Abstract:
For driving an actuator which is optimum for and practical in use as a three-dimensionally positioning apparatus for a monitoring camera, a disco-lighting, an antenna, a multi-axis (multi-articular) robot, etc., an inner rotor type rotary electric machine is provided having a coaxial output hollow shaft with a reduction gear and a slip ring, including a hollow rotation shaft; a reduction gear for reducing an output of the inner rotor type rotary electric machine and extracting an output through a hollow shaft of the reduction gear coaxially with the hollow rotation shaft; and a slip ring provided in a hollow portion or an output portion of the reduction gear. Instead of the inner rotor type rotary electric machine, a similar outer rotor type rotary electric machine may be used.

Description:
BACKGROUND OF THE INVENTION 
     The present invention relates to an actuator suitable for an apparatus popularly known as a “universal head”, mainly for three-dimensionally positioning of a monitoring camera, a disco-lighting unit, an antenna drive unit, a (multi-axis multi-articular) robot, or the like, particularly to a rotary electric machine having a coaxial output hollow shaft with a reduction gear and a slip ring. 
     In such an apparatus called a universal head mainly for three-dimensionally positioning a monitoring camera, a disco-lighting unit, an antenna drive unit, a multi-axis (multi-articular) robot, or the like, a panning (horizontally rotating) motor and a tilting (vertically rotating) motor are used for three-dimensional positioning by an actuator. Usually the tilting motor is horizontally rotated by the panning motor, and a camera or a light attached to the tilting motor is positioned in a desired three-dimensional position. 
     According to the configuration of such a three-dimensionally positioning apparatus in the related art, power supply lead wires for the tilting motor or power supply cables for the camera or the light may be twisted or the camera or the light cannot be rotated continuously when the camera or the light is driven. Thus, for example, there is a demerit in that the camera or the light cannot be moved and rotated over a limited angle of about 300°. 
     Therefore, the present inventor has filed an application for a patent titled “Direct Drive Electric Motor Apparatus Incorporating Slip Ring Assembly” as Japanese Patent Application No. 284695/1998, and thereafter submitted a translated document. A description is set forth below about this related-art direct drive apparatus with reference to FIG.  3 . 
     A television camera apparatus  101  shown in FIG. 3 is constituted by a well-known dome-shaped camera enclosure  103  used in a monitoring system; a transparent or semi-transparent dome  103 A; a base plate  104  which is fixedly attached to the upper portion of the camera enclosure  103 ; a panning motor  102  which is fixedly attached to the surface of the base plate  104 ; a camera holder bracket  107  attached to a rotor  114  of the panning motor  102  disposed so as to be rotatable around the horizontal axis H (pan) which extends through the center of the base plate  104  and which is orthogonal to the base plate  104 ; and a tilting motor  110  fixedly mounted on one side of the camera holder bracket  107  which is formed as an inverted U-shaped fork-like holder. 
     A television camera  112  is attached to a rotor  116  of the tilting motor  110 , so that the camera  112  is mounted so as to be rotatable around the vertical axis V (i.e. tilt axis). On the opposite side, the camera  112  is mounted on the camera holder bracket  107  via a well known pivotally rotating joint  115  extended along the V axis. 
     The V axis (tilting axis) which is orthogonal to the H axis (panning axis), the L axis (lens) which is orthogonal to the V axis (tilt), and the H axis (panning axis) are made to intersect each other at the center of the dome-shaped cover portion  103 A so as to provide the all-round unobstructed panning and tilting movement within the dome sphere. 
     The panning motor  102  incorporates rotary contacts or a slip ring assembly  106  inside its rotor  114 . 
     The slip ring assembly  106  per se is a known assembly constituted by a rotating conductive metal ring, and a complementarily mounted conductive metal brush that applies pressure to the metal ring for holding a continuous current flow through the metal ring during the rotation of the metal ring. 
     Connecting wires  105  include wires for feeding power and control signals to the camera and wires for receiving a video signal, an audio signal and data signals from the camera. The connecting wires  105  pass through an opening in the domed closure or case  103  and the base plate  104  for connecting the rotating ring of the slip ring assembly  106 . 
     Wires  113  for feeding power to the panning motor  102  may be fed through a separate opening  113 A directly to the panning motor  102  if the panning motor  102  is an inner rotor type, or the wires  113  should be connected to the panning motor  102  along with the connecting wires  105  if the panning motor  102  is an outer rotor type. 
     Wires  108  connected at their one ends to the brush of the slip ring assembly  106  are fed through an opening in the holder bracket  107  and are connected at their other ends to the rotating ring of a slip ring assembly  109  mounted on a portion inside the shaft of the rotor  116  of the tilting motor  110 . Wires  111  connected at their one ends to the brushes of the slip ring assembly  109  are connected at their other ends to the camera  112  and to a control circuit (not shown). 
     It is obvious from FIG. 3 that, in this arrangement, the camera can rotate endlessly around its panning H axis or its tilting V axis without causing the wires to flex or twist. 
     Furthermore, it is obvious that the camera holder bracket  107 , which is mounted directly onto the rotor  114  of the panning motor  102 , is directly driven by the drive motor without any power transmission mechanism. 
     Similarly, it is obvious from FIG. 3 that the rotor  116  of the tilting motor  110  can directly drive the camera tilting position without using any power transmission mechanism. 
     The elimination of the power transmission mechanism and assemblies reduces the size of the dome-shaped camera enclosure  103 , simplifies the configuration, improves the efficiency and accuracy of the positioning device, and also improves the reliability. 
     Incidentally, specific configurations of the panning motor  102  and the tilting motor  110  are shown in detail in the specification and translated document of Japanese Patent Application No. 284695/1998 which is an application according to the above-mentioned related art. 
     As a result of investigation carried out after filing the application of the above-mentioned related art, however, it was found that there was a problem when a stepping motor suitable for positioning was used as the motor for direct driving without using any reduction gear. That is, it was difficult to start up if load inertia was large. Therefore, a large motor was required, so that the apparatus became unfavorably high in price and large in size in spite of no reduction gear. 
     SUMMARY OF THE INVENTION 
     It is therefore an object of the present invention to solve the foregoing problem, and to provide a rotary electric machine having a coaxial output hollow shaft with a reduction gear and a slip ring, which constitute an actuator optimum for and practical in use as a three-dimensionally positioning apparatus for a monitoring camera, a disco-lighting, an antenna, etc. 
     In order to attain the above object, according to a first aspect of the present invention, that is as defined in claim  1 , there is provided an inner rotor type rotary electric machine having a coaxial output hollow shaft with a reduction gear and a slip ring, comprising: a hollow rotation shaft; a reduction gear for reducing an output of the inner rotor type rotary electric machine and extracting an output through a hollow shaft of the reduction gear coaxially with the hollow rotation shaft; and a slip ring provided in a hollow portion or an output portion of the reduction gear. 
     According to a second aspect of the present invention, that is as defined in claim  2 , there is provided an outer rotor type rotary electric machine having a coaxial output hollow shaft with a reduction gear and a slip ring, comprising: a hollow rotation shaft; a reduction gear for reducing an output of the outer rotor type rotary electric machine and extracting an output through a hollow shaft of the reduction gear coaxially with the hollow rotation shaft; and a slip ring provided in a hollow portion or an output portion of the reduction gear. 
     According to the above-mentioned first or second aspect of the present invention, the rotary electric machine is a stepping motor. 
     According to the above-mentioned first or second aspect of the present invention, at least one of a position sensor and a speed sensor is provided in the hollow portion or the output portion of the reduction gear along with the slip ring. 
     According to a third aspect of the present invention, there is provided a driving device for performing three-dimensional positioning, comprising: a rotary electric machine having a coaxial output hollow shaft with a reduction gear and a slip ring; and means for performing giving and receiving electric power through the slip ring so that the driving device is driven. 
     According to the first or second aspect of the present invention, preferably, the reduction gear is a harmonic reduction gear constituted by an output gear which has internal gear teeth and an inner gear which is made of a flexible material and in gear with the output gear, the inner gear having gear teeth on an outer circumference thereof, the number of the gear teeth of the inner gear being set so as to be smaller than the internal gear teeth, an inner circumference of the inner gear being forced to form an ellipse so that the inner circumference of the inner gear is drawn by a longer axis of the ellipse to make the gear teeth of the inner gear comes to be in gear with the gear teeth of the output gear. 
     According to a fourth aspect of the present invention, there is provided a multi-axis positioning device which comprises: at least one rotary electric machine and means for performing giving and receiving electric power through the slip ring so that the multi-axis positioning device is driven. In this case, another panning motor is attached to an output portion of a panning motor to perform multi-axis positioning. In this case, a horizontally moving multi-axis is realized in which a tilting motor is not always required. That is, there is provided a two dimensional positioning. 
     In such a configuration, load inertia J, which is converted into the motor rotation axis, can be reduced to: 
     
       
         
           J=JL/N 
           2 
         
       
     
     where N designates the reduction ratio and JL designates the load inertia before conversion. 
     In addition, because the reduction gear is a coaxial type, a hollow portion can be provided at the center of the reduction gear coaxially with the hollow rotation shaft of the motor. Accordingly, if a slip ring is provided in a reduced final output portion, power can be supplied from the static side of a non-output-side center hole of the motor or the like, so that the output of the slip ring can make motion uniform with the reduction gear output portion. As a result, there is no fear that the lead wires of the tilting motor or the like are twisted as described above. Thus, every rotating portion can make continuous forward rotation or continuous backward rotation over 360°. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIGS. 1A and 1C are views showing the configuration of a first embodiment and a modification of an inner rotor type motor according to the present invention, each of FIGS. 1A and 1C being a partially longitudinally sectioned side view, FIG. 1B being a concept view showing a main part of the radial section along line IB—IB in each of FIGS. 1A and 1C; 
     FIGS. 2A and 2B are views showing the configuration of a second embodiment of an outer rotor type motor according to the present invention, FIG. 2A being a partially longitudinally sectioned side view, FIG. 2B being a concept view showing a main part of the radial section along line IIB—IIB in FIG. 2A; and 
     FIG. 3 is a partially cut-away perspective view which can be also applied to the present invention and which shows an external configuration of a television camera apparatus having a conventional rotary electric machine. 
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     First and second embodiments of a rotary electric machine having a coaxial output hollow shaft with a reduction gear and a slip ring according to the present invention (hereinafter, sometimes referred to as a “rotary electric machine” simply) will be described below with reference to FIGS. 1A,  1 B and  1 C and FIGS. 2A and.  2 B. 
     First Embodiment 
     First, the configuration of the first embodiment of the rotary electric machine according to the present invention will be described with reference to FIGS. 1A and 1B. 
     FIGS. 1A and 1B are views showing the configuration of the first embodiment of an inner rotor type motor  15  as a rotary electric machine according to the present invention. Specifically, FIG. 1A is a partially longitudinally sectioned side view and FIG. 1B is a concept view showing a main part of the radial section along line IB—IB in FIG.  1 A. 
     As shown in FIG. 1A, the inner rotor type motor  15  in this embodiment has a motor stator  1 , an output-side bracket  2 , a rear-side bracket  3 , a motor coil  4 , a rotor  5 , a bearing  6 , a hollow motor rotation shaft  7 , and a reduction gear  16  having a hollow shaft for extracting an output coaxially with the hollow motor rotation shaft  7 . 
     In FIG. 1B, a harmonic reduction gear which can ensure a large reduction gear ratio is illustrated, by way of example, as the reduction gear  16 . This reduction gear  16  according to the present invention has the merit that a reduced output required for the inner rotor type motor  15  can be extracted from a position coaxial with the motor rotor  5  while the backlash is smaller. In FIG. 1B, an output gear  8  is called a circular spline and has an internal gear, and an inner gear  9  (i.e. a flex spline) made of a flexible material. The number of teeth of the inner gear  9  is little smaller than that of internal gear of the output gear. This inner gear  9  is drawn from its inner side by rollers  10  referred to as a wave generator. Thus, the harmonic reduction gear  16  is formed so that a large reduction ratio can be obtained by a slight difference in the number of teeth between the output gear  8  and the inner gear  9 . Further, this reduction gear has an advantage in that back-lash is substantially zero. 
     In FIG. 1A, a housing  12  for a slip ring is fixedly attached to the hollow inner-diameter side of the output gear  8 . A slip ring  14  made of conductive metal or the like and a brush  13  made of conductive metal or the like are configured so that the brush  13  and the slip ring  14  rotate while they are in slidable contact with each other. In such a manner, a current is allowed to flow continuously between the brush  13  and the slip ring  14 . 
     The slip ring  14  is attached to the hollow portion, that is, on an inner surface of housing  12  of the reduction gear  16 , and, more particularly, the inner surface of the housing  12 , as shown in FIG.  1 A. In this case, the output gear  8  and the slip ring  14  perform uniform motion. Accordingly, if a tilting motor is attached to the output gear  8  and the lead wires of the tilting motor are connected with the slip ring  14 , the tilting motor can rotate continuously, while the lead wires are not twisted with each other. 
     FIG. 1C is a partial modification of FIG.  1 A and shows a rotary electric machine according to the present invention, in which a slip ring assembly  40  is provided on an output portion. In this case, the “output portion” means the output gear  8 . The slip ring assembly  40  is constituted by a housing  30 , bearings  31 , feed wires  33 , contactors  34 , conductive rings  35 , lead wires  14 A, and a rotary ring  12 A. The slip ring assembly  40  is connected to the output gear  8 . More specifically, the rotary ring  12 A is fixed to the output gear  8 , the housing  30  is fixed to the rear-side bracket  3 , the contactors  34  are fixed to the housing  30 , and the conductive rings  35  are fixed to the rotary ring  12 A. The contactors  34  can slip on the conductive rings  35 , so that the output gear  8 , the rotary ring  12 A and the lead wires  14 A are rotated integrally with each other. The electric power fed to the feed wires  33  is fed to the necessary portion through the contactors  34 , the conductive rings  35  and lead wires  14 A of the slip ring assembly  40 . 
     Second Embodiment 
     Next, the configuration of the second embodiment of the rotary electric machine according to the present invention will be described with reference to FIGS. 2A and 2B. 
     FIGS. 2A and 2B are views showing the configuration of the second embodiment of an outer rotor type motor. FIG. 2A is a partially longitudinally sectioned side view and FIG. 2B is a concept view showing a main part of the radial section along line IIB—IIB in FIG.  2 A. Reference numeral  21  represents an outer rotor type motor, the internal configuration of which is not illustrated. Reference numeral  22  represents a transmission shaft for supplying the motor output to a reduction gear  26 . The reduction gear  26  reduces the output of the outer rotor type motor  21 , and the output of the reduction gear  26  is extracted from its hollow shaft which is coaxial with the transmission shaft  22 . 
     In FIGS. 2A and 2B, the reduction gear  26  is illustrated as having planet gears by way of example. The reduction gear  26  is constituted by an internally toothed gear  23 , planet gears  24 , and a sun gear  25  connected to the transmission shaft  22 . The planet gears constituting the reduction gear  26  in this embodiment provide a similar merit to that in the first embodiment. 
     The output portion of the internally toothed gear  23  is made hollow. Similarly to the internally toothed gear shown in FIGS. 1A and 1B, a slip ring  14  is incorporated in the gear  23 . Incidentally, as the planet gears  24 , generally, three planet gears are used at every angle of 120°. 
     A rotary electric machine having a coaxial output hollow shaft with a reduction gear and a slip ring according to the present invention is not limited to the above-mentioned embodiments, but may be modified variously. 
     For example, the reduction gear applied to the rotary electric machine according to the present invention is not limited to those shown in FIGS. 1A and 1B and FIGS. 2A and 2B, but any reduction gear may be used so long as the output of the reduction gear is coaxial with the rotation shaft. For example, a reduction gear in which gears are meshed with each other differentially in the axial direction may be used. 
     For positioning, a stepping motor may be used in an open loop economically. In this case, however, there is a demerit in that the motor cannot start up or is apt to step out if the inertia load of the motor is large. Conventionally, therefore, a brushless DC motor having an encoder attached thereto was used in a closed loop in the case of direct driving. Alternatively, a large-sized stepping motor might be used instead. 
     According to the present invention, the outer rotor type motor constituted by a small stepping motor and a simple coaxial type hollow shaft reduction gear can be used for direct driving. 
     When a usual rotor which is constituted by a second gear, a second pinion, a third gear, an output gear, or the like, is rotated, a reduced output portion is eccentric from the motor center. Accordingly, a common through hole cannot be provided in the motor portion and the reduction gear portion. Thus, even if a slip ring is incorporated, the function of the present invention cannot be obtained. 
     Incidentally, in the case where a stepping motor is used, generally, open loop control is employed. Therefore, it may be necessary to know the current position of the stepping motor particularly when the motor steps out. 
     Further, in the case of driving the motor with reduced low speed, it may be required to monitor fluctuations in rotating speed of the motor. In such a case, as described above, a suitable potentiometer or a suitable encoder may be used as a position sensor  36 . Alternatively, a tachometer generator or the like may be used as a speed monitor  37 . 
     (1) Since a slip ring is incorporated in the reduction gear having a hollow shaft, the lead wires of a secondary motor and the output of the slip ring after speed reduction become uniform speed with each other. Thus, the wires of the secondary motor or the like can be prevented from twisting so that the motor can be easily and continuously forward-rotated or backward-rotated. Thus, reliability is enhanced and the life of the rotary electric machine is prolonged. 
     (2) Since the reduction gear is used, the load inertia converted into the motor shaft can be reduced. Thus, a small-sized motor may be employed, and a stepping motor optimum for positioning may be used. 
     (3) Since the hollow shaft reduction gear coaxial with the motor is used, power can be supplied to the secondary motor through the slip ring even if the reduction gear is attached. 
     (4) When harmonic gears are used in the reduction gear, the reduction gear becomes an actuator in which the back-lash is substantially zero.