JP2000018949A - Horizontal base holding device using suspension coupling body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a horizontal base holding device which is capable of actualizing secure operation with a simple structure and attitude stabilization an inexpensive device by a complete passive system, without depending on a conventional active system. SOLUTION: This device is equipped with a horizontal base B, which supports a couple of loads horizontally on a swing body A by a single gimbal P0, a suspension coupling body P1Q1P2Q2 for an XZ-plane and a suspension coupling body for a YZ plane, which are arranged at specified positions on the horizontal base B in mutually orthogonal relation, a center connection part E which couples those suspension coupling bodies, and a weight W suspended from the center connection part E, and the horizontal base B can support the load horizontally in a three-dimensional space against the swinging of the swing body A and lateral acceleration.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for stably holding the attitude of a horizontal platform supported on a rocking body by a passive mechanism.

[0002]

2. Description of the Related Art An earth station antenna or a measuring instrument for mobile satellite communication used on a mobile body with shaking is located in front and rear,
It must have a function to prevent the posture from changing due to left and right inclination, lateral acceleration, and the like. For this purpose, an active method has been conventionally used in which the balance supporter is controlled based on fluctuation information detected using a gyroscope or the like.

[0003]

Recently, as the demand for mobile communication has increased, it has been desired to realize a simple and inexpensive device with a simple structure.

[0004] It is an object of the present invention to provide a horizontal platform holding device which can realize such a posture stabilization in accordance with such a demand by a completely passive system, not by a conventional active system.

In order to achieve this object, a horizontal platform holding apparatus using a suspension joint according to the present invention comprises a horizontal platform for supporting a load horizontally by a central gimbal provided at a predetermined position on a rocking body, and Each of a pair of upper connectors provided on the rocking body so as to be symmetrical with respect to the predetermined position along a plane corresponding to an XZ plane passing through the position, and the plane corresponding to the XZ plane Corresponding to the XZ plane formed by connecting a pair of lower connectors provided symmetrically to each other with respect to the center position on a bottom body disposed along the pair by a pair of equal-length suspension bodies, respectively. And a pair of upper connections provided symmetrically with respect to the predetermined position on the oscillating body along another plane corresponding to the YZ plane passing through the predetermined position. Each of the vessels and the Y Each of a pair of lower connectors provided symmetrically with respect to a center position on a bottom body arranged along the other plane corresponding to the plane is connected to each of the pair of lower connectors by a pair of equal-length suspension bodies. And a second suspended joint body corresponding to the YZ plane, which is provided on the bottom body radially extended from the center position of the bottom body along the XZ plane and the YZ plane, respectively. A central connection unit provided with a plurality of terminal connection units attached to the plurality of bottom body connection units via an extending body, and a weight suspended from the central connection unit of the central connection unit. A weight, a spherical slider provided at a center position of the bottom body, and a slider having an upper end coupled to the central gimbal and a lower end slidingly sandwiching the outer surface of the slider. The horizontal table supports the load horizontally even when the rocking body is rocked. It is configured to.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A horizontal platform holding apparatus using a suspension assembly according to the present invention comprises: a horizontal platform for supporting a pair of loads horizontally on a rocking body by one gimbal; An XZ plane suspension connection body and a YZ plane suspension connection body, which are arranged in an orthogonal relationship to each other. Is suspended. With such a configuration, the horizontal table can support the load horizontally in the three-dimensional space against the motion of the rocking body and the effects of the lateral acceleration.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. The present device is used as a three-dimensional device, but since it is realized by a combination of two-dimensional devices arranged orthogonally, first, a two-dimensional device operating in the X-Z plane The configuration and operation will be described below.

FIG. 1 shows an embodiment of a two-dimensional apparatus for explaining a two-dimensional operation of the present invention. A is a rocking body serving as a base on which the present apparatus is installed. P ₀ is a gimbal provided at a center position which is a reference of the present apparatus. Since this embodiment is a two-dimensional device, gimbal P ₀ is shown as a rotary coupler structure. The movable ring of the gimbal P ₀ has a load L, which is indicated by an equal weight L and is balanced with the cymbal P ₀ , at both ends thereof to indicate that the object to be horizontally supported is balanced. the mounting horizontal base B, and balanced support via a support rod J including the weight W ₁ for equilibrium to be described later.

P ₁ and P ₂ are upper connectors provided at positions on the oscillating body symmetrical to each other with respect to the center of the gimbal P ₀ . Suspended bodies C ₁ , C ₂ of equal length are respectively suspended on the movable rings of these upper connectors P ₁ , P _{2, and} the lower ends thereof are connected to lower connectors Q ₁ provided on the bottom body D. It is connected to respective central axes of Q _2. Where P ₁ , P ₂ , C ₁ , C
₂ , Q ₁ , Q ₂ , and D form one suspension connection. That is, FIG. 1 shows the hanging width ratio (that is, line segment P ₁ P ₂ : line segment).
Q ₁ Q ₂ ) is an example in which a suspended positive joint having a value greater than 1 is used.

[0010] Sokotai connector R ₁ to the position on the extended bottom body D which right and left along a straight line from the center D ₀ to be symmetrical, R ₂ is provided with respect to the center D ₀ of the bottom member D Have been.
Bottom body connector R _1, stretched body E ₁ in each central axis of the R _2, E ₂
Are connected to the respective central axes of the terminal connectors S ₁ and S ₂ attached to the central connector E with an arbitrary small expansion angle δ. As described later, in the case of a three-dimensional device, four bottom body connectors (R
₁ , R ₂ , R ₃ , R ₄ ) are connected to a terminal connector attached to the central connector.

As shown in FIG. 1, when a suspension suspension having a suspension width ratio of more than 1 is used, the extending bodies E ₁ and E ₂ are connected to the bottom body D.
It is to be stretched beneath the center D ₀ of. Extension body E
_{As 1} and E ₂ , a flexible string can be used instead of a rigid body. When the suspension width ratio is smaller than 1, or when a suspension negative joint is used, the extending bodies E ₁ and E ₂ are connected to the bottom body D.
And is connected to the central connector E by extending above the center D ₀ of In this specification, a specific example in the case of extending downward is described in detail.

[0012] The movable shaft of the central connector S ₀ which is disposed at the center of the central connecting body E weight hanging hard F is hanger, are Jutsumu W is attached at its lower end.

A sliding body H extends downwardly on the movable ring of the central gimbal P ₀ , and the inside of the U-shaped lower end of the sliding body H is a spherical sliding body placed at the center D ₀ of the bottom body D. The outer surface of the child G is slid in a sandwiched state. That is, the slide H is held vertically and the horizontal base B is held horizontally.
When the central connector E is disposed above the bottom D, the sliding member H is formed in a bent shape or the like so as to avoid the space where the central connector E and the extended members E ₁ and E ₂ are disposed. Will do.

[0014] connected to a support rod J to direct vertically on top of the movable ring in the center gimbal P ₀ is attached the balance weight W ₁ for balancing the weight of the body of the hanger conjugate .

The operation of the present invention will be described below for a two-dimensional device. FIG. 1 shows a state where the tilt angle θ of the rocking body A is 0 ° and only the gravity g acts. That is, the weight W is on a vertical line passing through the center of the central gimbal P ₀ , and the bottom body connector R
₁ and R ₂ are each applied with an equal amount of tension toward the central connector S ₀ . Therefore, the center D ₀ of the bottom body D is on a vertical line passing through the center of the central gimbal P ₀ , and the sliding body H is held vertically, and the movable ring of the central gimbal P ₀ is connected to the sliding body H via the indicator rod J via the indicator rod J. The horizontal table B arranged orthogonally is held horizontally.

Next, the apparatus of the present application when the inclination angle θ is 0 °
In addition, a state where the lateral acceleration α acts is considered. The weight W is
When a lateral acceleration α (not shown) is applied,
However, as shown by the dotted line in FIG.
If so, the bottom connector R on the opposite side ₁The central connector E of
The oncoming tension increases and the bottom connector R on the same side_TwoTo
The working tension decreases. As a result, the suspension assembly moves.
Whether or not to rub is the bottom body located on the side opposite to the side where the weight swings
Connector R₁Direction of the force acting on the weight, ie, the value of the deflection angle β of the weight W
Will be determined by Dotted line L in FIG.₁, L_Two
Is the case where the suspension joint moves due to some external force
Bottom connector R₁, R_TwoIndicates the locus of the center point of
You. Also, a broken arrow N₁, N_TwoIs the bottom connector R
₁, R_TwoLocus L at each center position₁, L_TwoNormal
Indicates the direction. Also, T₁, T_TwoDashed arrow
Follower S₀Through the normal N₁, N_TwoIs a limit line parallel to
You. γ is the opening angle. The deflection of the weight W is within the range of the open angle γ.
As long as the weight W does not exceed
Bottom body connection in case of swinging to the left or conversely
Bowl R₁The locus L₁Along or at the bottom connector R_TwoThe trajectory
L_TwoNo upward moving force is generated. That is, the bottom
Body center D₀Is in the original position and horizontal table B is held horizontally
Is done.

Further, consider the case where the moving body A is inclined. FIG. 2 illustrates a case where the rocking body A is inclined by 30 °. Upset body A as shown in FIG. 2 when the left rotation, together with the lower connector Q ₂ is lifted, the other lower connector to Q ₁ is depressed, the bottom body D is also a left rotation. on the other hand,
The weight W moves the center D ₀ of the bottom body D back to the original while giving the bottom body connector R ₂ a strong extension tension toward the central connector S ₀ and the bottom body connector R ₁ a weak extension tension. Acts to hold in position. When the lateral acceleration α acts simultaneously with the inclination, as described above, if the weight W is within the range of the open angle γ between the limit lines T ₁ and T ₂ , the center D ₀ of the bottom body D becomes The horizontal table B is held horizontally without changing the original position.

The self-restoring property when the horizontal state of the horizontal base B is broken by an external force will be considered. Generally,
Both the lateral acceleration and the inclination angle act on the apparatus periodically or intermittently, and during that time, there is always a state where the value of the lateral acceleration becomes zero. In that case, it is apparent from FIG. 1 that the state in which the center D ₀ of the bottom body D is located on a vertical line passing through the center of the gimbal P ₀ is a state in which the position of the weight W is the lowest and the apparatus is stable. . The device is self-restoring so that it returns to such a state by itself.

The operation as a two-dimensional device has been described above. A three-dimensional device can be easily constructed by arranging two-dimensional devices in an orthogonal relationship as shown in FIG. FIG. 3 shows the configuration of the suspension assembly according to the top view projected on the XY plane. Here, P _{1 to} P ₄ , Q _{1 to} Q ₄ ,
_{R 1 ~R 4, S 1 ~S} 4 are each four upper connector, respectively, lower connector, bottom member connector, showing the relative location of the terminal connector. The horizontal table B, load L, slider G
And the center of the gimbal P ₀ in order to simplify the illustration, are omitted. That is, as shown in FIG. 3, hanger conjugate P ₁
Q ₁ P ₂ Q ₂ and P ₃ Q ₃ P ₄ Q ₄ are suspended orthogonally to each other to form a three-dimensional device. Note that FIG.
Indicates a case where the bottom body D is formed separately for the XX ′ plane and the YY ′ plane. With this configuration, the device can easily operate as a three-dimensional device.

As described in detail above, the apparatus of the present invention keeps the horizontal platform in the original state regardless of the change of the inclination angle, the lateral acceleration, and the disturbance of the attitude due to the external force. Or self-healing.

[0021]

The device of the present invention can be used as an inclinometer on a oscillating body that is subject to shaking and impact due to its simple structure.
Alternatively, it can be widely used as a device for stabilizing the posture. In addition, the present apparatus is more reliable and easy to handle, and is economical. Therefore, its application range is wide, such as communication, navigation, and industrial equipment.

[Brief description of the drawings]

FIG. 1 is an embodiment of the present invention, in which an oscillating body has an inclination of 0 °.
FIG. 9 is a diagram illustrating an operation for two-dimensional swing in the case of FIG.

FIG. 2 is an embodiment of the present invention, in which the oscillating body has an inclination of 30;
FIG. 8 is a diagram illustrating an operation with respect to two-dimensional shaking in the case of °.

FIG. 3 is a configuration diagram of a three-dimensional device of the present invention.

[Explanation of symbols]

Horizontal table A upset body B C _1, C ₂ Tsukatai D center E central connecting body E ₁ of the bottom member D ₀ bottom member, E ₂ stretched body F weight hanging hard G slider H slide J support rod L load L ₁ , L ₂ R ₁ , R ₂ trajectory of movement N ₁ , N ₂ Normal line of L ₁ , L ₂ at R ₁ , R ₂ P ₀ Gimbal or rotary connector and its center P ₁ , P ₂ , P ₃ , P ₄ Upper connector Q ₁ , Q ₂ , Q ₃ , Q ₄ Lower connector R ₁ , R ₂ , R ₃ , R ₄ Bottom connector and its center S ₀ Central connector S ₁ , S _2, S _3, S ₄ terminal connector T _1, T ₂ limit line X-X 'horizontal axis Y-Y''horizontal axis Z-Z perpendicular to the' X-X vertical axis W weight W ₁ balance for heavy Weight α Lateral acceleration β Weight deflection angle δ Extension angle g Gravity θ Tilt angle γ Stable operating range

Claims (1)

[Claims] 1. A horizontal table for horizontally supporting a load by a central gimbal provided at a predetermined position on a rocking body, and said predetermined position on said rocking body along a plane corresponding to an XZ plane passing through the predetermined position. Each of a pair of upper connectors provided so as to be symmetrical to each other with respect to a position and provided on a bottom body disposed along the one plane corresponding to the XZ plane and symmetrically to each other with respect to a center position thereof. A pair of lower connectors connected to each other by a pair of equal-length suspension bodies, respectively, and a first suspension assembly corresponding to the XZ plane, which corresponds to a YZ plane passing through the predetermined position. Each of a pair of upper connectors provided on the rocking body so as to be symmetrical to each other with respect to the predetermined position along another plane;
Each of a pair of lower connectors provided symmetrically with respect to a center position on a bottom body arranged along the other plane corresponding to the plane is connected to each of the pair of lower connectors by a pair of equal-length suspension bodies. And a second suspension coupling body corresponding to the YZ plane, which is provided on the bottom body radially extended from the center position of the bottom body along the XZ plane and the YZ plane, respectively. A central connection unit provided with a plurality of terminal connection units connected to the plurality of bottom body connection units via a stretcher, and a weight suspended from the central connection unit of the central connection unit. A weight, a spherical slider provided at a center position of the bottom body, and a slider arranged such that an upper end is coupled to the central gimbal and a lower end slides and sandwiches an outer surface of the slider. The horizontal base supports the load horizontally even when the rocking body is rocked. A horizontal platform holding device using a suspension assembly configured to be held.