JP5408890B2 - Pan head - Google Patents

Description

  The present invention relates to a pan head suitable for use when a plurality of images are taken by a lens-interchangeable imaging device and combined.

  A panoramic image is created by combining multiple images by connecting multiple images by rotating an imaging device such as a still camera, video camera, high-sensitivity camera, or night vision camera in the horizontal or vertical direction. It is generally known to create.

  Patent Documents 1 and 2 disclose that the effect of parallax can be eliminated by rotating the imaging device around a nodal point (principal point) during panoramic image synthesis.

  Various pan head devices and tripod devices have been devised for continuously capturing images in the horizontal direction. Patent Document 3 proposes a pan head that is also movable in the vertical direction and has a rotation axis orthogonal thereto.

JP-A-9-18750 JP 2006-178097 A JP 2006-33693 A JP 2001-205190 A

  Wide-area surveillance camera systems and high-definition image recording systems are required to capture and synthesize not only images in the left-right direction but also images in the up-down and left-right directions. In conventional panoramic photography such as harbors, mountains, and night views, images in the horizontal direction are often connected, and conventional pan / tilt head devices are not suitable for vertical vertical photography.

  In recent years, a large liquid crystal screen or a large color printer as an output means, a high-precision large-format CMOS sensor or a CCD sensor as an input means, and a large-capacity storage device as a recording means have become available in the market. In such a background, there is a strong demand for a technique capable of recording and displaying a large high-definition image, not a horizontally long image obtained by connecting horizontal images.

  When a large high-definition image is generated by connecting images in the vertical and horizontal directions, the amount of error cannot be ignored as the amount of image information (data) increases.

  Also, as the amount of image information increases, the processing speed becomes slower, the work time becomes longer, and the work efficiency may deteriorate. Furthermore, in the case of expressing like a moving image (animation), the continuity of one screen becomes important and higher speed is required more.

  In a surveillance system or the like, it is important to capture and record an unexpected intruder in an image without omission, and for that purpose, it must move at high speed in order to eliminate the blank period of the image. In particular, while inputting an image, the imaging apparatus is required to stop accurately and without vibration. This is because, when the image pickup apparatus moves during image input, the picked-up image is shifted by several pixels on the image pickup sensor, and the clearness of the image is lost.

  Therefore, high-speed responsiveness is absolutely necessary, and ensuring responsiveness is an important issue because it increases processing speed and improves vibration isolation.

  Further, in order to perform accurate recording, not only horizontal (left and right) but also vertical (up and down) must be connected with high accuracy within several pixels of the image. Especially in the case of a linear object (for example, the edge of an electric wire / window frame (sash), an electric pole, etc.) or the outline of the object, even if there is a slight deviation, it is not connected as a single continuous line and is unnatural. End up.

  In addition, in order to accurately record a subject such as a work of art at a short distance, an accurate image is required. When recording large-size paintings, lacquered pictures, etc., if the image is recorded with the center screen as a reference, parallax errors accumulate at the outer periphery, and the image is connected when the outer edge (peripheral) is located with respect to the image center. Becomes discontinuous. In particular, in the case of a linear object such as a frame, discontinuity in image connection becomes significant. Further, the error increases as the distance from the reference image increases.

  In order to solve these problems, it is important to rotate the imaging device around the nodal point (principal point) as well as increasing the stop angle accuracy and the angle resolution. An imaging device equipped with a lens and an image recognition sensor (CMOS, CCD, silver halide film, etc.) has a nodal point where parallax is minimized, and parallax error is caused by rotating the imaging device around the nodal point. Can be eliminated.

  The parallax error will be described with reference to FIG. In the figure, the principal point deviation indicates that the nodal point is displaced with respect to the rotation axis. When the principal point shifted image 2 and the principal point shifted image 3 are combined with the image 1, a parallax error is generated when the images are connected in accordance with the actual rotation angle. The parallax error occurs in the same way for both a near subject and a distant landscape subject. Further, when the nodal point coincides with the rotation center, no error occurs in the synthesis.

  However, there is a problem in fixing the nodal point at an arbitrary position. First, the nodal point differs for each lens that is an optical system of the imaging apparatus. The imaging apparatus is separated into an optical system and an imaging system, and versatility is enhanced by making the lens exchangeable. For example, the lens to be used differs between when shooting an indoor wall surface and when shooting an outdoor scenery. In the case of divided shooting, a lens with a small viewing angle is selected when finely dividing and shooting with higher accuracy, and a lens with a large viewing angle is selected when shooting the whole. In night night vision, it is necessary to make a selection according to needs such as making the camera body highly sensitive.

  In addition, in the telephoto lens, the wide-angle lens, etc., the weight is greatly different in addition to the nodal point. In particular, in order to obtain a high-definition image, a large amount of light is taken in. In general, however, an optical lens or the like becomes heavier as the diameter of the incident lens increases. Further, in a high-definition interchangeable lens or the like, an optical system that corrects lens distortion may be provided, which further increases the weight. Also, the weight varies greatly depending on the type of camera body. In other words, the position of the center of gravity of the imaging device including the camera body and the lens changes each time depending on the combination. As a result, when the center of gravity deviates greatly from the rotation axis, the amount of change in the load moment increases and the absolute amount also becomes excessive.

  Given these circumstances, the challenges expected for the platform are great. As described above, the subject to be photographed and recorded differs depending on the purpose and purpose (indoor, outdoor, etc.), and the lens is replaced every time. Therefore, it is necessary to cope with the change caused by the lens replacement.

  The present invention has been made in view of the above points, and when an interchangeable lens imaging device is mounted, it is possible to eliminate the principal point deviation and to rotate the imaging device with good response and minimum torque. The purpose is to provide a pan head that can be used.

The pan head of the present invention is a pan head on which an interchangeable lens type imaging device is mounted, and is a first rotating member that can rotate around a first axis and a second axis that are orthogonal to each other. And a second rotating member and a load moment canceling mechanism that cancels a load moment generated in the gravity direction due to the weight of the imaging device, and the first rotating member rotates about the first axis. The first rotating member is movable in a first direction orthogonal to the first axis, and the first rotating member has a fixed position for fixing the imaging device as the first axis and the first axis. It is possible to move in a second direction which is a direction perpendicular to the direction .

  ADVANTAGE OF THE INVENTION According to this invention, when mounting an image pick-up device of a lens interchangeable type, a pan head which can eliminate the principal point shift and can rotate the image pick-up device with a good response and a minimum torque can be provided.

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.
(First embodiment)
FIG. 1 is a diagram showing a pan / tilt head according to the first embodiment of the present invention. The pan / tilt head according to the present embodiment is equipped with an interchangeable lens imaging device 109 (lens unit 110 and camera body 109a) and can be rotated in the pan direction and the tilt direction.

  The imaging device 109 is placed on the bottom surface of the camera platform pedestal 108, and the lens unit 110 (or camera body 109a) is fixed by a horizontal fixing screw 111a. Here, as shown in FIGS. 2 and 4, a long hole 301a extending in the front-rear direction (the photographing optical axis direction of the image pickup device 109) is formed on the bottom surface of the platform base 108, and a screw 111a is formed in the long hole 301a. Is inserted. The imaging device 109 can be moved back and forth by loosening the screw 111a, and the imaging device 109 can be fixed at an arbitrary position by tightening the screw 111a.

  Both side portions of the camera platform pedestal 108 are supported by the camera platform housing 105 via vertical fixing screws 111b and 111c. Here, as shown in FIG. 2, a long hole 301b extending in the vertical direction is formed on the side surface of the pan pedestal 108, and a screw 111b is inserted into the long hole 301b. The screw 111c has the same configuration. The platform base 108 can be moved up and down by loosening the screws 111b and 111c, and the platform platform 108 can be fixed at an arbitrary position by tightening the screws 111b and 111c.

  As shown in FIG. 4, a screw is cut at the end 302 of the long hole 301a, and the screw 111a can be screwed together. Although not specifically shown, a relief portion that is larger than the plate thickness of the platform base 108 and smaller than the diameter of the screw valley is formed at the base of the screw 111a. By screwing the screw 111a into the end 302 of the long hole 301a and projecting it toward the imaging device 109 so that the escape portion reaches the position of the long hole 301a, the escape portion of the screw 111a is not dropped. Can be slid along the long hole 301a. The long hole 301b has the same configuration.

  Returning to FIG. 1, an electric motor 102a (corresponding to a second drive source in the present invention) is disposed at the bottom of the pan head housing 105, and its rotation axis is a pan axis (horizontal rotation axis). 122 is fixed to the pan head housing 105.

  On the other hand, an electric motor 102b (corresponding to the first drive source in the present invention) is disposed on one side of the pan head casing 105, and the pan axis of the motor serves as a tilt axis (vertical rotation axis) 123. Secured to the pedestal 108. Specifically, a screw 111 b that passes through the side surface of the platform base 108 is coaxially engaged with the tilt shaft 123.

  A pulley 103 is disposed on the other side of the pan head housing 105, and its rotation axis is fixed to the pan head base 108 as a tilt axis (vertical rotation axis) 123. Specifically, a screw 111 c that passes through the side surface of the platform base 108 is coaxially engaged with the tilt shaft 123.

  The pan axis 122 and the tilt axis 123 described above have a relationship in which the rotation centers are orthogonal. That is, the pan head housing 105 (corresponding to the second rotating member referred to in the present invention) and the pan head base 108 (corresponding to the first rotating member referred to in the present invention) have axes 122 and 123 that are orthogonal to each other. Each can rotate around.

  Here, as shown in FIG. 3B, the lens unit 110 includes a lens body 201 and a hood 202, and has a lens center of gravity 204 and a hood center of gravity 203, respectively. The camera body 109a also has a camera center of gravity 205. As shown in FIG. 3A, the camera body 109a has a center of gravity 114 when the lens unit 110 is mounted.

  Further, as shown in FIG. 3A, the lens unit 110 has a nodal point 115. The nodal point 115 is a point that becomes the center of rotation that can be smoothly connected without deviation when connecting a plurality of images that are taken by rotating the imaging device 109.

  The camera platform of the present embodiment includes a fixing mechanism (consisting of long holes 301a and 301b, screws 111a, 111b, and 111c, etc.) that can fix the imaging device 109 at any position before and after up and down. Therefore, the imaging device 109 can be fixed so that the nodal point 115 is positioned on the rotation center of each of the shafts 122 and 123.

  Returning to FIG. 1, the tilt shaft 123 on the electric motor 102 b side is provided with a holding force generation mechanism (brake mechanism) 121. Reference numeral 117 denotes a brake disc provided on the tilt shaft 123. 118a and 118b are brake pads arranged on both sides of the brake disc 117. Reference numeral 119 denotes a repulsion spring that applies an urging force to press the brake pad 118a toward the brake pad 118b. Reference numeral 120 denotes a solenoid 120 installed on the pan head housing 105.

  In the holding force generation mechanism 121 configured as described above, the brake pad 118 a is pressed against the brake disc 117 by the biasing force of the spring 119 while the solenoid 120 is not energized. When the brake disc 117 is held between the brake pad 118a and the brake pad 118b on the opposite side, the tilt shaft 123 becomes non-rotatable (non-energized holding). On the other hand, when the solenoid 120 is energized, the brake pads 118a and 118b are opened, and the tilt shaft 123 can rotate.

  Further, the tilt shaft 123 on the pulley 103 side is rotatably supported by a bearing 107 inserted in the pan head housing 105. A wire 104 is wound around the pulley 103 concentrically with the tilt shaft 123, and one end of the wire 104 is fixed to a fixture 106 such as a hook on the pulley 103. Further, a constant load spring (also referred to as “conston spring”) 101 that functions as a balancer (load moment canceling mechanism) is attached to the side surface of the pan head housing 105, and the other end of the wire 104 is pulled. Yes. The elastic force (tension) by the constant load spring 101 is adjusted to an amount commensurate with the load moment generated in the direction of gravity (attraction) due to the weight of the imaging device 109.

  That is, as shown in FIG. 5, the load moment (gravity or force m × distance L) is opposite to the position of the center of gravity 114 (see FIG. 3A) of the imaging device 109 with the tilt shaft 123 interposed therebetween. Generate a matching moment. Thereby, the load moment (gravity component at the center of gravity of the image pickup apparatus) generated in the direction of gravity can be canceled by the constant load spring 101, and the image pickup apparatus 109 can be rotated with a minimum response and good response (high speed shooting is possible). Is possible.

  A counterweight can also be used for the load moment canceling mechanism. As a means for realizing weight reduction and size reduction, as shown in FIG. 6, an elastic body such as a coil spring or a mainspring spring can be used for the load moment canceling mechanism. In this case, the tension adjustment that makes the tension by the elastic body variable so that the load moment can be canceled even when the lens unit 110 is replaced with another lens unit or the camera body 109a is replaced with another camera body. Provide a mechanism. When the lens unit or the camera body is replaced, the relative relationship of the center of gravity 114 with respect to the nodal point 115 also changes. For example, as shown in FIG. 6, when the center of gravity is far (+ ΔL) or the gravity component changes due to the difference in the weight of the lens unit (light lens, heavy lens), the load moment is adjusted by adjusting the tension. Can be offset.

  By using the balancer as the constant load spring 101 as in the present embodiment, it is possible to generate a constant tension over a wide range of rotation angles, to maintain the moment constant, and to obtain the advantages of extending the movable range (rotation drive range). It is done. As shown in FIG. 5, tension that cancels the load moment is generated by the constant load spring 101, and the tension by the constant load spring 101 is converted by the wire 104 wound at a substantially concentric distance from the tilt shaft 123. Thus, a certain moment can be obtained.

  Here, the merit by using the constant load spring 101 is demonstrated. FIG. 7 shows a change in the position of the center of gravity 114 due to the rotation of the imaging device 109. FIG. 8 shows the relationship between the rotation angle of the imaging device 109, the load moment, and the tension. At a small angle, when L is ≈L, the load moment is substantially the same and the canceling moment may be approximately the same, but when L >> is not concentric, the load moment changes.

  When the coil spring is stretched, the spring force equals the spring constant × the elongation displacement amount, and there is a change amount of the spring itself corresponding to the elongation displacement amount (rotation angle). As shown in FIG. 8, in the upper side L >>, the amount of extension displacement of the coil spring is small and the spring force is minimum, and in the lower side L >>, the amount of extension displacement is large and the spring force is maximum. When the canceling moment is combined at the horizontal position L, the load moment is reduced when the angle of the lower side L >> is reached, but conversely, the canceling moment (the force of the coil spring) increases as the spring stretches. As the difference from the load moment becomes larger in this way, force (motor force) is required.

  On the other hand, the constant load spring 101 can generate a constant tension over a wide range of rotation angles and can keep the difference from the load moment small, so that the movable range can be expanded.

  Further, if the holding force generation mechanism provided in the electric motor 102b generates a holding force that is equal to or greater than the moment of the load moment canceling mechanism, power consumption at the time of stopping can be reduced, and non-energized holding can be achieved. Power saving can be achieved. In the electric head such as the present invention, the ratio of the stop time at the time of photographing is high, and there is an inertial force at the drive time, and the power consumption at the time of rotation is not large. Therefore, most of the power consumption is required to generate the holding force at the stop. By enabling non-energized holding, an environment-friendly energy-saving head can be realized. Further, by adopting a disc brake as in the present embodiment, residual vibration of the electric motor 102b can be quickly suppressed, damping can be accelerated, and stopping accuracy and stopping speed can be improved. As a result, as shown in FIG. 9 (b), the establishment time is earlier than that in FIG. 9 (a) in which the disc brake is not employed, so that the working time is further shortened.

  Returning to FIG. 1, each of the electric motors 102 a and 102 b is provided with an angle detector (encoder) 116, and information on the rotation angle detected by the angle detector 116 is transmitted to the operation device 112. The operating device 112 can give a command to the electric motors 102a and 102b based on the rotation angle information from the angle detector 116, and can freely operate the pan head.

  By providing means (angle detector 116) for detecting the division angle of the pan axis 122 and the tilt axis 123, the division accuracy can be increased and higher connection accuracy is realized. In addition, since the motors 102a and 102b are provided and the operation unit 112 is provided, and it can be stopped and fixed at an arbitrary indexing angle by a frequency signal of the angle detector 116 according to an arbitrary command, an artificial adjustment work is omitted. Therefore, work efficiency can be improved and work time can be shortened.

(Second Embodiment)
FIG. 10 is a diagram showing a pan / tilt head according to the second embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the component similar to the pan head concerning 1st Embodiment, and the description is abbreviate | omitted. In the pan head according to the second embodiment, the balancer includes two constant load springs 101a and 101b.

  A wire 104 a pulled by the fine adjustment load spring 101 a is wound around a pulley 103 via a small pulley (pulley) 113, and an end thereof is fixed to a fixture 106 on the pulley 103.

  Further, the main wire 104 b pulled by the main constant load spring 101 b is directly wound around the pulley 103, and the end thereof is fixed to the fixture 106 on the pulley 103.

  In the interchangeable lens imaging device 109, the position of the center of gravity 114 also changes when the lens unit 110 is replaced. The fine adjustment load spring 101a and the main constant load spring 101b can adjust the elastic force tension with a tool such as a screwdriver. In this case, in order to simplify the adjustment, an arbitrary tension displacement position is adjusted in several stages on the main constant load spring 101b side to cope with a large load moment. Thereafter, by adjusting to the optimum load on the fine adjustment load spring 101a side, it is possible to cope with a change in the position of the center of gravity 114 in a short time. Further, when the load moment is the minimum, it can be dealt with by removing the main wire 104b from the fixture 106, so that the variable amount of the adjustment force with respect to the load moment can be increased.

  By using a plurality of constant load springs in this way, coarse / fine adjustment is possible according to the imaging device 109, and balance adjustment from a large imaging device to a small imaging device is facilitated.

(Third embodiment)
By adopting a vibration wave motor as the motor 102a on the pan shaft 122 side and the motor 102b on the tilt shaft 123 side, it is possible to realize downsizing, power saving, high speed response, and high stop accuracy.

  Further, when the vibration wave motor is employed, it is not necessary to provide a holding force generation mechanism separately, which is effective for downsizing. The vibration wave motor has the same configuration as the disc brake when not energized, and has a large holding force. Compared to a general electromagnetic motor, it has several times the holding power when no current is applied. In addition, power saving and a large starting torque can be obtained. From such characteristics, as shown in FIG. 11, it has high-speed response and can be started up in 1 millisecond.

  A desirable configuration example of the vibration wave motor for achieving these will be described. As shown in FIG. 12, the sliding member 3 used in the vibration wave motor is formed of an organic material such as PTFE having good slidability, or a metal material having high wear resistance such as an oxide film or plating. The sliding member 3 is fixed to one surface of the ring-shaped metal elastic body 1 with, for example, an adhesive, and a rotor 5 which is a moving body is provided so as to come into pressure contact with the metal elastic body 1 through the sliding member 3. It is done. In addition, a piezoelectric element 2 (electro-mechanical energy conversion element) serving as a driving source is bonded to the opposite surface of the sliding member 3 of the metal elastic body 1. For example, by applying a voltage serving as an alternating signal from the power supply substrate 4, a traveling wave is formed in the metal elastic body 1 by combining two standing waves, and the rotor 5 is relatively moved. The vibration generating means used as a vibration generation source of the ring-shaped vibration wave motor vibrates the metal elastic body by applying an electric field of a frequency signal to the piezoelectric material. Accordingly, vibration can be excited in the vibrating body, and the vibrating body and the rotor 5 (moving body) in contact with the vibrating body can be relatively driven by the vibration.

  With regard to such a vibration wave motor (vibration type driving device), a method has been proposed in which the output is increased by engaging the output shafts of a plurality of vibration type driving devices with gears (see Patent Document 4). The contents of this proposal will be described with reference to FIG. M1 is a first vibration type driving device, and an input gear 6 is fastened to the output shaft 9 of the first vibration type driving device M1. M2 is a second vibration type driving device, and an input gear 6 is fastened to the output shaft 9 of the second vibration type driving device M2. These two input gears 6 mesh with an output gear 7, and a final output shaft 8 is fastened to the output gear 7. Reference numeral 10 denotes a flange that holds a plurality of vibration type driving devices M1 and M2 and is a part of the casing of the entire device. Further, a rotation detector (not shown) is provided on at least one of the output shaft 8 or the vibration type driving devices M1 and M2.

  FIG. 14 is a diagram showing a part of a pan / tilt head according to the third embodiment of the present invention. The imaging device 109 fixed to the camera platform pedestal 108 is fixed with the center of gravity 114 in front of the tilt shaft 123. A fan-shaped output gear 7 is arranged on the opposite side of the center of gravity 114 with the tilt shaft 123 interposed therebetween. Two vibration wave motors 102 are arranged, and the rotational force is transmitted to the fan-shaped output gear 7 via the input gears 6 fastened to the respective output shafts 9.

  In the present embodiment, a part of the load moment canceling mechanism is a transmission mechanism, and the load moment 401 is canceled by the moment 402 due to the weight (weight) of the output gear 7 serving as a transmission unit.

  As in this embodiment, by using a plurality of vibration wave motors on one axis, backlash can be reduced, stopping accuracy can be improved, and a high-definition image can be obtained.

(Fourth embodiment)
FIG. 15 is a diagram showing a pan / tilt head according to the fourth embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the component similar to the pan head concerning 1st Embodiment, and the description is abbreviate | omitted.

  In the pan head according to the present embodiment, the imaging device 109 is mounted on the bottom surface of the pan head base 108 as in the first embodiment. The imaging device 109 can be moved back and forth by loosening the screw 111a, and the imaging device 109 can be fixed at an arbitrary position by tightening the screw 111a.

  Both side portions of the camera platform pedestal 108 are supported by the camera platform housing 105 via vertical fixing screws 111b and 111c. The platform base 108 can be moved up and down by loosening the screws 111b and 111c, and the platform platform 108 can be fixed at an arbitrary position by tightening the screws 111b and 111c.

  A vibration wave motor 11 a (corresponding to a second driving source in the present invention) is disposed at the bottom of the pan head casing 105, and its rotation axis is fixed to the pan head casing 105 as a pan shaft 122. .

  On the other hand, a vibration wave motor 11b (corresponding to the first drive source in the present invention) is disposed on one side of the pan head housing 105, and the rotation axis thereof serves as a tilt shaft 123 to the pan head base 108. It is fixed. As described above, the vibration wave motor has the same configuration as the disc brake when there is no energization. When the vibration wave motor is employed, it is not necessary to provide a separate holding force generation mechanism.

  A pulley 103 is disposed on the other side of the pan head housing 105, and its rotation axis is fixed to the pan head base 108 as a tilt shaft 123. A wire 104 is wound around the pulley 103 concentrically with the tilt shaft 123, one end of which is fixed to a fixture 106 such as a hook on the pulley 103, and the other end is pulled by a constant load spring 101. The elastic force (tension) by the constant load spring 101 is adjusted to an amount commensurate with the load moment generated in the direction of gravity (attraction) due to the weight of the imaging device 109.

  As described in the first embodiment, the pan axis 122 and the tilt axis 123 are in a relationship in which the rotation centers are orthogonal to each other. In other words, the pan head housing 105 and the pan head base 108 are rotatable around axes 122 and 123 that are orthogonal to each other.

  Each of the vibration wave motors 11 a and 11 b includes an angle detector (not shown), and information on the rotation angle detected by these angle detectors is transmitted to the operation device 112. The operating device 112 can give a command to the electric motors 102a and 102b based on the rotation angle information from the angle detector 116, and can freely operate the pan head.

  In the vibration wave motor, the holding force is generated by the frictional force, so that it is not pulled back by the elastic force of an elastic body such as a coil spring or a mainspring spring as a balancer, and the operation is smoother than that of the electromagnetic motor.

  As described above in detail, it is possible to provide a pan head with good workability by easily adjusting the imaging apparatus up and down and up and down. In addition, it is possible to provide a lightweight and small pan head that has good responsiveness (high-speed shooting) and is rotatable with a minimum torque. In addition, it is possible to provide an energy-saving head with a wide rotation drive range, high connection accuracy, high work efficiency, short work time, and environmental friendliness. In addition, a small pan head with high speed, stop accuracy, and stop speed can be provided to obtain a high-definition image. In addition, it is possible to select according to needs, the number of selections can be increased according to the application and type of imaging device, and adjustment settings can be made according to the type of imaging device. And realizing a small imaging system capable of obtaining a highly versatile and highly accurate image.

  The pan / tilt head device to which the present invention is applied can be provided for various uses such as a wide-area monitoring camera system and a high-definition image recording system.

It is a figure which shows the pan head which concerns on 1st Embodiment. It is a schematic block diagram which shows the relationship between an imaging device and a pan head. It is a figure for demonstrating a nodal point. It is a figure which shows the bottom face of a pan head base. It is a figure for demonstrating the load moment which generate | occur | produces in the direction of gravity, and the moment which cancels it. It is a figure for demonstrating the example which used the balancer as elastic bodies, such as a coil spring and a mainspring spring. It is a figure for demonstrating the change of the position of the gravity center by rotation of an imaging device. It is a characteristic view which shows the relationship between the rotation angle of an imaging device, a load moment, and tension | tensile_strength. It is a characteristic view for demonstrating establishment time. It is a figure which shows the pan head concerning 2nd Embodiment. It is a characteristic view which shows the starting characteristic of a vibration wave motor. It is sectional drawing which shows the structural example of a vibration wave motor. It is a figure for demonstrating the system which increases an output by meshing | engaging the output shaft of a some vibration type drive device with a gearwheel. It is a figure which shows a part of pan head concerning 3rd Embodiment. It is a figure which shows the pan head which concerns on 4th Embodiment. It is a figure for demonstrating a parallax error.

Explanation of symbols

11a, 11b: Vibration wave motors 101, 101a, 101b: constant load springs 102a, 102b: electric motor 103: pulleys 104, 104a, 104b: wire 105: pan head housing 106: fixing tool 107: bearing 108: pan head base 109 : Imaging device 109a: Camera body 110: Lens 111a: Horizontal fixing screw 111b, 111c: Vertical fixing screw 112: Operating device 113: Pulley 114: Center of gravity 115 (of imaging device) 115: Nodal point 116: Angle detector 117: Brake Disc 118: Brake pad 119: Repulsion spring 120: Solenoid 121: Holding force generation mechanism (brake mechanism)
122: Pan axis 123: Tilt axis 301a, 301b: Slot

Claims (10)

A pan head on which an interchangeable lens imaging device is mounted,
A first rotating member and a second rotating member that are respectively rotatable around a first axis and a second axis that are orthogonal to each other;
A load moment canceling mechanism that cancels the load moment generated in the direction of gravity due to the weight of the imaging device,
The first rotating member is rotatable about the first axis and is movable in a first direction orthogonal to the first axis,
The cloud in which the first rotation member is movable in a second direction which is a direction perpendicular to the first axis and the first direction, at a fixed position for fixing the imaging device. Stand.   2. The pan / tilt head according to claim 1, further comprising: a first driving source that rotates the first rotating member; and a second driving source that rotates the second rotating member.   3. The pan / tilt head according to claim 2, wherein at least one of the first drive source and the second drive source includes a holding force generation mechanism.   4. The cloud according to claim 3, wherein the first rotating member is rotatable in a vertical direction of the pan head, and the holding force generation mechanism is provided in the first driving source. Stand.   3. The pan / tilt head according to claim 2, wherein at least one of the first drive source and the second drive source is configured by a vibration wave motor.   6. The pan head according to claim 5, wherein the first rotating member is rotatable in the vertical direction of the pan head, and the first driving source is constituted by a vibration wave motor.   The pan head according to any one of claims 1 to 6, wherein the load moment canceling mechanism is configured by a constant load spring.   The load moment canceling mechanism is composed of a plurality of constant load springs, and the plurality of constant load springs are a main constant load spring capable of adjusting the tension in several stages and a fine adjustment capable of finely adjusting the tension than the main constant load spring. The pan head according to claim 1, comprising a constant load spring.   The pan head according to any one of claims 1 to 6, wherein the load moment canceling mechanism is formed of an elastic body.   The pan head according to any one of claims 1 to 6, wherein the load moment canceling mechanism is configured to cancel the load moment with a weight.

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