JP6228680B1 - ジンバル機構 - Google Patents
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- JP6228680B1 JP6228680B1 JP2016536841A JP2016536841A JP6228680B1 JP 6228680 B1 JP6228680 B1 JP 6228680B1 JP 2016536841 A JP2016536841 A JP 2016536841A JP 2016536841 A JP2016536841 A JP 2016536841A JP 6228680 B1 JP6228680 B1 JP 6228680B1
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- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
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- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
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- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- General Physics & Mathematics (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Remote Sensing (AREA)
- Accessories Of Cameras (AREA)
- Studio Devices (AREA)
- Adjustment Of Camera Lenses (AREA)
- Stereoscopic And Panoramic Photography (AREA)
Abstract
Description
本明細書で言及される全ての刊行物、特許及び特許出願はそれぞれ個々の刊行物、特許又は特許出願は、具体的且つ個々に参照により組み込まれることを示すような程度と同程度まで参照により本明細書中に組み込まれる。
本明細書中に記載されるデバイス及び方法は、キャリアに結合された搭載物の運動を、少なくとも2つの自由度に関して提供する。キャリアはジンバル機構であってもよい。本明細書中のジンバル機構についてのあらゆる記載は、搭載物を支持するために用いられてもよく且つキャリアを担持している支持構造に対する搭載物の運動を提供してもよい任意の種類のキャリアに関連し得る。本明細書中に記載されるジンバル機構は少なくとも2つの異なる軸線を中心とした搭載物の回転を提供することができ、2つの軸線を中心とした回転は互いに別個に動作可能な2つのアクチュエータによって制御される。2つ以上のアクチュエータは、いずれのアクチュエータも他方のアクチュエータによって駆動されないように位置及び姿勢を互いに固定することができる。ジンバル機構は複数の軸線(例えば、2つ以上、3つ以上、4つ以上、5つ以上等)を中心とした搭載物の回転を提供してもよい。各軸線においては、ジンバル機構は対応するジンバル構成要素を含んでもよく、対応するジンバル構成要素はアクチュエータ及び/又はフレーム構成要素を含んでもよい。従って、ジンバル機構は少なくとも2つの自由度に関する搭載物の運動を同時に制御することができる。本明細書中に記載されるジンバル機構は、ジンバル機構によって提供される運動の安定性を向上させる一方でジンバル機構の体積及び/又は重量の最小化又は低減を可能にする小型の構成を有することができる。
ωP=(ω1+ω2)/2
式中、ωPは差動部材軸線を中心に回転する搭載物の角速度、ω1は第1のアクチュエータの角速度、及びω2は第2のアクチュエータの角速度である。同様に、中心アクチュエータ軸線を中心とした搭載物の角回転速度間の関係は以下の等式によりモデル化することができる。
ωY=(|ω1−ω2|/2)*(D/d)
式中、ωYは中心アクチュエータ軸線を中心に回転する搭載物の角速度、ω1は第1のアクチュエータの角速度、ω2は第2のアクチュエータの角速度、(D/d)が速度伝達比を示すように、Dはアクチュエータに結合されたロータの直径(又は歯数)、及びdは差動部材の直径(又は歯数)である。
Claims (22)
- 少なくとも2つの自由度に関して搭載物の運動を提供するジンバル機構であって、
第1のアクチュエータ軸線を中心とした回転を提供する第1のアクチュエータと、
前記第1のアクチュエータ軸線とは異なる第2のアクチュエータ軸線を中心とした回転を提供する第2のアクチュエータと、
前記第1のアクチュエータと前記搭載物とを動作可能に結合し、前記第1のアクチュエータ軸線を中心とした前記搭載物の回転に作用し、前記第2のアクチュエータ軸線を中心とした前記搭載物の自由回転を可能にする第1の結合器と、
前記第2のアクチュエータと前記搭載物とを動作可能に結合し、前記第2のアクチュエータ軸線を中心とした前記搭載物の回転に作用し、前記第1のアクチュエータ軸線を中心とした前記搭載物の自由回転を可能にする第2の結合器とを含み、
前記第1の結合器は、前記搭載物と結合される第1の接合部材及び前記第1のアクチュエータと結合される第1のカンチレバー部材を含み、前記第2の結合器は、前記搭載物と結合される第2の接合部材及び前記第2のアクチュエータと結合される第2のカンチレバー部材を含み、
前記第2のカンチレバー部材は第1のカンチレバー構成要素及び第2のカンチレバー構成要素を含み、前記第1のカンチレバー構成要素と前記第2のカンチレバー構成要素とは軸部を介して互いに対し可動的に結合されており、前記軸部は、前記第2のアクチュエータ軸線に交差する前記軸部の軸線を中心として前記第2のカンチレバー構成要素の自由回転を提供する、ジンバル機構。 - 前記第1の結合器及び前記第2の結合器の双方が前記搭載物に直接結合されている、請求項1に記載のジンバル機構。
- 前記第1の結合器が第1の位置において前記搭載物に直接結合されており、前記第2の結合器が、前記第1の位置とは異なる第2の位置において前記搭載物に直接結合されている、請求項1又は請求項2に記載のジンバル機構。
- 前記第1のアクチュエータ軸線を中心として前記搭載物の90度以下の回転を提供する、請求項1乃至請求項3の何れか1項に記載のジンバル機構。
- 前記第2のアクチュエータ軸線を中心として前記搭載物の90度以下の回転を提供する、請求項1乃至請求項4の何れか1項に記載のジンバル機構。
- 前記第1の接合部材は、前記第2のアクチュエータ軸線を中心とした前記搭載物の自由回転を提供する第1の接合部材軸線を含み、前記第2の接合部材は、前記第1のアクチュエータ軸線を中心とした前記搭載物の自由回転を提供する第2の接合部材軸線を含む、請求項1乃至請求項5の何れか1項に記載のジンバル機構。
- 前記搭載物は前記第1のアクチュエータ軸線及び前記第2のアクチュエータ軸線の両方を中心として自由に回転可能であり、前記第1の接合部材軸線と前記第2の接合部材軸線とは互いに交わる、請求項6に記載のジンバル機構。
- 前記第1のアクチュエータの動作時、前記第2の接合部材軸線が前記第1のアクチュエータ軸線と同軸となる、請求項6に記載のジンバル機構。
- 前記第2のアクチュエータの動作時、前記第1の接合部材軸線が前記第2のアクチュエータ軸線又は前記第2のアクチュエータ軸線と同軸となる、請求項6に記載のジンバル機構。
- 支持構造を更に含み、前記第1のアクチュエータ及び前記第2のアクチュエータは前記支持構造に結合されている、請求項1乃至請求項9の何れか1項に記載のジンバル機構。
- 前記第1のアクチュエータが第3の位置において前記支持構造に結合されており、前記第2のアクチュエータが、前記第3の位置とは異なる第4の位置において前記支持構造に結合されている、請求項10に記載のジンバル機構。
- 前記第3の位置が前記支持構造の第1の面に配置されており、前記第4の位置が前記支持構造の前記第1の面に直交する第2の面に配置されている、請求項11に記載のジンバル機構。
- 前記第1のアクチュエータ及び前記第2のアクチュエータのそれぞれは前記支持構造に直接結合されている、請求項10乃至請求項12の何れか1項に記載のジンバル機構。
- 前記第1のアクチュエータ軸線と前記第2のアクチュエータ軸線とは互いに交わる、請求項1乃至請求項13の何れか1項に記載のジンバル機構。
- 第3のアクチュエータ軸線を中心に回転を提供する第3のアクチュエータを更に含み、前記第3のアクチュエータ軸線が前記第1のアクチュエータ軸線及び前記第2のアクチュエータ軸線とは異なる、請求項1乃至請求項14の何れか1項に記載のジンバル機構。
- 前記第3のアクチュエータ軸線は前記第1のアクチュエータ軸線及び前記第2のアクチュエータ軸線の両方に交わる、請求項15に記載のジンバル機構。
- 前記搭載物は前記第3のアクチュエータに結合されている、請求項15又は16に記載のジンバル機構。
- 前記支持構造は無人航空機に結合されている、請求項10乃至請求項17の何れか1項に記載のジンバル機構。
- 前記搭載物はカメラである、請求項1乃至請求項18の何れか1項に記載のジンバル機構。
- 前記カメラの光軸は前記第1のアクチュエータ軸線及び前記第2のアクチュエータ軸線の両方に交わる、請求項19に記載のジンバル機構。
- 前記カメラの光軸は前記第1のアクチュエータ軸線に沿う、請求項19に記載のジンバル機構。
- 前記カメラの光軸が前記第2のアクチュエータ軸線に沿う、請求項19に記載のジンバル機構。
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PCT/CN2015/086992 WO2017028023A1 (en) | 2015-08-14 | 2015-08-14 | Gimbal having parallel stability mechanism |
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JP6228680B1 true JP6228680B1 (ja) | 2017-11-08 |
JP2017535797A JP2017535797A (ja) | 2017-11-30 |
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US (4) | US9791767B2 (ja) |
EP (1) | EP3207301A4 (ja) |
JP (1) | JP6228680B1 (ja) |
CN (2) | CN108027098B (ja) |
WO (1) | WO2017028023A1 (ja) |
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