axes can be used as long as the force 9 is fixed to a place where torsion occurs.

A tilt arm 6 is provided on the rotating shaft 3.
The fixing portion 6a formed in a cylindrical shape is provided therein, and is fixed between the arm portion 6b and the fixing screw 15 by screwing the fixing screw 15 into the screw portion 6a-1 at the penetrating end.
The tilt arm 6 can rotate integrally with the rotation shaft 3. By releasing the fixing screw 15, the tilt arm 6 becomes rotatable with respect to the rotation shaft 3.

As shown in FIG. 4B, the fixing portion 6a of the tilt arm 6 and the rotating shaft 3 are fixed to each other by a tapered portion 6a at the end of the fixing portion 6a which is in contact with the arm portion 6b.
By providing -2, it is possible to obtain a strong joint taking into account the looseness of the screw, or FIG. 4 (c)
Similarly, in order to eliminate the looseness of the screw and obtain a strong joint, as shown in FIG.
One or a plurality of holes are provided at the end of the arm 6a, and a hole 6a-3 is formed in the arm 6b, into which the emboss 6a-3 as a projection fits. 15 and the emboss.

Here, it is possible to loosen the fixing screw 15 to make the tilt arm 6 free with respect to the rotating shaft 3. In this case, when adjusting the center of gravity to be described later, the rotation of the rotating body 10 is adjusted to the axis of the rotating shaft 3. It is possible to confirm whether the centers of gravity match.

In order to make the center of gravity of the rotating body 10 coincide with the center of the rotating shaft 3 as much as possible, the tilt arm 6 allows the pedestal 8 to which the rotating body 10 can be fixed to move up, down, left and right (X and Y directions). It can be slid to any position and fixed.

In this embodiment, as shown in FIG. 12, the slide mechanism incorporates a display 18 for displaying information on the position of the center of gravity of the rotating body 10 calculated by a calculating means (not shown). .

In the present embodiment, as shown in FIG. 3, in order to detect the center of gravity of the object 10 to be rotated, a rotating mechanism 2 which is generated when an arbitrary rotation angle α is provided with respect to the direction of gravity.
The torsion force 9 of the rotating shaft 3 is detected by the torsion force detection element 11 and output. Actually, the distortion due to the torsion of the rotating shaft 3 is detected by the torsion force detecting element 11 which is a strain gauge, and the torsion force is detected based on the detected distortion.

Next, the operation of adjusting the center of gravity of the rotating body 10 using the torsional force detecting element 11 will be described below with reference to the flowchart shown in FIG.

When the adjustment of the center of gravity is started (s-1), the motor 4 is driven to bring the rotated body 10 into a horizontal posture (s-
2).

Then, the detection output of the torsional force detecting element 11, which is a strain gauge, is determined (s-3). here,
The relationship between the output of the torsional force detecting element 11 and the torsional direction of the rotating shaft 3 is set as follows. Assuming that a force generated when the rotating shaft 3 is twisted clockwise is a right twisting force, and a force generated when the rotating shaft 3 is twisted left is a left twisting force,
With reference to a detection signal of “0” generated when there is no twist, a right twisting force changes to a positive “+” potential, and a left twisting force changes to a negative “−” potential.

When the rotating body 10 is in the horizontal posture, the torsion force detecting element 1
When the output signal of 1 is substantially 0, it indicates that there is substantially no torsional force, indicating that the position of the center of gravity of the rotating body 10 is substantially the same as the rotation center of the rotating shaft 3 only in the left and right directions.

If the output of the torsional force detecting element 11 is not 0 in S-4, it is determined in S-5 whether the output is positive or negative. If the output is negative, it is determined that a left twisting force has occurred, and the position of the rotated body 11 in the horizontal posture is moved rightward (toward the center of the rotating shaft 3) (s-6). If the output is positive, it is determined that a right twisting force has occurred,
The position of the rotated body 11 in the horizontal posture is moved to the left (toward the center of the rotating shaft 3), and the process returns to step S-3.

When the output of the element 11 is detected to be 0 in S-4, as described above, the position of the center of gravity of the rotating body 10 is substantially the same as the rotation center of the rotating shaft 3 only in the left and right directions. It is determined that the rotation has been completed, and the center-of-gravity adjustment of the rotated body 10 in the left-right direction ends (s-8), and the process proceeds to step S-9.

In step s-9, the motor 4 is driven to rotate the rotating shaft, the object to be rotated 10 is tilted by an arbitrary angle α from the horizontal position, and the object to be rotated 10 is held in the inclined position.
Proceed to -10.

In s-10, the output of the detecting element 11 is determined, and the flow advances to s-11.

At s-11, it is determined whether or not the output of the detecting element 11 is "0". If the output of the detecting element 11 is not "0", the sign of the output is determined at s-12. If the output is negative, it is determined that a left twisting force has occurred, and the position of the rotated body 11 in the inclined posture is moved upward (s-1).
3) If the output is positive, it is determined that a right twisting force has been generated, the position of the rotated body 11 in the horizontal posture is moved downward, and the process returns to step S-10.

When it is detected in S-11 that the output of the element 11 has become 0, it is determined that the position of the center of gravity of the rotating body 10 is substantially the same as the center of rotation of the rotating shaft 3 in the vertical direction (s). -15). Here, since the adjustment of the center of gravity in the left-right direction has already been completed, the adjustment of the center of gravity of the rotating body 10 in the vertical and horizontal directions has finally been completed. In addition,
First, the center of gravity in the vertical direction may be adjusted in a state where the rotated body 10 is held in the vertical posture. In this case, the adjustment of the center of gravity in the left-right direction is performed by inclining the rotating body 10 at an arbitrary angle α.

As a result of the vertical and horizontal center-of-gravity adjustment, the output signal output from the detecting element 11 is rotated substantially at 0 in either one of the horizontal and vertical directions and the inclined posture inclined by an arbitrary rotation angle α. It is possible to know the position where the load 24 is smaller.

The twisting force 9 applied to the rotating shaft 3 generates a plus (+) potential with a right twisting force and a minus (-) potential with a left twisting force. By detecting the positive and negative polarities, it is possible to know the direction in which the object 10 is moved.

Further, as a method of adjusting the balance of the body 10 to be rotated, it can be performed as follows.

When the value of the differential processing at the position where the absolute value of the output electric signal output from the torsion force detecting element 11 when the rotating body 10 is moved in one direction is the minimum is substantially zero.
Thus, it can be similarly adjusted in the state of the rotating load 24.

This operation will be described below with reference to the flowchart shown in FIG.

When the adjustment of the center of gravity is started (s-21), the rotating body 10 is held at an inclination angle of an arbitrary rotation angle α with respect to the direction of gravity (s-22), and either one of the vertical direction or Move in one of the left and right directions, s
Proceed to -24.

At s-24, the output of the element 11 is determined.
Proceed to s-25. Here, the plus (+) of the detection element 11
The output change of indicates that the center of gravity is approaching, minus (-)
The output change of indicates that the center of gravity is separated.

In s-25, the output of the torsional force detecting element 11 is differentiated, and the flow advances to s-26.

At s-26, it is determined whether or not the differentially processed value of the torsion force detecting element 11 is zero. If the processing value is not 0, it is determined whether the processing value is positive or negative (s-2).
7) If the output is negative, it is determined that a left-hand twisting force has occurred, and the position of the rotated body 11 is moved away from the center of gravity (s-28). If the output is positive, It is determined that a right twisting force has been generated, and the position of the rotated body 11 is moved in a direction in which the center of gravity approaches (s-29), and step S-24 is performed.
Return to

When the differential processing value of the element 11 is determined to be 0 in S-26, as described above, the adjustment of the center of gravity of either the up-down or left-right direction of the rotating body 10 is completed (s-30). ), And proceed to s-31.

At s-31, if the movement of the object to be rotated is in the up-down direction, the other is moved in the left-right direction.

At s-32, the torsional force detecting element 11
Is detected, and the differential processing of the detected output is performed in step s-33, and the flow advances to s-34.

At s-34, it is determined whether or not the differentially processed value of the torsion force detecting element 11 is 0. If the processing value is not 0, it is determined whether the processing value is positive or negative (s-3).
5) If the output is negative, it is determined that a left twisting force has occurred, and the position of the rotating body 10 is moved in a direction away from the center of gravity (s-36). If the output is positive, It is determined that the right twisting force has been generated, and the position of the rotated body 10 is moved in a direction in which the center of gravity approaches (s-37), and step S-32 is performed.
Return to

When the differential processing value of the element 11 is determined to be 0 in S-34, as described above, the adjustment of the center of gravity of one of the vertical and horizontal directions of the rotating body 10 is completed (s-38). ), All the center-of-gravity adjustments are completed.

In other words, in the center-of-gravity adjusting operation shown in FIG. 16, the rotating body 10 is moved one direction up and down and left and right at a position having an arbitrary rotation angle with respect to the direction of gravity. Rotation load 2 having a value after differential processing of approximately 0 where the absolute value of the output electric signal of torsion force detecting element 11 that outputs torsion force 9 of rotating shaft 3 is a minimum.
4 less positions can be known.

Similarly, the direction in which the torsional force is generated can be known from the sign of the differential value based on the slope of the potential change.

As described above, the torsion force 9 of the rotating shaft 3 of the rotating mechanism 2 which is generated when a given rotation angle α is provided with respect to the direction of gravity is output to the means for detecting the center of gravity of the rotated body 10. By using the torsion force detecting element 11, the position of the upper, lower, left and right rotating loads 24 can be known from the torsion force 9 of the output shaft 3 of the rotating mechanism 2 generated in the inclined posture. It is easy to mount the rotated body 10 at a position where the rotation load 24 is smaller.

Therefore, it is possible to easily attach the pivoted body 10 to the pedestal 8 at a position where the rotational load 24 is smaller.

As described above, the center of gravity of the object to be rotated 10 can be automatically moved by the electric mechanism 19 to substantially the same position as the center of the rotation axis based on the detected information of the center of gravity of the object to be rotated 10. But it can be fixed in the correct position.

Therefore, "the drive motor becomes large".
Problems such as "heavy weight", "load of the pan rotation mechanism increases", "noise", and "improper imaging blur" can be solved, and adjustment can be automated.

<Second Embodiment> FIG. 10 shows a second embodiment of the present invention.

In this embodiment, one or more torsional force detecting elements 11 are arranged on both the left and right sides with respect to a plane passing substantially through the center of the rotating shaft 3. FIG. An example in which the detecting elements 11a and 11b are provided on the left and right sides of the divided surface of the structure, respectively. FIG. 10B shows the detecting element 11 between a bearing plate through which the rotating shaft 3 penetrates and a support provided below the bearing plate.
An example is shown in which a and 11b are provided on the left and right, respectively.

As shown in FIGS. 7 and 8, when the outputs of the detectors 11a and 11b shown in FIG. 10 are calculated from an arbitrary rotation angle α, the outputs of the detectors 11a and 11b become
This is the combined load of the rotational moment generated by the torsional force generated at the center between the detectors and the weight component of the rotating body.

The distance from the plane passing through the approximate axis center shown in FIG. 10 (a) to the detector 11a is H1, and the distance from the plane passing through the approximate axis center to the detector 11b is H2, and acts on the detector 11a. When the force is represented by F1 and the force acting on the detector 11b is represented by F2, there is a relationship of H1 / H2 = F1 / F2.

FIG. 8 shows the relationship of the weight of the rotating body 10 acting on the rotating shaft 3. The torsional force 9 of the rotated body is represented by M, the gravity is represented by g, the weight of the rotated body 10 is represented by m, and 1 represents the distance between the rotated center of gravity 23 and the substantial rotation axis of the rotating shaft 3.

The torsional force 9 of the rotating body 10 is M = l · c
Works in os (mg).

H1 and H2 shown in FIG. 10A are fixed at symmetrical arbitrary positions. FIG. 8 shows the relationship of F1 = F2.
The position becomes the position where the lateral shift amount 13 indicated by is adjusted. After adjusting the lateral shift amount 13, the relationship of F1 and F2 = 0 (M = 0) becomes the position where the vertical shift amount 14 shown in FIG. 8 is adjusted,
This shows that the attached position of the rotated object 10 is attached to a position where the rotation load 24 is smaller.

If the weight m is recorded at the horizontal position, the weight m of the rotating body 10 becomes a known value.
As shown in FIG. 10B, the detector 11a and the detector 11b
If the vertical distance from the rotation axis is ls, M = m · l
s, and the position of the detector 11 can be arbitrarily set.

Conversely, in order to make 1 known, the tilt arm 6 may be provided with a position detector of the rotating body 10 that reads the position of the pedestal 8 in the radial direction using a linear encoder or the like.

Therefore, "the drive motor becomes large".
Problems such as "heavy", "load of the pan rotation mechanism increases", "noise", and "image blurring to capture" can be solved. <Third Embodiment> In the third embodiment, a vibration wave motor is used as the drive motor 4, and can be used as a means for detecting the center of gravity of the rotating body 10.

That is, when the phase difference between the two-phase AC voltages input to the vibration wave motor is set to 0, the traveling vibration wave 16 shown in FIG. The vibration is switched to the standing vibration 17 of only a wave, and the vibration moving in the horizontal direction changes to the vibration in the vertical direction. For this reason, the rotating body 27 which is the moving body of the vibration wave motor shown in FIG. 14 is hit upward by the stationary vibration of the vibrating body 26, and the rotating body 27 continuously floats inside, and the rotating body 27 It is possible to move away from the body 26, reduce the holding force of the vibration wave motor, and release the rotating shaft 3 of the rotating mechanism 2 in the rotating direction from the holding force of the rotating shaft of the drive motor 4.

Therefore, when the center of gravity is adjusted, the rotating body 10
When the center of gravity is located substantially on the rotation shaft 3, the rotated body 10 does not rotate even if the rotation shaft 3 is opened. Thus, the center of gravity of the rotating body 10 can be detected.

FIG. 9A shows the amplitude of the progressive vibration 16 during driving. FIG. 9B shows a situation when the vibration of the vibration wave motor is changed to the standing vibration 17. In general, in a vibration wave motor, two or more driving frequency signals are input to generate the progressive vibration 1.
6 are synthesized. The period of each phase of the driving frequency signal
The standing vibration can be easily generated by changing the voltage ratio. However, a simple method is to provide only the single-phase driving frequency signal.

[0085]

According to the first aspect of the present invention, there is provided a moving means capable of detecting the center of gravity of the object to be rotated and adjusting the position of the center of gravity of the object to be rotated based on the detected information of the center of gravity. This has the effect of reducing the size and weight of the camera platform device and reducing noise, and also has the effect of reducing blurring in imaging.

According to the second aspect of the present invention, the provision of the vibration wave motor as the drive motor eliminates the need for a special processing circuit for detecting the center of gravity, thereby reducing the cost. In addition, there is an effect that the head unit is made compact, lightweight, silent, and energy saving, and there is an effect that blurring of imaging at a low speed side is reduced.

According to the third aspect of the present invention, the means for detecting the center of gravity of the object to be rotated outputs the torsional force of the rotating shaft of the rotating mechanism generated when an arbitrary angle is set with respect to the direction of gravity. Providing the element that performs the adjustment has an effect of easily detecting the position of the center of gravity, and enables simple balance adjustment.

According to the fourth aspect of the present invention, in the camera platform device provided with a vibration wave motor as a driving motor, the vibration of the vibration wave motor is changed from the progressive vibration to the standing vibration in order to detect the center of gravity of the rotating body. By switching to vibration, the rotation axis of the rotating mechanism is opened in the rotation direction when adjusting the center of gravity, so that the center of gravity position can be easily and inexpensively detected without using tools such as detectors. Enables balance adjustment.

According to the fifth and sixth aspects of the present invention, there is an effect that the center of gravity can be easily detected at a low cost without using a tool such as a detector, and a simple balance adjustment can be performed.

According to the seventh aspect of the present invention, since the display 7 is provided as a means for transmitting the detected center of gravity information of the rotatable body 10 to the adjuster, anyone can surely adjust the center of gravity. There is.

According to the eighth aspect of the present invention, there is provided an electric mechanism for automatically moving the center of gravity of the rotated object to substantially the same position as the center of the rotation axis based on the detected center of gravity information of the rotated object. This has the effect of eliminating the center of gravity adjustment by the operator.

According to the ninth aspect of the present invention, the vibration wave motor is provided in the electric mechanism for automatically moving the center of gravity of the rotated body to substantially the same position as the center of the rotation axis based on the detected center of gravity information of the rotated body. This has the effect of providing a quiet, compact, lightweight and low power consumption electric mechanism.

As described above, the greatest effect of the present invention is that the drive motor becomes large, which is a problem in the conventional pan head device.
・ "Heavy" ・ "the load of the pan rotation mechanism increases"
It is possible to provide a pan head device that solves all the problems such as "noise" and "blur of an image to be captured".

[Brief description of the drawings]

FIG. 1 shows a pan head device according to a first embodiment of the present invention.

FIG. 2 is an external perspective view of FIG.

FIG. 3 is a perspective view showing a center-of-gravity adjusting operation of the camera platform device of FIG. 1;

4 (a) to 4 (c) are schematic views of a means for fixing a tilt axis and a rotation axis of a pan head device according to an embodiment of the present invention.

FIGS. 5A and 5B are schematic diagrams of a torsion detecting element of a pan head device according to an embodiment of the present invention.

FIG. 6 is an external perspective view of a conventional pan head device.

FIG. 7 is a schematic diagram showing a maximum rotation load of a conventional pan head device.

FIG. 8 is a schematic diagram illustrating a rotation load of the camera platform device according to the embodiment of the present invention.

9 (a) and 9 (b) are waveform diagrams of progressive vibration and standing vibration of the pan head device according to the embodiment of the present invention.

FIGS. 10A and 10B are schematic diagrams of a torsion detecting means of a pan head device according to a second embodiment of the present invention.

FIGS. 11A to 11D are schematic diagrams of a display of a pan head device according to an embodiment of the present invention.

FIG. 12 is a schematic view of an electric mechanism of a pan head device according to an embodiment of the present invention.

FIG. 13 is a pan head device showing an embodiment of the present invention.

FIG. 14 is a sectional view of a vibration wave motor used in the embodiment of the present invention.

FIG. 15 is a flowchart illustrating an example of a center-of-gravity adjusting operation according to the embodiment of the present invention;

FIG. 16 is a flowchart showing another example of the center-of-gravity adjusting operation according to the embodiment of the present invention;

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 base 2 rotation mechanism 3 rotation shaft 4 drive motor 5 transmission mechanism 6 tilt arm 7a, 7b display 8 pedestal 9 torsion force 10 rotated object 11 torsion force detection element (distortion sensor) 11a detector 1 11b detector 2 12 Rotation angle 13 Left-right shift amount 14 Vertical shift amount 15 Strain stress 16 Progressive vibration 17 Standing vibration 18 Slide motor 19 Electric mechanism 20 Fixed part 21 Movable part 22 Feed mechanism (ball screw) 23 Rotating body weight 24 times Dynamic load 25 Weight of rotating object

Continued on the front page (72) Inventor Eiichi Yanagi 3-30-2 Shimomaruko, Ota-ku, Tokyo Inside Canon Inc. (72) Inventor Yoshifumi Nishimoto 3-30-2 Shimomaruko, Ota-ku, Tokyo Inside Canon Inc. F-term (reference) 5C022 AA01 AB62 AC27 5H680 AA05 AA06 AA18 AA19 BB03 BB13 BB16 BB20 BC01 CC06 CC07 DD01 DD23 DD35 DD53 DD59 DD66 DD75 DD85 DD87 EE11 EE12 EE20 EE21 EE22 FF04 FF08 FF24 FF33 FF36FF

Claims (9)

[Claims] 1. A rotating mechanism for rotating a horizontal rotating shaft by a driving force of a driving motor, and a rotating body attached to the rotating body, the rotating mechanism being capable of rotating around the rotating shaft by the driving force of the rotating shaft. A rotating body attaching means, a center of gravity detecting means for detecting a center of gravity of the rotated body, and the rotating body being orthogonal to the axis of the rotation axis based on detection information of the center of gravity detecting means. And a shaft center adjusting means for moving the object to be rotated in two axial directions so that the center of gravity of the object to be rotated substantially coincides with the axis of the rotating shaft. 2. The pan head device according to claim 1, wherein the drive motor of the rotation mechanism is a vibration wave motor. 3. The apparatus according to claim 2, wherein the center-of-gravity detecting means includes an element for outputting a torsional force of a rotating shaft of the rotating mechanism, which is generated when an arbitrary angle is set with respect to the direction of gravity. The pan head device according to 1 or 2. 4. The pan head device according to claim 3, wherein said elements are provided at substantially plane target positions with respect to a plane through which the axis of said rotary shaft passes. 5. The apparatus according to claim 1, wherein the center-of-gravity detecting unit switches the vibration of the vibration wave motor from a progressive vibration to a stationary vibration to make the rotating shaft rotatable. Head device. 6. The cloud according to claim 1, wherein the center-of-gravity detecting means includes a mechanism for rotatably switching the rotatable body attaching means with respect to a rotation axis of the rotating mechanism. Table equipment. 7. The apparatus according to claim 1, further comprising display means for displaying information on the center of gravity of the rotating object detected.
The pan head device according to any one of the above. 8. The apparatus according to claim 1, wherein said shaft center adjusting means includes an electric drive mechanism for moving a center of gravity of said body to be rotated to substantially the same position as the center of said rotary shaft. Head device. 9. The pan head device according to claim 8, wherein a vibration wave motor is used as a drive source of said electric drive mechanism.