JP7130457B2 - Electronics - Google Patents

Description

The present invention relates to electronic equipment, and more particularly to electronic equipment having a movable body driven by an actuator.

In recent years, compact cameras called action cams and wearable cameras have become popular. This compact camera can be attached to the body to take hands-free images, or can be attached to a device such as a bicycle or a drone (unmanned aerial vehicle) to take images. In the configuration disclosed in Patent Document 1, the direction in which the image of the wearable camera is recorded is only in a predetermined direction. have to turn

Japanese Patent Laid-Open No. 2002-201000 discloses a technique for turning a movable body including a camera device by a pulley. Further, Patent Document 3 discloses a configuration in which an optical device is rotatably supported not only in the pan and tilt directions but also in the roll direction.

JP 2016-82463 A JP 2010-11199 A JP 2016-27376 A

However, in the prior art, in order to drive the optical device in the pan, tilt, and roll directions, drive sources and speed reduction mechanisms corresponding to each direction are provided, and the optical device is large.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a compact electronic device with drive mechanisms for pan, tilt and roll directions.

In order to solve the above problems, the electronic device of the present invention includes a driven body, a first support member that supports the driven body around a first axis, and a driven plate that engages with the driven body. a rotating shaft portion that supports the first support member so as to be rotatable about a second shaft that is substantially orthogonal to the first shaft, and that is disposed so as to sandwich the driven body; a plurality of rotating plates that engage with the rotating shaft portion and contact the driven plate to transmit the driving force; and the plurality of rotating plates provided on the second supporting member, A plurality of actuators for rotationally driving each of them, and a plurality of detecting means for detecting the amount and direction of rotation of each of the plurality of rotating plates, wherein the direction of rotation and the amount of driving of each of the plurality of rotating plates are independent of each other. It is characterized by being controlled by

According to the present invention, it is possible to provide a small-sized electronic device having drive mechanisms in the pan, tilt, and roll directions.

(A) is a perspective view showing a state in which the drone 1 on which the electronic device is mounted is on the ground. (B) is a perspective view showing a state in which the drone 1 equipped with an electronic device is flying. (A) is a perspective view showing the rotation direction of the movable portion of the camera 10 according to Example 1 of the present invention. (B) is a perspective view in which the side cover 49 of the tilt unit 40 of the camera 10 is hidden. 1 is an exploded perspective view of a camera 10 according to Example 1 of the present invention; FIG. 1 is an exploded perspective view of a tilt unit 40 according to Embodiment 1 of the present invention; FIG. 1 is a cross-sectional view of a main part of a camera 10 according to Example 1 of the present invention; FIG. (A) is a perspective view showing the definition of the rotation direction of the camera 10 according to Example 1 of the present invention. (B) is a table showing each drive mode in the rotation direction of each rotary plate and tilt chassis 44; FIG. 8 is an exploded perspective view of a tilt unit 240 according to Embodiment 2 of the present invention; (A) is a perspective view showing the definition of the rotation direction of the camera 210 according to Example 2 of the present invention. (B) is a table showing each drive mode in the rotation direction of each rotary plate and tilt chassis 244. FIG.

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. The electronic device according to the present invention is intended for an imaging device (hereinafter referred to as "camera 10") attached to an unmanned aerial vehicle (hereinafter referred to as "drone 1"). However, the electronic device according to the present invention is not limited to this, and can be widely applied to electronic devices that are driven by an actuator and placed on a movable body.

1(A) and 1(B) show a drone 1 on which a camera 10 according to the present invention is mounted. 1(B) is a perspective view of the drone 1 in flight. The drone 1 has a plurality of propellers 2 (2a, 2b, 2c, 2d), and the illustrated drone 1 is called a quadcopter having four propellers 2. FIG. The number and size of the propellers 2 vary depending on the weight and application of the drone 1 . The drone 1 can float by generating lift by rotating the propellers 2, and can keep the airframe stable (hovering) by controlling all the propellers 2 to have the same number of revolutions. By varying the number of revolutions of the propeller 2, the posture of the aircraft can be changed and moved.

A drone 1 is equipped with a small camera 10 called an action cam. The camera 10 is configured to be small and light in order to emphasize portability. The camera 10 is roughly divided into a fixed portion and a movable portion, and the fixed portion includes fastening parts for fastening to the drone 1, communication means described later, and the like. The movable part of the camera 10 can move in a substantially horizontal pan direction (horizontal/left/right) with respect to the fixed part, and in a tilt direction (vertical/up/down) in which a part of the movable part is substantially vertical, and in a roll direction. (rotation). It is possible to perform an operation of canceling the shaking of the drone 1 by controlling the rotation in these three directions. As a result, the camera 10 can capture an image with little image shake. In addition, the camera 10 can be attached to a bicycle or the body other than the drone 1 by another fixing component. Details of the internal configuration of the camera 10 will be described later.

The drone 1 also includes skids 3 (3a, 3b). The skid 3 is a mechanism that supports the drone 1 on the ground during non-flight. The skid 3 of the drone 1 equipped with the camera 10 according to the present invention is configured to be retractable. Specifically, the part attached to the drone 1 is configured to be able to rotate a certain amount, and when the drone 1 takes off, the skid 3 moves from the position shown in FIG. 1(A) to the position shown in FIG. 1(B). It can be rotated and retracted. When the drone 1 lands, the skid 3 is rotated from the position shown in FIG. 1B to the position shown in FIG. It is possible to prevent troubles such as being damaged by Further, by retracting the skid 3, it is possible to prevent a problem such as the skid 3 being captured within the shooting angle of view when the camera 10 performs panning driving while the drone 1 is flying.

(Example 1)
Next, details of the camera 10 according to the first embodiment of the present invention will be described. FIG. 2A is a perspective view of the camera 10 of the first embodiment. FIG. 2B is a perspective view of the camera 10 with the side cover 49, which is a part of the exterior cover, hidden for explanation.

As shown in FIG. 2A, the camera 10 has two movable parts, a pan unit 30 as a first movable part and a tilt unit 40 as a second movable part, and the camera 10 as a fixed part. It is composed of a base unit 20 (base member) that serves as a base portion.

The base unit 20 includes a power supply input section (not shown) for receiving power from the outside, communication means for transmitting an image obtained from a lens unit 50 (a driven body to be described later) to the outside, and driving of the pan unit 30 and tilt unit 40. It is equipped with a main board section for controlling and image processing. In addition, the base unit 20 rotatably supports the pan unit 30 and includes pan unit drive means (not shown) for rotating the pan unit 30 in the pan direction.

The pan unit 30 is rotatable in the pan direction indicated by the arrow P with the base unit 20 as a reference. Also, the pan unit 30 rotatably supports the tilt unit 40 . Further, as shown in FIG. 2B, the pan unit 30 includes drive means 35, 36 and rotation amount detection means 37, 38, which will be described later.

The tilt unit 40 includes a lens unit 50 comprising an optical lens section for forming an optical subject image and an imaging section for converting the subject image into an electrical imaging signal. The tilt unit 40 is rotatable relative to the pan unit 30 in a tilt direction indicated by an arrow T that passes through the optical axis of the optical lens portion of the lens unit 50 and is perpendicular to the arrow P. Furthermore, the tilt unit 40 holds the lens unit 50 so that the lens unit 50 can rotate in the rotation direction (the roll direction indicated by the arrow R) around the optical axis of the optical lens section.

By constructing each of the units described above, it becomes possible to change the direction of the camera 10 in an arbitrary direction for photographing, and it is also possible to photograph while rotating the camera 10 around the optical axis.

Next, the details of each unit described above will be described with reference to FIGS. 3 to 5. FIG. FIG. 3 is an exploded perspective view of the essential parts for showing the body structure of the camera 10. As shown in FIG. FIG. 4 is an exploded perspective view showing the internal configuration of the tilt unit 40. As shown in FIG. FIG. 5 is a cross-sectional view of the essential parts of camera 10 taken along axis t and axis p. It should be noted that items that are not necessary for the explanation of the present invention and would complicate the drawing are omitted.

3 to 5, axis p indicates the pan rotation axis (third axis) in the pan direction of pan unit 30 indicated by arrow P in FIG. 2A, and axis t indicates the arrow P in FIG. The tilt rotation axis (second axis) in the tilt direction of the tilt unit 40 indicated by T is shown. Axis r indicates the roll rotation axis (first axis) in the roll direction around the optical axis of the optical lens portion of the lens unit 50 indicated by arrow R in FIG. 2(B). In the first embodiment, the axis p and the axis t are substantially perpendicular to each other, but the axis p and the axis t do not necessarily have to be perpendicular to each other.

In FIG. 3, the base unit 20 includes a main board section, communication means, and a power input section (not shown). The main board section is equipped with a system control circuit (CPU), a memory, a driver IC for driving and controlling the pan unit 30 and the tilt unit 40, and the like, and controls the camera 10 as a whole.

The communication means includes a communication control circuit and an antenna, and is connected to the main board section. The communication means transmits image data obtained from the lens unit 50 to a receiving means (not shown) via radio waves, or receives information for operating the camera 10 from the transmitting means (not shown).

A power supply input section (not shown) is provided on the bottom surface section 20a of the base unit 20 and has an electrical contact section. The power input section receives power from the outside and supplies power to the main board section and the like. In the first embodiment, the power can be supplied from the drone 1 to the main substrate section by connecting the drone 1 and the power supply input section. Further, the bottom surface portion 20a of the base unit 20 is provided with an attachment (not shown) that can be attached to a moving object such as the drone 1 described above.

Next, the internal configuration of the pan unit 30 will be described. The pan base 31 is a constituent member of the pan unit 30, and includes a pan chassis 32 (second support member) formed by pressing a sheet metal, and a resin pan base processed by a method such as injection molding. 33.

The pan chassis 32 is composed of a base portion 32c which is a flat surface fastened to the pan base 33 with screws, and a pair of parallel arm portions 32a and 32b having flat surfaces perpendicular to the base portion 32c. A pair of bearing members 34A and 34B, which will be described later, are fixed to the arm portions 32a and 32b of the pan chassis 32, respectively.

The pan unit 30 is rotatably supported about the axis p with respect to the base unit 20 via the pan base 31. A pan base 33 rotates about the axis p in the base unit 20. A pan direction drive mechanism (not shown) is provided for driving.

The bearing members 34A and 34B are fixed to the arm portions 32a and 32b of the pan chassis 32, respectively, so that the cylindrical members 45A and 45B (rotating shaft portions) described later can smoothly rotate about the axis t. support the cylindrical members 45A and 45B.

The drive means 35, 36 and the rotation amount detection means 37, 38 are fixed to the arm portions 32a, 32b of the pan chassis 32, respectively. position is determined. Pressing plates 39A and 39B for regulating the directions in which the rotation amount detection means 37 and 38 come off and for regulating the ends of the cylindrical members 45A and 45B are assembled to the arms 32a and 32b together with the bearing members 34A and 34B. , the rotation amount detecting means 37 and 38 are fixed. As the bearing members 34A and 34B, a member formed by injection molding a resin (for example, polyacetal (POM) or the like) having low friction and excellent slidability, or a metal processed smoothly with high precision is used. be done.

Next, the internal configuration of the tilt unit 40 will be described. A tilt chassis 44 (first support member), a lens unit 50, a first rotating plate 41, A second rotating plate 42 and a third rotating plate 43, which is a driven plate, are accommodated.

Here, the details of the tilt unit 40 will be described with reference to FIG. In FIG. 4, the tilt chassis 44 is formed in a U-shape (U-shape), and has a front portion 44c perpendicular to the axis r and side wall portions parallel to each other and formed by bending from the front portion 44c. 44a and 44b. The side walls 44a and 44b are provided with metallic cylindrical members 45A and 45B formed by header processing or cutting. be. The columnar members 45A and 45B serve as the rotation shaft portions of the tilt unit 40, and are supported by the pan chassis 32 (see FIG. 3) so as to be rotatable about the axis t. The first rotating plate 41 and the second rotating plate 42 are inserted through the cylindrical members 45A and 45B of the tilt chassis 44, respectively, and are rotatably supported with the cylindrical members 45A and 45B as rotation axes (axis t). there is

An opening 44d for inserting the lens unit 50 is provided in the front surface portion 44c, and a sliding member 46 for smoothly rotating the lens unit 50 is arranged on the inner side surface of the U-shape. A lens unit 50 is rotatably held via a member 46 . Further, the third rotary plate 43 is held on the U-shaped outer surface of the front surface portion 44c so as to be rotatable around the axis r. That is, in a state where the sliding member 46 is engaged with the opening 44d of the tilt chassis 44, the third rotating plate 43 and the lens unit 50 are fixed, and the third rotating plate 43 and the lens unit 50 are integrally moved about the axis r. Rotate.

The first rotating plate 41 and the second rotating plate 42 are rotatably supported by the cylindrical members 45A and 45B of the tilt chassis 44. As will be described later, the drive shafts 41 and 42 arranged on the arms 32a and 32b of the pan chassis 32 are provided. The means 35 and 36 enable independent rotational driving. Incidentally, the above-described tilt chassis 44 may be molded from engineering plastic or the like, and the cylindrical members 45A and 45B and the sliding member 46 may be integrally molded.

Slope portions 41s and 42s are provided on the inner edge portions of the first rotating plate 41 and the second rotating plate 42, and in the assembled state shown in FIG. is configured to come into contact with the slope portion 43s provided on the . Then, when the first rotating plate 41 and the second rotating plate 42 rotate, their driving forces are transmitted to the third rotating plate 43 . It is desirable that the slope portions 41s, 42s, and 43s have a high coefficient of friction, and a friction member or an elastic member may be separately provided on the surface in order to increase the coefficient of friction.

In the first embodiment, the slopes 41s, 42s, and 43s are driven by friction. A similar effect can be obtained by connecting gears.

Further, the first rotating plate 41 and the second rotating plate 42 are provided with friction sliding surfaces 41a and 42a for efficiently receiving the driving force from the driving means 35 and 36 shown in FIG. Bright and dark patterns 41b and 42b (not shown) are provided radially inside the friction sliding surfaces 41a and 42a of the first rotary plate 41 and the second rotary plate 42, respectively. The bright and dark patterns 41b and 42b are patterns in which surfaces having different reflectances are arranged in the circumferential direction at a constant cycle, and the reflectances are changed by printing or surface treatment, for example. The light and dark patterns 41b and 42b are for detecting the amount of rotation of the first rotary plate 41 and the second rotary plate 42 by rotation amount detection means 37 and 38, which will be described later. The bright and dark patterns 41b and 42b in the drawing are actually very fine patterns, but the pattern shapes are simplified for explanation.

Here, a method for driving the first rotating plate 41 and the second rotating plate 42 will be described in detail. The drive means 35 and 36 shown in FIGS. 3 and 5 are sources that generate high-frequency vibrations (ultrasonic vibrations). It acts as a vibration type actuator (ultrasonic motor). As shown in FIG. 5, the driving means 35 and 36 are provided with vibrators 35v and 36v that intermittently repeat contact and non-contact with the first rotating plate 41 and the second rotating plate 42, respectively, while vibrating ultrasonically. Piezoelectric elements 35p and 36p for generating ultrasonic vibrations are provided on the rear surfaces of the vibrators 35v and 36v (surfaces on the side not facing the first rotating plate 41 and the second rotating plate 42). The piezoelectric elements 35p and 36p are electrically connected to flexible printed circuit boards (hereinafter referred to as FPC) 35f and 36f. The six members described above are biased in the directions of arrows D and E in the drawing by biasing means (not shown). It is assumed that a spring member is used as the biasing means. As shown in FIG. 3, the contact portions 36c are provided at two locations on the vibrator 36v at portions that come into contact with the frictional sliding surface 42a of the second rotary plate 42. As shown in FIG. Also, although not shown, it is assumed that the vibrator 35v also has two contact portions 35c.

As shown in FIG. 5, two contact portions 35c of the driving means 35 contact the friction sliding surface 41a of the first rotary plate 41 in the direction of arrow D with a constant pressing force by a spring (not shown). state. Similarly, two contact portions 36c of the driving means 36 are brought into contact with the friction sliding surface 42a of the second rotary plate 42 in the direction of arrow E with a constant pressure force by a spring (not shown). there is In this state, when a high-frequency voltage is applied to the piezoelectric elements 35p and 36p from the driver IC (not shown) described with reference to FIG. At this time, the vibrating direction of the vibrators 35v and 36v can be changed not only in the direction facing the first rotating plate 41 and the second rotating plate 42 but also in the direction orthogonal to the first rotating plate 41 and the second rotating plate 42 by changing the voltage input range to the piezoelectric elements 35p and 36p. can also vibrate. Then, at the two contact portions 35c and 36c of the vibrators 35v and 36v, respectively, a force is generated in a tangential direction in the circumference centered on the axis t by combining the vibration states in the directions facing each other and in the directions perpendicular to each other. be able to. As a result, the first rotating plate 41 and the second rotating plate 42 can rotate about the axis t, and the first rotating plate 41 and the second rotating plate 42 and the driving means 35 and 36 for driving them are It constitutes a drive mechanism in the tilt direction. Then, the driving force is transmitted to the third rotating plate 43 which is in contact with the first rotating plate 41 and the second rotating plate 42 .

Next, a method of detecting rotation when controlling the driving of the first rotating plate 41 and the second rotating plate 42 will be described with reference to FIGS. 3 and 4. FIG. In FIG. 3, the rotation amount detection means 37 is for detecting the amount of rotation of the first rotary plate 41 per hour, and is fixed to the pan chassis 32 so as to face the light-dark pattern 41b of the first rotary plate 41. ing. Similarly, the rotation amount detection means 38 is for detecting the amount of rotation of the second rotary plate 42 per time, and is fixed to the pan chassis 32 so as to face the light-dark pattern 42b of the second rotary plate 42. there is In the first embodiment, the rotation amount detection means 37 is composed of an FPC 37f and an optical sensor 37s. Similarly, the rotation amount detection means 38 is composed of an FPC 38f and an optical sensor 38s. FPCs 37f and 38f are electrically connected to the optical sensors 37s and 38s, respectively, so that light-dark patterns 41b and 42b of the first rotary plate 41 and the second rotary plate 42 are detected.

The optical sensors 37s and 38s are configured by integrally packaging a light-emitting portion that emits light and a light-receiving portion that receives the reflected light of the light emitted from the light-emitting portion and reflected by a reflector. For example, a light-emitting diode is used as the light-emitting portion, and a phototransistor is used as the light-receiving portion. The light-receiving section receives reflected light obtained by reflecting the light emitted from the light-emitting section, and converts it into an electric signal corresponding to the amount of received light. In the first embodiment, the optical sensors 37s and 38s each have two pairs of light emitting units and light receiving units arranged so that they can be detected in phases shifted by 1/4 of the light and dark cycles of the light and dark patterns 41b and 42b. Therefore, the amount of rotation and the direction of rotation of the first rotating plate 41 and the second rotating plate 42 can be detected. Since the principle of detecting the amount of rotation and the direction of rotation and the method of obtaining the rotation speed are known, the description thereof will be omitted.

FIG. 6A is a perspective view showing the definition of the rotation direction of the lens unit 50 of the camera 10 according to the first embodiment. The clockwise (CW) direction is defined as the reference rotation direction indicated by the arrow of each of the first rotating plate 41, the second rotating plate 42, the third rotating plate 43, and the tilt chassis 44, and the rotation is opposite to the CW direction. Define the direction as the counterclockwise (CCW) direction. FIG. 6B is a table summarizing the rotational directions of the first rotary plate 41, the second rotary plate 42, and the third rotary plate 43 and the rotational state of the tilt chassis 44 in each drive mode.

First, the case of tilting the lens unit 50 will be described. When the driving direction of the first rotating plate 41 and the second rotating plate 42 is the CW direction and they are driven at the same rotational speed, the third rotating plate 43 moves in the same direction ( In the circumferential direction, the forces are equally received in opposite directions), so they do not rotate about the axis r. The third rotating plate 43 is held by a tilting chassis 44, and the rotation centers of the tilting chassis 44, the first rotating plate 41, and the second rotating plate 42 coincide with the axis t. Therefore, the tilt chassis 44 rotates in the CW direction together with the third rotating plate 43, and the lens unit 50 also rotates in the CW direction about the axis t without rotating about the axis r (FIG. 6B). see first drive). Here, it is assumed that the sloped portions 41s, 42s, and 43s of the first rotary plate 41, the second rotary plate 42, and the third rotary plate 43 do not slip with each other, and the same applies to the following description.

Further, when the driving directions of the first rotating plate 41 and the second rotating plate 42 are the CCW direction and they are driven at the same rotational speed, the third rotating plate 43 is driven at the same contact point between the first rotating plate 41 and the second rotating plate 42 . It receives forces in the same directions (opposite to each other in the circumferential direction), so it does not rotate about the axis r. The third rotating plate 43 is held by a tilting chassis 44, and the rotation centers of the tilting chassis 44, the first rotating plate 41, and the second rotating plate 42 coincide with the axis t. Therefore, the tilt chassis 44 rotates in the CCW direction together with the third rotating plate 43, and the lens unit 50 also rotates in the CCW direction about the axis t without rotating about the axis r (FIG. 6B). (see second drive in ).

Next, the case where the lens unit 50 is roll-driven will be described. The driving direction of the first rotating plate 41 is the CW direction, and the driving direction of the second rotating plate 42 is the CCW direction. Forces in opposite directions (in the same direction in the circumferential direction) are equally received at the points of contact. Therefore, the third rotating plate 43 rotates in the CCW direction under the force of the rotating direction about the axis r. At this time, the lens unit 50 also rotates in the CCW direction integrally with the third rotating plate 43, and the tilt chassis 44 does not rotate around the axis t and is in a stopped state (the third drive in FIG. 6B). ).

Further, when the driving direction of the first rotating plate 41 is the CCW direction and the driving direction of the second rotating plate 42 is the CW direction, and they are driven at the same rotational speed, the third rotating plate 43 will move between the first rotating plate 41 and the second rotating plate 41 . At the contact points of the plate 42, forces in opposite directions (in the same direction in the circumferential direction) are equally received. Therefore, the third rotating plate 43 rotates in the CW direction under the force of the rotating direction about the axis r. At this time, the lens unit 50 also rotates in the CW direction integrally with the third rotating plate 43, and the tilt chassis 44 does not rotate around the axis t and is in a stopped state (fourth drive in FIG. 6B). ).

In the first embodiment, it is also possible to drive the lens unit 50 in both tilt drive and roll drive at the same time. When the driving direction of the first rotating plate 41 is the CW direction and the driving of the second rotating plate 42 is stopped, the third rotating plate 43 receives force at the point of contact with the first rotating plate 41 and rotates about the axis r. It receives force in the rotational direction and rotates in the CCW direction. At this time, since the second rotating plate 42 is in a stopped state, the third rotating plate 43 receives a reaction force due to its own rotation at the point of contact with the second rotating plate 42 . Therefore, the third rotating plate 43 held by the tilt chassis 44 rotates in the CCW direction and rolls along the second rotating plate 42 (in the direction of rotation about the axis t). Therefore, the lens unit 50 also rotates in the CCW direction about the r axis integrally with the third rotating plate 43 and rotates in the CW direction about the axis t (fifth driving in FIG. 6B). reference).

Further, when the driving direction of the second rotating plate 42 is set to the CW direction and the driving of the first rotating plate 41 is stopped, the third rotating plate 43 receives force at the point of contact with the second rotating plate 42 and rotates about the axis r. and rotates in the CW direction. At this time, since the first rotating plate 41 is in a stopped state, the third rotating plate 43 receives a reaction force due to its own rotation at the point of contact with the first rotating plate 41 . Therefore, the third rotating plate 43 held by the tilt chassis 44 rotates in the CW direction and rolls along the first rotating plate 41 (in the direction of rotation about the axis t). Therefore, the lens unit 50 also rotates in the CW direction about the r-axis integrally with the third rotating plate 43 and rotates in the CW direction about the axis t (see the sixth drive in FIG. 6B). ).

Further, when the driving direction of the first rotating plate 41 is the CCW direction and the driving of the second rotating plate 42 is stopped, the third rotating plate 43 receives a force at the point of contact with the first rotating plate 41 and rotates about the axis r. and rotates in the CW direction. Since the second rotor plate 42 is in a stopped state, the third rotor plate 43 receives a reaction force due to its own rotation at the point of contact with the second rotor plate 42 . Therefore, the third rotating plate 43 held by the tilt chassis 44 rotates in the CW direction and rolls along the second rotating plate 42 (in the direction of rotation about the axis t). Therefore, the lens unit 50 also rotates in the CW direction about the r-axis integrally with the third rotating plate 43 and rotates in the CCW direction about the axis t (see the seventh drive in FIG. 6B). ).

Further, when the driving direction of the second rotating plate 42 is set to the CCW direction and the driving of the first rotating plate 41 is stopped, the third rotating plate 43 receives force at the point of contact with the second rotating plate 42 and rotates about the axis r. , and rotates in the CCW direction. Since the first rotor plate 41 is in a stopped state, the third rotor plate 43 receives a reaction force due to its own rotation at the point of contact with the first rotor plate 41 . Therefore, the third rotating plate 43 held by the tilt chassis 44 rotates in the CCW direction and rolls along the first rotating plate 41 (in the direction of rotation about the axis t). Therefore, the lens unit 50 also rotates in the CCW direction about the r-axis integrally with the third rotating plate 43 and rotates in the CCW direction about the axis t (see the eighth drive in FIG. 6B). ).

In the explanation so far, the rotational speeds of the first rotating plate 41 and the second rotating plate 42 are assumed to be constant. If there is a difference in rotational speed between the two, tilt drive and roll drive can be performed at the same time. That is, even when the first rotating plate 41 or the second rotating plate 42 in the stopped state is rotationally driven at a speed slower than the speed of the other rotating plate, tilt driving and roll driving can be realized. That is, by adjusting the speed difference between the rotational speeds of the first rotary plate 41 and the second rotary plate 42, the tilt drive and roll drive of the lens unit 50 can be driven at desired drive speeds (driving amounts). In the first embodiment, the first rotating plate 41, the second rotating plate 42, the third rotating plate 43, and the driving means 35, 36 for driving them constitute a driving mechanism in the roll direction. By controlling the amount, a roll drive or a tilt and roll drive can be achieved.

In general, tilt drive and roll drive are performed by arranging separate drive sources, respectively. Wiring inside 40 can be minimized. Furthermore, since pan drive, tilt drive, and roll drive can be realized, it is possible to photograph without restricting the movement of the drone 1, which is the mounted body.

(Example 2)
Next, the camera 210 according to the second embodiment will be described with reference to FIGS. 7 and 8. FIG. In the second embodiment, the configuration other than the tilt chassis 244 (first supporting member), the lens unit 250 as the driven body, and the third rotating plate 243 as the driven plate is the same as that of the first embodiment. Descriptions of those members are omitted.

FIG. 7 is an exploded perspective view showing the internal configuration of the tilt unit 240 according to the second embodiment. The tilting chassis 244 is formed in a U-shape (U-shape) and has a front portion 244c orthogonal to the axis r and side wall portions 244a and 244b which are formed by bending the front portion 244c and are parallel to each other. I have. The front surface portion 244c is provided with an opening 244d for inserting the lens unit 250 and two fixing portions 244e for fixing the lens unit 250 so that it does not rotate around the axis r. The lens unit 250 is provided with two fastening portions 250a corresponding to the two fixing portions 244e. Fixed.

The optical lens section of the lens unit 250 is equipped with a so-called zoom optical system that can change the size of the subject image by moving the lens along the optical axis (axis r). In the lens unit 250, the lens barrel 250b is supported so as to be movable in the rectilinear direction (direction of arrow Z) along the optical axis (axis r), and supports the zoom optical system. By advancing or retreating the lens barrel 250b, it is possible to change the size of the subject image formed on the imaging element (not shown) in the lens unit 250, that is, change the so-called zoom magnification.

The third rotating plate 243 has a cam groove 243a and is rotatably attached to the tilt chassis 244 . The cam groove 243 a is provided with a predetermined inclination with respect to the rotation direction of the third rotary plate 243 . The third rotating plate 243 and the sliding member 46 are fixed by press-fitting or bonding while sandwiching the tilt chassis 244 , and are rotatably supported on the tilt chassis 244 about the axis r.

A threaded hole 250c to which the cam pin 201 can be attached is provided on the outer periphery of the lens barrel 250b. The tip of the cam pin 201 has a threaded shape to be screwed into the screw hole 250c. After the lens unit 250 is inserted into the third rotating plate 243, the cam pin 201 is inserted into the cam groove 243a and screwed into the screw hole 250c of the lens barrel 250b. Tighten to. Then, the lens unit 250 is fixed. With the above-described configuration, the cam groove 243a is provided with a predetermined inclination with respect to the direction of rotation thereof. Therefore, when the third rotary plate 243 rotates, the cam pin 201 moves along the cam groove 243a. Move along the optical axis. Here, the cam pin 201 is a cam follower for the cam groove 243a, and the third rotating plate 243 and the lens unit 250 are engaged by the cam groove 243a and the cam follower. You can change the zoom magnification. That is, the third rotating plate 243 forms part of the zoom drive mechanism (zoom ring) of the lens unit 250 .

FIG. 8A is a perspective view showing the definition of the rotation direction of the lens unit 250 of the camera 210 according to the second embodiment. The clockwise (CW) direction is defined as the reference rotation direction indicated by the arrow in each of the first rotating plate 41, the second rotating plate 42, the third rotating plate 243, and the tilt chassis 244, and rotates in the direction opposite to the CW direction. Define the direction as the counterclockwise (CCW) direction. FIG. 8B is a table summarizing the rotational directions of the first rotary plate 41, the second rotary plate 42, and the third rotary plate 243 and the rotational state of the tilt chassis 244 in each drive mode.

First, the case where the lens unit 250 is tilt-driven will be described. When the driving direction of the first rotating plate 41 and the second rotating plate 42 is the CW direction and they are driven at the same rotational speed, the third rotating plate 243 moves in the same direction ( In the circumferential direction, the forces are equally received in opposite directions), so they do not rotate about the axis r. The third rotating plate 243 is held by a tilting chassis 244, and the rotation centers of the tilting chassis 244, the first rotating plate 41 and the second rotating plate 42 coincide with the axis t. Therefore, the tilt chassis 244 rotates in the CW direction together with the third rotating plate 243, and the lens unit 250 also rotates in the CW direction around the axis t (see the ninth drive in FIG. 8B). Here, it is assumed that the sloped portions 41s, 42s, and 243s of the first rotary plate 41, the second rotary plate 42, and the third rotary plate 243 do not slip with each other, and the same applies to the following description.

Further, when the driving directions of the first rotating plate 41 and the second rotating plate 42 are the CCW direction and they are driven at the same rotational speed, the third rotating plate 243 is driven in the same direction at the points of contact of the first rotating plate 41 and the second rotating plate 42 . It does not rotate about the axis r because it receives equally the forces in the directions (opposite to each other in the circumferential direction). The third rotating plate 243 is held by a tilting chassis 244, and the rotation centers of the tilting chassis 244, the first rotating plate 41 and the second rotating plate 42 coincide with the axis t. Therefore, the tilt chassis 244 rotates in the CCW direction together with the third rotating plate 243, and the lens unit 250 also rotates in the CCW direction about the axis t (see tenth drive in FIG. 8B).

Next, a case where the lens unit 250 is driven for zooming will be described. The driving direction of the first rotating plate 41 is the CW direction, and the driving direction of the second rotating plate 42 is the CCW direction. receive forces in opposite directions (in the same direction in the circumferential direction) equally at the points of contact with Therefore, the third rotor plate 243 rotates in the CCW direction under the force of the rotation direction about the axis r. As described above, when the third rotating plate 243 rotates, the zoom magnification of the lens unit 250 can be changed. For example, when the third rotating plate 243 rotates in the CCW direction, the zoom magnification of the lens unit 250 decreases. do. This state is called zoom out. At this time, the tilt chassis 244 does not rotate and is stopped (see the eleventh drive in FIG. 8B).

Further, when the rotating direction of the first rotating plate 41 is the CCW direction, and the driving direction of the second rotating plate 42 is the CW direction, and they are driven at the same rotational speed, the third rotating plate 243 moves between the first rotating plate 41 and the second rotating plate 41 . At the points of contact with the plate 42, forces in opposite directions (the same direction in the circumferential direction) are equally received. Therefore, the third rotating plate 243 rotates in the CW direction by receiving a force in the direction of rotation about the axis r. As described above, when the third rotating plate 243 rotates, the zoom magnification of the lens unit 250 can be changed. For example, when the third rotating plate 243 rotates in the CW direction, the zoom magnification of the lens unit 250 increases. do. This state is called zoom-in. At this time, the tilt chassis 244 is in a stopped state without rotating (see the twelfth drive in FIG. 8B).

In the description so far, the rotational speeds of the first rotating plate 41 and the second rotating plate 42 are assumed to be constant. It is also possible to perform zoom drive and tilt drive simultaneously by making a difference in rotational speed. In the second embodiment, the first rotating plate 41, the second rotating plate 42, the third rotating plate 243, and the driving means 35, 36 for driving them constitute a driving mechanism for zooming. By controlling with , zoom drive or tilt drive and zoom drive can be realized.

In the second embodiment, a zoom mechanism in which the lens barrel 250b moves in the straight direction along the optical axis has been described. A similar effect can be obtained by using a zoom mechanism that moves in the direction.

Generally, separate drive sources are provided for tilt drive and zoom drive. wiring can be minimized. Furthermore, since pan drive, tilt drive, and zoom drive can be realized, it is possible to photograph without restricting the movement of the drone 1 as the wearable body.

The present invention is not limited to the embodiment 1 or 2 described above, and it goes without saying that various other configurations can be adopted without departing from the gist of the present invention.

10, 210 camera (electronic equipment)
20 base unit (base member)
32 pan chassis (second support member)
35, 36 driving means (actuator)
37, 38 rotation amount detection means (detection means)
41 first rotating plate (rotating plate)
42 Second rotating plate (rotating plate)
43, 243 third rotating plate (driven plate)
44, 244 tilt chassis (first support member)
45A, 45B Cylindrical member (rotating shaft portion)
50, 250 lens unit (driven body)
243a cam groove 201 cam follower shaft r roll rotation shaft (first shaft)
Axis t tilt rotation axis (second axis)
Axis p pan rotation axis (third axis)

Claims (9)

a driven body;
a first support member that supports the driven body around a first axis;
a driven plate engaging the driven body;
a rotation shaft portion that rotatably supports the first support member about a second axis that is substantially orthogonal to the first axis, and that is disposed so as to sandwich the driven body;
a second support member that supports the rotation shaft;
a plurality of rotating plates that engage with the rotating shaft portion and contact the driven plate to transmit driving force;
a plurality of actuators provided on the second support member for rotationally driving each of the plurality of rotating plates;
a plurality of detection means for detecting the amount and direction of rotation of each of the plurality of rotating plates;
with
1. An electronic device, wherein the rotation direction and driving amount of each of the plurality of rotating plates are independently controlled. By controlling the amount and direction of rotation of each of the plurality of rotating plates, the driven body is rotated about the first axis or the second axis, or the driven body is rotated around the second axis. 2. The electronic device according to claim 1, wherein the electronic device is rotated around the first axis and the second axis. 3. The electronic device according to claim 1, further comprising a base member that supports said second support member so as to be rotatable in a direction of a third axis. a driven body that is part of the zoom drive mechanism of the lens unit;
a first support member that supports the driven body around a first axis;
a driven plate engaging the driven body;
a rotation shaft portion that rotatably supports the first support member about a second axis that is substantially orthogonal to the first axis, and that is disposed so as to sandwich the driven body;
a second support member that supports the rotation shaft;
a plurality of rotating plates that engage with the rotating shaft portion and contact the driven plate to transmit driving force;
a plurality of actuators provided on the second support member for rotationally driving each of the plurality of rotating plates;
a plurality of detection means for detecting the amount and direction of rotation of each of the plurality of rotating plates;
with
1. An electronic device , wherein the rotation direction and driving amount of each of the plurality of rotating plates are independently controlled . 4. The driven plate and the driven body are engaged by a cam groove and a cam follower, and the driven body moves linearly along the first axis. The electronic device described in . 5. The driven plate and the driven body are engaged so as to be rotatable in the same direction, and the driven body is rotatable about the second shaft. Electronics as described. The driven body is a lens unit having an imaging device, the first supporting member supports the driven body so as to be rotatable about the first shaft, and the driven plate is the 4. The electronic device according to any one of claims 1 to 3, wherein the electronic device is connected to a driven body and rotates integrally. The electronic device according to any one of claims 1 to 7, wherein the actuator is a vibration type actuator. 9. The electronic device according to claim 1, wherein each of said plurality of actuators has a vibrator which pressurizes and comes into contact with the frictional sliding surfaces of said plurality of rotating plates.

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