Attitude control device

Patent metadata

Field	Value
Publication number	US-10267396-B2
Application number	US-201615580513-A
Country	US
Kind code	B2
Filing date	Jun 8, 2016
Priority date	Jun 9, 2015
Publication date	Apr 23, 2019
Grant date	Apr 23, 2019

Abstract

A heavy-weight object such as a motor is installed separately from a movable portion to reduce the weight of the movable portion. The invention includes a support unit, a movable unit to which equipment is attached, and a drive unit interposed between the support unit and the movable unit. The movable unit has a first rotating member rotatably attached to the support unit about a first rotation axis line and a second rotating member rotatably attached to the first rotating member about a second rotation axis line orthogonal to the first rotation axis line. The support unit is provided with paired first brackets positioned so as to sandwich the first rotating member, and these first brackets are each provided with a first shaft configuring the first rotation axis line. The second rotating member is provided with paired second brackets positioned so as to sandwich the first rotating member from a direction orthogonal to the paired first brackets, and the second brackets are each provided with a second shaft configuring the second rotation axis line and causing the first rotating member to rotatably support the second rotating member. The drive unit includes paired motors attached to the support unit and having a rotation axis line parallel to each of the first shafts, an endless belt wound between a pulley and each of the motors, and paired gears respectively attached to the first shaft and the second shaft adjacent to each other as a set and converting rotation about the first rotation axis line into rotation about the second rotation axis line. One of the gears is fastened to the pulley and is rotatably attached to the first rotating member, the other gear is fastened to the second bracket of the second rotating member, and to the first shaft to which the gear is not attached, the pulley provided to this first shaft and the first rotating member are fastened.

First claim

The invention claimed is:

1. An attitude control device comprising a support unit, a movable unit provided to be connected to this support unit and to which equipment is attached, and a drive unit interposed between these support unit and movable unit, wherein
the movable unit has a first rotating member rotatably attached to the support unit about a first rotation axis line and a second rotating member rotatably attached to this first rotating member about a second rotation axis line orthogonal to the first rotation axis line and to which the equipment is attached,
the support unit is provided with paired first brackets positioned so as to sandwich the first rotating member, and these first brackets are each provided with a first shaft configuring the first rotation axis line and supporting the first rotating member,
the second rotating member is provided with paired second brackets positioned so as to sandwich the first rotating member from a direction orthogonal to the paired first brackets, and these second brackets are each provided with a second shaft configuring the second rotation axis line and causing the first rotating member to rotatably support the second rotating member,
the drive unit includes paired motors attached to the support unit and having a rotation axis line parallel to each of the first shafts, an endless belt wound between a pulley provided to each of the first shafts and each of the motors for motive power transmission, and paired gears respectively attached to the first shaft and the second shaft adjacent to each other as a set and converting rotation about the first rotation axis line into rotation about the second rotation axis line, and
one of the gears is fastened to the pulley and is rotatably attached to the first rotating member, the other gear is fastened to the second bracket of the second rotating member and, furthermore, to the first shaft to which the gear is not attached, the pulley provided to this first shaft and the first rotating member are fastened.

2. The attitude control device according to claim 1 , wherein the support unit is provided with a motor which rotate the movable unit and the drive unit about an axis line passing through a point of intersection of the first rotation axis line and the second rotation axis line.

3. The attitude control device according to claim 1 , wherein the support unit, the movable unit, and the drive unit are mounted on a movable body.

4. The attitude control device according to claim 3 , wherein the movable body is a flying object.

5. The attitude control device according to claim 3 , wherein the movable body is a land traveling object.

6. The attitude control device according to claim 3 , wherein the movable body is a water traveling object.

7. The attitude control device according to claim 2 , wherein the support unit, the movable unit, and the drive unit are mounted on a movable body.

Assignees

• Univ Tokyo
• Blue Innovation Co Ltd

Inventors

• Raabe Christopher Thomas
• Suzuki Shinji
• Tsuchiya Takeshi
• Kumada Takayuki
• Shibasaki Makoto

Classifications

• F16H37/06 Primary

  with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts · CPC title

• B25J9/104

  with cables, chains or ribbons · CPC title

• G03B17/561 Primary

  Support related camera accessories · CPC title

• B25J17/0275

  Universal joints, e.g. Hooke, Cardan, ball joints · CPC title

• G03B17/00

  Details of cameras or camera bodies; Accessories therefor (lens hoods or caps G03B11/04) · CPC title