JPH0334806B2 - - Google Patents
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- Publication number
- JPH0334806B2 JPH0334806B2 JP4107184A JP4107184A JPH0334806B2 JP H0334806 B2 JPH0334806 B2 JP H0334806B2 JP 4107184 A JP4107184 A JP 4107184A JP 4107184 A JP4107184 A JP 4107184A JP H0334806 B2 JPH0334806 B2 JP H0334806B2
- Authority
- JP
- Japan
- Prior art keywords
- tuning fork
- base
- piezoelectric element
- detection piezoelectric
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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- 238000001514 detection method Methods 0.000 claims description 24
- 230000005484 gravity Effects 0.000 claims description 15
- 230000001133 acceleration Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
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Description
発明の技術分野
本発明はジヤイロ装置、特に音叉を用いたジヤ
イロ装置に関する。
背景技術とその問題点
本発明の説明に先立つて、本願出願人が先に提
案した特願昭58−45234号のジヤイロ装置の概略
を、第１及び第２図を参照して説明する。このジ
ヤイロ装置は、その斜視図である第１図に示す如
く、平板状の基台２上に、その上面と略々垂直と
なる如く、短冊状バイモルフから成る入力角速度
Ωを検出するための薄板状の検出用圧電素子３０
を取付ける。尚、この際、必要に応じて、取付部
３０′を用いてもよい。音叉１を、一対の大なる
質量を有する振動質量部１−１，１−１と、これ
等の夫々に連結した撓み部１−２，１−２と両撓
み部１−２，１−２の各遊端を連結する基部１−
３とより構成する。ここで基部１−３の上面に、
Ｌ字状取付部１−４を、その一方の脚１−４ａが
略々垂直上方に伸びる如く固定し、他方の脚１−
４ｂが両撓み部１−２，１−２と略々平行に伸び
る如くなすと共に、基部１−３の下面にカウンタ
ーウエイト部１−５を取り付ける。
上述の如く構成した音叉１を、次の如く、薄板
状の振動検出用圧電素子３０に固定する。即ち、
音叉１の両撓み部１−２，１−２間の〓間ｇに、
薄板状の圧電素子３０の巾方向Ｂが延在する如
く、圧電素子３０の上端に、Ｌ字状取付部１−４
の脚１−４ｂを固定する。かくすれば、第１図の
側面図である第２図に示す如く、音叉１は、その
振動面（音叉面）が、水平に配置された基台２の
板面と略々平行、即ち圧電素子３０の長手方向の
中心軸（Ｘ−Ｘ）と直交する如く、圧電素子３０
に取付けられる。尚、この場合、両撓み部１−
２，１−２間の〓間ｇは、圧電素子３０が振動
し、音叉１の振動面が傾斜しても、圧電素子３０
と両撓み部１−２，１−２が接触しないような寸
法及び形状に設定されていると共に、音叉１の振
動質量部１−１，１−１及びカウンターウエイト
部１−５等が、基台２の上面に接触しないよう
に、圧電素子３０の基台２上の高さは設定されて
いる。
尚、第１図に於て、４，４は、両撓み部１−
２，１−２に夫々取付けた例えば駆動用圧電素子
で、これ等は、例えば交流信号源５よりの信号に
より駆動され、音叉１の振動質量部１−１，１−
１に、速度ｖなる交番信号を励起させる。
この場合、検出用圧電素子３０の出力電圧を、
基準電圧として交流信号源５よりの信号と共に、
デモジユレータ７に入力し、同期整流することに
より、（Ｘ−Ｘ）軸と直交する音叉１の音叉軸
（Ｚ−Ｚ）まわりに入力される角速度Ωに比例し
た電圧が、このデモジユレータ７より出力され、
ジヤイロ装置が構成される。
しかしながら上述のジヤイロ装置においては、
次の如き欠点がある。即ち、
(1) ジヤイロ装置は、角速度が測定させるべき運
動体に、基台２において直接取付けられる構造
のため、運動体側の固定されるべき部分の剛性
の差によて、音叉軸（Ｚ−Ｚ）まわりの音叉
１、検出用圧電素子３０、基台２からなる振動
系の共振点が変化し、バイアス的な誤差が発生
する。
(2) 運動体の振動が基台２を介して直接音叉１、
検出用圧電素子３０からなる振動系に伝達さ
れ、出力誤差が生ずる。
(3) 上記運動体の振動の影響を避けようとして、
基台２をゴム等の可撓性物質を介して運動体に
取付ける場合、全体の重心が基台の上方にある
為に、例えば第１図において（Ｘ−Ｘ）軸及び
（Ｚ−Ｚ）軸の双方に直交する方向の加速度に
対して、全体が（Ｚ−Ｚ）軸まわりに回転する
ことになり、この角速度が誤差出力となる。
発明の目的
本発明は、上述した如き欠点のないジヤイロ装
置を提供せんとするものである。
発明の概要
本発明のジヤイロ装置に於ては、基台と、該基
台の長手方向とその長手方向が直交するよう一端
を上記基台にとりつけた検出用圧電素子と、上記
検出用圧電素子の長手方向と直交する面と平行な
振動面を有し音叉軸が上記検出用圧電素子の面と
平行となるよう配置した音叉と、該音叉の基部と
上記検出用圧電素子の他端とを連結するＬ字状取
付部と、上記音叉の基部の上記Ｌ字状取付部が取
り付けられた側とは反対の側にカウンターウエイ
ト部を設けたジヤイロ装置において、上記カウン
ターウエイト部に上記音叉軸と平行かつ上記音叉
の振動質量部の方向に向つて上記検出用圧電素子
の両側に沿うようにのびる２本の脚を設け、上記
基台は円環状の支持環とその軸方向両側において
開口部を上記支持環の両開口に固定した２個の筒
状体とにより構成し、かつ上記基台の重心を略々
上記音叉と重心と一致させると共に上記基台を上
記音叉の重心のまわりに対称的に弾性部材を用い
て支持するようになしたことを特徴とする。
実施例
第３図は、本発明の一実施例を示す一部を除い
た斜視図である。同図に於て、第１及び第２図と
同一符号は、互に同一素子を示すものとし、それ
等の詳細説明は、これを省略する。
第３図に示す本発明の例に於ては、カウンター
ウエイト部１−５の両側より、互いに（Ｚ−Ｚ）
軸に平行で、両者間に圧電素子３０の取付部３
０′を挟んで、振動質量部１−１方向に延びる２
本の脚１−５′を、夫々延設し、音叉１、圧電素
子３０等より成る振動系の重心Ｇを、（Ｚ−Ｚ）
軸及び（Ｘ−Ｘ）軸の交点と略々一致させてい
る。
扨て、本発明のこの例に於ては、第１及び第２
図に示すと同様の音叉１を保持する検出用圧電素
子３０の下端を、支持環４０の内側にその環軸
（（Ｚ−Ｚ）軸に一致）に沿つて固定する。この支
持環４０の両開口端に、一端が閉じている同形状
且つ同寸法の筒状体４１，４１′の開口部を、
夫々気密に固定し、その内部に、圧電素子３０を
含む音叉１を、気密に保持する。この場合、支持
環４０、筒状体４１，４１′の軸は、（Ｚ−Ｚ）軸
に一致するようになす。筒状体４１，４１′のそ
れぞれの閉端を、円柱状の弾性部材４２，４２′
を介し、下端部が夫々取付基台４４に固定されて
いる２個のＬ字型金具４３，４３′の上端に固定
する。斯くして、支持環４０等を取付基台４４に
固定する。尚、４０−１は、支持環４０にハーメ
チツクシールで取付けた端子で、これを介して、
支持環４０等の内部に気密に保持されている音叉
１の圧電素子３０等が、交流信号源５、デモジユ
レータ７等に接続される。
尚、上記構成において、検出用圧電素子３０の
取付部３０′の重量を含む支持環４０、筒状体４
１，４１′よりなる基台の重心が音叉１の重心Ｇ
と一致する如く、各支持部材は設計される。
尚、温度変化による誤差の発生を防止するに
は、音叉１、Ｌ字状取付部１−４等を、周知の熱
恒弾性材で形成すればよい。
こゝで、音叉１の振動数fFと、（Ｚ−Ｚ）軸ま
わりの音叉系及び検出用圧電素子３０のトルクバ
ネ定数で定まる（Ｚ−Ｚ）軸まわりの共振振動数
f0とは、ジヤイロ装置の出力感度を上げるため
に、略々等しい値とする必要がある。
本発明においては、取付部３０′、支持環４０、
筒状体４１，４１′からなる基台の（Ｚ−Ｚ）軸
まわりの慣性モーメントをIS、音叉系の（Ｚ−
Ｚ）軸まわりの慣性モーメントをIF、検出用圧電
素子３０の（Ｚ−Ｚ）軸まわりのトルクバネ定数
をＫとすれば、上記（Ｚ−Ｚ）軸まわりの共振振
動数f0は
と書くことができる。
よつて、本発明においては
が共振条件となる。
上述した本発明によるジヤイロ装置の作用は、
第１及び第２図の例と略々同一である。
発明の効果
本発明によるジヤイロ装置の効果は次の通りで
ある。即ち、
１ 支持環４０、筒状体４１，４１′からなる基
台の重心と、音叉１の重心とを一致させると共
に、上記基台を弾性部材４２，４２′及びＬ字
型金具４３，４３′等により、上記重心のまわ
りに対称に支持する構造としたことにより、角
速度を測定すべき運動体の取付部の振動や剛性
等の影響のないジヤイロ装置を得ることが出来
る。
２ 上記基台および基台内部を重心のまわりに対
称に支持することにより、加速度の影響を受け
ることができない。
３ 上記音叉１と基台との（Ｚ−Ｚ）軸まわりの
慣性モーメントをIF，IS、検出用圧電素子３０
の入力軸のまわりのトルクバネ定数をＫとした
時に、
TECHNICAL FIELD OF THE INVENTION The present invention relates to a gyro device, and particularly to a gyro device using a tuning fork. BACKGROUND ART AND PROBLEMS Before explaining the present invention, the outline of the gyro device of Japanese Patent Application No. 1983-45234, which was previously proposed by the applicant of the present application, will be explained with reference to FIGS. 1 and 2. As shown in FIG. 1, which is a perspective view, this gyro device consists of a thin plate for detecting an input angular velocity Ω, which is made up of a rectangular bimorph and is placed on a flat base 2 so as to be approximately perpendicular to its upper surface. shaped detection piezoelectric element 30
Install. Incidentally, at this time, a mounting portion 30' may be used if necessary. A tuning fork 1 is connected to a pair of vibrating mass parts 1-1, 1-1 having a large mass, flexure parts 1-2, 1-2 connected to these parts, and both flexure parts 1-2, 1-2. A base 1- that connects each free end of
3 and more. Here, on the top surface of base 1-3,
The L-shaped mounting part 1-4 is fixed so that one leg 1-4a thereof extends substantially vertically upward, and the other leg 1-4a is fixed so that it extends substantially vertically upward.
4b extends substantially parallel to both the flexible parts 1-2, 1-2, and a counterweight part 1-5 is attached to the lower surface of the base part 1-3. The tuning fork 1 constructed as described above is fixed to the thin plate-shaped piezoelectric element 30 for vibration detection as follows. That is,
In the gap g between the two bending parts 1-2 and 1-2 of the tuning fork 1,
An L-shaped mounting portion 1-4 is attached to the upper end of the piezoelectric element 30 so that the width direction B of the thin plate-shaped piezoelectric element 30 extends.
Fix legs 1-4b. In this way, as shown in FIG. 2, which is a side view of FIG. The piezoelectric element 30
mounted on. In this case, both flexible portions 1-
2 and 1-2, even if the piezoelectric element 30 vibrates and the vibration surface of the tuning fork 1 is tilted, the piezoelectric element 30
The dimensions and shape are set so that the flexure parts 1-2 and 1-2 do not come into contact with each other, and the vibrating mass parts 1-1 and 1-1 of the tuning fork 1 and the counterweight part 1-5, etc. The height of the piezoelectric element 30 above the base 2 is set so as not to contact the top surface of the base 2. In addition, in FIG. 1, 4, 4 are both flexible parts 1-
For example, driving piezoelectric elements are attached to the vibrating mass parts 1-1, 1-2 of the tuning fork 1, and are driven by, for example, a signal from an AC signal source 5.
1, an alternating signal with a velocity v is excited. In this case, the output voltage of the detection piezoelectric element 30 is
Together with the signal from the AC signal source 5 as a reference voltage,
By inputting the voltage to the demodulator 7 and synchronously rectifying it, a voltage proportional to the angular velocity Ω input around the tuning fork axis (Z-Z) of the tuning fork 1 perpendicular to the (X-X) axis is outputted from the demodulator 7. ,
A gyro device is configured. However, in the above-mentioned gyro device,
It has the following drawbacks. That is, (1) The gyro device has a structure in which it is directly attached to the moving body whose angular velocity is to be measured on the base 2, so the tuning fork axis (Z- Z) The resonance point of the vibration system consisting of the surrounding tuning fork 1, detection piezoelectric element 30, and base 2 changes, causing a bias error. (2) The vibration of the moving body is transmitted directly to the tuning fork 1 via the base 2.
The vibration is transmitted to the vibration system made up of the detection piezoelectric element 30, and an output error occurs. (3) In an attempt to avoid the influence of vibrations of the moving body,
When the base 2 is attached to a moving body through a flexible material such as rubber, the center of gravity of the entire body is above the base, so for example, in FIG. In response to acceleration in a direction perpendicular to both axes, the entire device rotates around the (Z-Z) axis, and this angular velocity becomes the error output. OBJECTS OF THE INVENTION The present invention aims to provide a gyro device that does not have the above-mentioned drawbacks. Summary of the Invention The gyroscope device of the present invention includes a base, a detection piezoelectric element whose one end is attached to the base so that the longitudinal direction of the base is perpendicular to the longitudinal direction, and the detection piezoelectric element. A tuning fork having a vibration surface parallel to a plane perpendicular to the longitudinal direction of the tuning fork and arranged such that the axis of the tuning fork is parallel to the plane of the detection piezoelectric element, and a base of the tuning fork and the other end of the detection piezoelectric element. In the gyro device, the tuning fork shaft and the tuning fork shaft are connected to the counterweight part in a gyro device including a connecting L-shaped mounting part and a counterweight part on the side opposite to the side to which the L-shaped mounting part is attached to the base of the tuning fork. Two legs are provided in parallel and extend along both sides of the detection piezoelectric element in the direction of the vibrating mass part of the tuning fork, and the base has an annular support ring and an opening on both sides of the ring in the axial direction. two cylindrical bodies fixed to both openings of the support ring, and the center of gravity of the base is approximately aligned with the center of gravity of the tuning fork, and the base is symmetrical about the center of gravity of the tuning fork. It is characterized in that it is supported using an elastic member. Embodiment FIG. 3 is a partially removed perspective view showing an embodiment of the present invention. In this figure, the same reference numerals as those in FIGS. 1 and 2 indicate the same elements, and detailed explanation thereof will be omitted. In the example of the present invention shown in FIG. 3, from both sides of the counterweight part 1-5,
A mounting portion 3 of the piezoelectric element 30 is parallel to the axis and between the two.
2 extending in the direction of the vibrating mass part 1-1 with 0' in between.
The legs 1-5' of the book are extended, and the center of gravity G of the vibration system consisting of the tuning fork 1, piezoelectric element 30, etc. is (Z-Z).
It is made to approximately coincide with the intersection of the axis and the (X-X) axis. Therefore, in this example of the invention, the first and second
As shown in the figure, the lower end of a detecting piezoelectric element 30 holding a similar tuning fork 1 is fixed inside a support ring 40 along its ring axis (corresponding to the (Z-Z) axis). At both open ends of this support ring 40, openings of cylindrical bodies 41, 41' of the same shape and size, one end of which is closed, are provided.
Each of them is airtightly fixed, and the tuning fork 1 including the piezoelectric element 30 is airtightly held therein. In this case, the axes of the support ring 40 and the cylindrical bodies 41, 41' are made to coincide with the (Z-Z) axis. The respective closed ends of the cylindrical bodies 41 and 41' are connected to cylindrical elastic members 42 and 42'.
are fixed to the upper ends of two L-shaped fittings 43, 43' whose lower ends are respectively fixed to the mounting base 44. In this way, the support ring 40 and the like are fixed to the mounting base 44. In addition, 40-1 is a terminal attached to the support ring 40 with a hermetic seal, and through this,
The piezoelectric element 30 and the like of the tuning fork 1, which are airtightly held inside the support ring 40 and the like, are connected to the AC signal source 5, the demodulator 7, and the like. In the above configuration, the support ring 40, which includes the weight of the mounting portion 30' of the detection piezoelectric element 30, and the cylindrical body 4
The center of gravity of the base made of 1,41' is the center of gravity G of tuning fork 1.
Each support member is designed to match the . In order to prevent errors from occurring due to temperature changes, the tuning fork 1, the L-shaped mounting portion 1-4, etc. may be formed of a well-known thermostatic material. Here, the resonance frequency around the (Z-Z) axis is determined by the frequency f F of the tuning fork 1 and the torque spring constant of the tuning fork system around the (Z-Z) axis and the detection piezoelectric element 30.
f 0 needs to be approximately the same value in order to increase the output sensitivity of the gyro device. In the present invention, the mounting portion 30', the support ring 40,
The moment of inertia around the (Z-Z) axis of the base consisting of the cylindrical bodies 41 and 41' is I S , and the (Z-
If the moment of inertia around the (Z) axis is I F and the torque spring constant around the (Z-Z) axis of the detection piezoelectric element 30 is K, then the resonance frequency f 0 around the (Z-Z) axis is It can be written as Therefore, in the present invention is the resonance condition. The operation of the gyro device according to the present invention described above is as follows:
This is substantially the same as the example in FIGS. 1 and 2. Effects of the Invention The effects of the gyro device according to the invention are as follows. That is, 1. The center of gravity of the base consisting of the support ring 40 and the cylindrical bodies 41, 41' is aligned with the center of gravity of the tuning fork 1, and the base is connected to the elastic members 42, 42' and the L-shaped fittings 43, 43. By adopting a structure in which the gyro is supported symmetrically around the center of gravity, it is possible to obtain a gyro device that is not affected by vibrations, rigidity, etc. of the mounting portion of the moving body whose angular velocity is to be measured. 2. By supporting the base and the inside of the base symmetrically around the center of gravity, it is not affected by acceleration. 3 The moment of inertia of the tuning fork 1 and the base around the (Z-Z) axis is I F , I S , and the piezoelectric element 30 for detection
When the torque spring constant around the input shaft of is K,
【式】で決められ
る（Ｚ−Ｚ）軸まわりの共振振動数と音叉１の
振動数fFとを略々等しい値に選定することによ
り、ジヤイロ装置、即ち角速度検出装置として
最適感度を得ることが出来る。
４ 支持環４０以内を気密にしたことにより、風
や音響等の外乱が振動系に作用し、誤差が発生
するのを防止し得る。Optimum sensitivity can be obtained as a gyro device, that is, an angular velocity detection device, by selecting the resonance frequency around the (Z-Z) axis determined by [formula] and the frequency f F of the tuning fork 1 to be approximately equal values. I can do it. 4. By making the inside of the support ring 40 airtight, disturbances such as wind and sound can be prevented from acting on the vibration system and causing errors.
第１図は先に提案した特願昭58−45234号のジ
ヤイロ装置の斜視図、第２図はその側面図、第３
図は本発明の一例の一部を除いた斜視図である。
図に於て、１は音叉、１−１は振動質量部、１
−２は撓み部、１−３は基部、１−４はＬ字状取
付部、１−５はカウンターウエイト部、４は駆動
用圧電素子、５は交流信号源、７はデモジユレー
タ、３０は検出用圧電素子、３０′は取付部、ｇ
は〓間、４０は支持環、４０−１は端子、４１，
４１′は筒状体、４２，４２′は弾性部材、４３，
４３′はＬ字型金具、４４は取付基台を夫々示す。
Figure 1 is a perspective view of the gyroscope device proposed earlier in Japanese Patent Application No. 58-45234, Figure 2 is its side view, and Figure 3 is
The figure is a partially removed perspective view of an example of the present invention. In the figure, 1 is a tuning fork, 1-1 is a vibrating mass part, 1
-2 is a flexible part, 1-3 is a base, 1-4 is an L-shaped mounting part, 1-5 is a counterweight part, 4 is a driving piezoelectric element, 5 is an AC signal source, 7 is a demodulator, 30 is a detection piezoelectric element, 30' is the mounting part, g
40 is a support ring, 40-1 is a terminal, 41,
41' is a cylindrical body, 42, 42' are elastic members, 43,
Reference numeral 43' indicates an L-shaped fitting, and reference numeral 44 indicates a mounting base.
Claims (1)
直交するよう一端を上記基台にとりつけた検出用
圧電素子と、上記検出用圧電素子の長手方向と直
交する面と平行な振動面を有し音叉軸が上記検出
用圧電素子の面と平行となるよう配置した音叉
と、該音叉の基部と上記検出用圧電素子の他端と
を連結するＬ字状取付部と、上記音叉の基部の上
記Ｌ字状取付部が取り付けられた側とは反対の側
にカウンターウエイト部を設けたジヤイロ装置に
おいて、上記カウンターウエイト部に上記音叉軸
と平行かつ上記音叉の振動質量部の方向に向つて
上記検出用圧電素子の両側に沿うようにのびる２
本の脚を設け、上記基台は円環状の支持環とその
軸方向両側において開口部を上記支持環の両開口
に固定した２個の筒状体とにより構成し、かつ上
記基台の重心を略々上記音叉の重心と一致させる
と共に上記基台を上記音叉の重心のまわりに対称
的に弾性部材を用いて支持するようになしたこと
を特徴とするジヤイロ装置。 ２ 上記特許請求の範囲第１項記載のジヤイロ装
置において、上記音叉軸まわりの音叉の慣性モー
メントIF、上記基台の慣性モーメントをIS、上記
検出用圧電素子の上記音叉軸まわりのトルクバネ
定数をＫとしたとき、 で表わされる共振振動数と上記音叉の振動数とを
略々等しくしたことを特徴とする。[Scope of Claims] 1. A base, a detection piezoelectric element whose one end is attached to the base so that the longitudinal direction of the base is orthogonal to the longitudinal direction of the detection piezoelectric element, and the detection piezoelectric element whose longitudinal direction is orthogonal to the longitudinal direction of the detection piezoelectric element. A tuning fork having a vibration surface parallel to the plane and arranged so that the axis of the tuning fork is parallel to the plane of the detection piezoelectric element, and an L-shaped mounting that connects the base of the tuning fork and the other end of the detection piezoelectric element. and a counterweight section on the opposite side of the base of the tuning fork to which the L-shaped attachment section is attached, the counterweight section is parallel to the axis of the tuning fork and vibration of the tuning fork. 2 extending along both sides of the detection piezoelectric element in the direction of the mass part;
A book leg is provided, and the base is constituted by an annular support ring and two cylindrical bodies having openings fixed to both openings of the support ring on both sides in the axial direction, and the base has a center of gravity. The gyro device is characterized in that the center of gravity of the tuning fork substantially coincides with the center of gravity of the tuning fork, and the base is supported symmetrically around the center of gravity of the tuning fork using an elastic member. 2. In the gyro device according to claim 1, the moment of inertia of the tuning fork around the tuning fork axis I F , the moment of inertia of the base I S , and the torque spring constant of the detection piezoelectric element around the tuning fork axis When is K, The tuning fork is characterized in that the resonance frequency expressed by is approximately equal to the frequency of the tuning fork.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59041071A JPS60185110A (en) | 1984-03-02 | 1984-03-02 | Gyroscope device |
| US06/707,213 US4653325A (en) | 1984-03-02 | 1985-03-01 | Gyro apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59041071A JPS60185110A (en) | 1984-03-02 | 1984-03-02 | Gyroscope device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60185110A JPS60185110A (en) | 1985-09-20 |
| JPH0334806B2 true JPH0334806B2 (en) | 1991-05-24 |
Family
ID=12598210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59041071A Granted JPS60185110A (en) | 1984-03-02 | 1984-03-02 | Gyroscope device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60185110A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02268222A (en) * | 1989-04-10 | 1990-11-01 | Tokimec Inc | Gyroscope apparatus |
| JPH02268224A (en) * | 1989-04-10 | 1990-11-01 | Tokimec Inc | Gyro apparatus |
-
1984
- 1984-03-02 JP JP59041071A patent/JPS60185110A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60185110A (en) | 1985-09-20 |
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