JPH04403B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an object stabilizing device that stabilizes an object using a combination of a gyro and a pendulum.

[Technical Background of the Invention] As is well known, an example of the use of an object stabilizing device using a combination of a gyroscope and a pendulum is a shipboard antenna device that is mounted on a ship and communicates with a geostationary satellite. A conventional example of an object stabilizing device used in this shipboard antenna device will be explained with reference to FIGS. 1 and 2.

An antenna 11 for communicating with a geostationary satellite is installed on a platform 13, and is driven by an EL drive source 12 in the elevation direction, and by an _Az drive mechanism 14 in the azimuth direction. The entire platform 13 is driven.

The platform 13 is supported by a support 16 via a gimbal structure 15 serving as a bearing means, and the support 16 is fixed to the deck of a ship (moving body) or the like.

BO- of the gimbal structure 15 shown in FIG.
The cross section B' is as shown in FIG. That is,
The gimbal structure 15 includes an inner gimbal 151,
The inner gimbal 151 has an outer gimbal 152 and two substantially orthogonal gimbal axes 153 and 154.
The outer gimbal 152 is connected to the inner gimbal 151 by a gimbal shaft 154. One connecting end of the gimbal shaft 153 is fixed to the support column 16, and the other connecting end is fixed to the bearing 1.
It is rotatably attached to the inner gimbal 151 via 55. One connecting portion of the gimbal shaft 154 is fixed to the outer gimbal 152, and the other connecting end is rotatably attached to the inner gimbal 151 via a bearing 156. Since the platform 13 is supported by the struts 16 via the gimbal structure 15 in this way, the platform 13 is isolated from the movement of the ship in any direction, and is protected against the movement of the ship (movement of the struts 16). be left completely free. That is, the platform 13 is connected via two gimbal axes 153 and 154.
The movement of the platform 13 when supported is exactly the same as when supported by point bearing means such as spherical bearings.

In this way, the platform 13 and the strut 16
A gimbal structure 15 is interposed between the outer gimbal 152 and a bearing 157 is disposed around the outer gimbal 152.
3 is configured to rotate around an outer gimbal 152.

That is, the outer gimbal 152 is integrally equipped with, for example, a sprocket 158, and the platform 13 is equipped with an _Az drive source 1.
For example, a sprocket 142 driven by the driving force from 41 is provided, and these sprockets 142,
The chain 143 is engaged with the chain 158. Inner gimbal 151 and outer gimbal 15
2 can swing in the elevation direction with respect to the column 16, but the column 16 can swing in the azimuth direction.
Since it is integrated with the support column 16, it cannot be separated from the support column 16 and rotated. Therefore, when the sprocket 142 on the platform 13 rotates,
Platform 13 itself is outer gimbal 1
52 (azimuthal direction). This rotation of the platform 13 in the azimuth direction is used to control the antenna 11 in the azimuth direction. The platform 13 also includes gyro devices 17 and 18.
is suspended. The gyro devices 17 and 18 are for absorbing external forces that tend to tilt the platform 13 when the ship is rocking, and as shown in FIGS. 1 and 3, the gyro rotors 172,
182 and gyro motors 173 and 183. The gyro motors 173 and 183 are connected to a suspension post 17 fixed to the platform 13 via rotating shafts 19 and 20 that are perpendicular to each other.
No. 4,184. Rotating shafts 19, 20
The end on the gyro motor side is fixed, and the end on the suspension post side is rotatably mounted on a bearing. The gyro rotors 172 and 182 are rotated by gyro motors 173 and 183 at high speed and in opposite directions. Gyro device 17, 18
The centers of gravity of the entire object to be stabilized, including the antenna 11, gyroscopes 17, 18, platform 13, etc., are set to be located below the rotation axes 19, 20, respectively, and the center of gravity of the entire object to be stabilized, including the antenna 11, gyroscopes 17, 18, platform 13, etc., is below the gimbal axis 15.
It is set to be located below the plane containing 3,154.

The above-mentioned gimbal structure 15 and gyroscope devices 17, 18 themselves are disclosed in, for example, Japanese Patent Application Laid-open No. 132658/1982, Japanese Utility Model Application No. 110041/1983, and U.S. Pat.
As disclosed in the specification of No. 4,020,491 and the specification of US Pat. No. 4,193,308, it was well known before the filing of the present application.

Now, the object stabilizing device configured as described above operates as follows.

That is, when the ship does not move, the gyro rotors 172, 182 rotate around axes parallel to the vertical axis (i.e., the gyro spin shafts 171, 1
81 corresponds to the direction of gravity. ) The platform 13 remains stable without tipping. However, if the vessel oscillates (pitching motion, rolling motion) and a torque that tends to tilt the platform 13 is applied to the object to be stabilized,
Since the torque acts on the gyro devices 17 and 18, the gyro devices 17 and 18 act on the rotating shafts 20 and 1.
Perform precession around 9. In other words, the torque that tends to tilt the platform 13 is applied to the rotating shaft 19,
20, the gyro devices 17 and 18 absorb the unnecessary torque, and the gyro rotors 172 and 182, which had been rotating around axes parallel to the vertical axis while remaining tilted with the rotating shafts 19 and 20 as fulcrums, are removed from the vertical axis. It begins to rotate around a diagonal axis that is misaligned. (That is, the gyroscope pin shafts 171, 18
1 faces diagonally to the direction of gravity. ) The magnitude of this deviation from the vertical axis is proportional to the magnitude of the torque that attempts to tilt the platform 13 and the time during which the torque is applied.
2,182 is inversely proportional to the angular momentum (rate of inertia (moment), proportional to rotational speed). By operating the gyro devices 17 and 18 in this manner, the platform 13 is kept stable without tilting even if the ship is shaken. Therefore, the antenna 11 installed on this platform 13 can always be directed toward the geostationary satellite. Such an object stabilizing device that stabilizes the platform 13 is also called a passive stabilizer device.

[Problems with background technology]

By the way, in the gimbal structure 15 in the object stabilizing device, the gimbal shaft 153 freely rotates with respect to the inner gimbal 151 in the pitching motion state of the moving body, and the gimbal shaft 154 freely rotates with respect to the inner gimbal 151 in the rolling motion state. It was composed of an inner gimbal 151 and an outer gimbal 152 so as to rotate freely. According to such a configuration, the gimbal structure 15 inevitably has a large volume, so that the device becomes large in size.

Also, if the lead wire from the outside of the electrical component mounted on the object to be stabilized _is
Due to the rigidity of the lead wires, the platform 13 has a problem in that disturbance torque is input due to the rigidity of the lead wires as they wrap around the object to be stabilized as they rotate around the shaft.

[Purpose of the invention]

The present invention has been made in view of the above circumstances, and provides an object stabilizing device which has a simple configuration, can promote downsizing, and can effectively improve the stabilization state of an object to be stabilized. The purpose is to provide.

[Summary of the invention]

That is, the present invention provides a universal joint that connects an object to be stabilized to a moving body that oscillates in any direction so as to separate it from the movement of the moving body, and a universal joint that is attached to the object to be stabilized and that is attached to the object to be stabilized so that the oscillating body moves in any direction. In an object stabilizing device that includes a plurality of gyroscope devices that perform precession motion when the body is in sway, the universal joint has a shaft portion in which a substantially cross-shaped protrusion is formed, and the protrusions facing in opposite directions to each other. The first and second yoke parts support the ends of the parts via rotation bearings.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings.

As shown in FIG. 4, an antenna 20 for communicating with a geostationary satellite is installed on a platform 21, and is controlled in the EL direction and direction by an EL (elevation angle) drive mechanism and an _Az (azimuth angle) drive mechanism (not shown). A It is configured to be driven in _{the z} direction. platform 2
1 is connected to a support 24 by a gimbal structure 23, and the support 24 is fixed to the deck of a ship (not shown) or the like. Further, the platform 21 is provided with a pitch roll stopper 25 for position regulation corresponding to the gimbal structure 23. The support 24 is provided with a stopper part 26 for regulating the position corresponding to the pitch roll stopper 25, and the support 24 near the stopper part 26 is provided with a detection switch 27 for detecting the swing angle.
is provided corresponding to the pitch roll stopper 25. The detection switch 27 is configured to be turned on, for example, when the pitch roll stopper 25 comes into contact with the stopper part 26 due to excessive movement of the ship, and stops the motors 28 and 29 for driving the gyro rotor, and is in the on state. The return to the off state is set by a timer or the like (not shown) to occur after a predetermined period of time.

The gimbal structure 23 is constructed in the shape of a universal joint (so-called universal joint) as shown in FIG. That is, the gimbal structure 23
The gimbal shaft has first and second gimbal shafts 30 and 31 provided in a substantially cross shape, and both ends thereof are connected to first and second yoke portions 32 and 33 fixed to the platform 21 and the support column 24, respectively. They are supported substantially on the same cylinder with, for example, a needle roller bearing (not shown) interposed therebetween. As a result, this approximately cross-shaped gimbal shaft rotates in response to pitching and rolling motions of the ship. A through hole 34 for inserting a lead wire is formed approximately at the center where the first and second gimbal shafts 30 and 31 intersect, and this through hole 34 has a sixth gimbal shaft.
As shown in the figure, a lead wire 51 of an electrical part (not shown) mounted on the platform 21 or the like is inserted. The lead wire 51 inserted through the through hole 34 is inserted into the insertion hole 24 provided at the lower end of the column 24.
1 and connected to a power source (not shown). Note that the center of gravity of the platform 21 is set below the first and second gimbal axes 30 and 31.

At both ends of the platform 21, gyro devices 35 and 36 are constructed in substantially the same manner as shown in FIG. That is, the motors 28 and 29 are fixed to both ends of the platform 21, and the rotation shafts 281 and 29 of the motors 28 and 29 are respectively fixed.
291 each has a connecting coil spring 3.
8 and 39 are fixed via damper members 381 and 391. Coil springs 38, 39
has a predetermined spring force, and the other end is fixed to the spin shafts 401, 411 of the gyro rotors 40, 41. In addition to spin axes 401, 411, the gyro rotors 40, 41 are provided with preset axes 402, 412 that precess (that is, rotate around _{the z} axes GA1, GA2 of the gyro). The shafts 402 and 412 are bearings 42 and 43, respectively.
It is supported in a predetermined state by the housings 44 and 45 via the housings 44 and 45. The housings 44, 45 are supported in a predetermined state via bearings 46 on mounting bases 47, 48 provided on the platform 21, and stoppers 49, 50 for position regulation are provided at predetermined positions. Gyroscope rotor 40, 41 respectively
It is set up correspondingly. When excessive vibration is applied to the gyro rotors 40, 41, the stoppers 49, 50 stop the mounting surfaces 471, 47 of the mounting bases 47, 48,
481 to regulate its position. here,
The centers of gravity of the gyro rotors 40 and 41 are set to substantially coincide with the preset axes 402 and 412, respectively.

Now, the object stabilizing device configured as described above operates as follows.

That is, when the ship does not move, the gyro rotors 40, 41 rotate around axes parallel to the vertical axis (that is, the spin axes 401, 411 are aligned with the direction of gravity), and the platform 21 is stable without tilting. in a state. However, when the ship oscillates (pitching or rolling motion) and a torque that tends to tilt the platform 21 is applied to the object to be stabilized, that torque acts on the gyroscope rotors 40, 41, so that the gyroscope rotors 40, 41 Precession is performed around the preset axes 402, 412. In other words, when a torque that tends to tilt the platform 21 is applied to the preset shafts 402, 412, the gyro rotors 40, 41 absorb this unnecessary torque and tilt around the preset shafts 402, 412 as fulcrums.
The gyro rotors 40, 41, which have been rotating around axes parallel to the vertical axis, now rotate around an axis in an oblique direction that is deviated from the vertical axis. (i.e.
Gyro A _z- axes GA1 and GA2 are oriented obliquely to the direction of gravity. ) and the gyroscope rotor 40,
41, the rotational force of motors 28 and 29 is transmitted via coil springs 38 and 39, respectively. At this time, the coil springs 38 and 39 apply almost no torque to the gyroscope rotors 40 and 41 to restrain the precession, and their spring force allows the gyroscope rotors 4 to move without any disturbance.
It also prevents a slope of 0.41. The preset shafts 402, 411 are connected to the sprockets 303, 304.
The transmission force from the chain meshed with the chain causes the platform 21 to rotate in a direction opposite to the direction of rotation of the platform 21, with the platform 21 continuously rotating around the _Az axis as required.

Next, when the oscillation of the ship becomes excessive and exceeds the limit of the oscillation angle, the platform 21 first becomes unstable and oscillates greatly. Then, the pitch roll stopper 25 of the platform 21 comes into contact with the stopper portion 26 of the support column 24 and is regulated, and the detection switch 27 is turned on to stop the driving of the motors 28 and 29 of the gyro devices 35 and 36. As a result, the angular momentum H of the gyro rotors 40, 41 of the gyro devices 35, 36 decreases to zero. At this time, while the platform 21 is oscillating, it is returned to a substantially horizontal position by the principle of a simple pendulum due to its gravity, and the platform 21 and the gyro rotors 40, 41 are now in a stable state.

In addition, if the oscillation angle of the ship is within the limit of the mechanical oscillation angle and the oscillation applied to the gyro devices 35 and 36 becomes excessive, first the gyro rotor 4
Due to the large precession of 0.41, the stopper 49,
50 mounting surfaces 471, 481. At this time, the torque due to this contact is applied to the platform 2.
1 is moved so that its pitch roll stopper 25 comes into contact with the stopper part 26 of the support column 24, and the detection switch 27 is turned on to stop the driving of the motors 28 and 29. As a result, as described above, the gyro devices 35 and 36 are connected to the gyro rotors 40 and 4.
The angular momentum H of 1 becomes zero, and the platform 21 returns to a substantially horizontal position due to its gravity, and becomes stable.

As described above, the object stabilizing device includes a universal joint having substantially cross-shaped first and second gimbal shafts 30 and 31 as the gimbal structure 23, and
A through hole 34 for inserting a lead wire is formed approximately in the center of the second gimbal shafts 30 and 31. This can effectively improve the size and weight of the structure.

Further, with such a configuration, even when the object to be stabilized continuously rotates in the azimuth direction, the lead wire 51 will not be wrapped around or tangled with the object to be stabilized, and the lead wire 35 Disturbance torque due to the rigidity of the platform 21 is not applied to the platform 21, etc., and stabilization can be promoted.

〔Effect of the invention〕

As described in detail above, according to the present invention, it is possible to provide an object stabilizing device that has a simple configuration, promotes miniaturization, and effectively improves the stabilization state of an object to be stabilized. .

[Brief explanation of drawings]

1, 2, and 3 are perspective views, sectional views, and configuration diagrams showing a conventional object stabilizing device, and FIG. 4 is a perspective view showing an object stabilizing device according to an embodiment of the present invention. 5 is a perspective view showing details of the gimbal structure shown in FIG. 4, FIG. 6 is a perspective view showing main parts of FIG. 5, and FIG. 7 is a configuration diagram showing details of the gyroscope device shown in FIG. 4. be. 20... Antenna, 21... Platform, 23... Gimbal structure, 24... Support column, 2
5... Pitch roll stopper, 26... Stopper part, 27... Detection switch, 28, 29... Motor, 30... First gimbal axis, 31... Second
gimbal axis, 32... first yoke portion, 33...
...Second yoke part, 34...Through hole, 51...Lead wire, 35, 36...Gyroscope device, 38, 39
... Coil spring, 40, 41 ... Gyroscope rotor, 42, 43 ... Bearing, 44, 45
...Housing, 46...Bearing, 47,4
8... Mounting base, 49, 50... Stopper.

Claims (1)

[Scope of Claims] 1. A universal joint that connects an object to be stabilized to a moving body that oscillates in any direction so as to separate it from the movement of the moving body, and a universal joint that is attached to the object to be stabilized. In the object stabilizing device comprising a plurality of gyroscope devices that perform precession motion in a state of oscillation of the oscillating body, the universal joint has a shaft portion in which a substantially cross-shaped protrusion is formed, and a shaft portion facing in opposite directions to each other. An object stabilizing device comprising first and second yoke portions that support the end portion of the protruding portion via a rotation bearing. 2. The object stabilizing device according to claim 1, wherein a lead wire insertion hole is provided in the shaft portion of the universal joint.