JP2001116594A - Horizontal stand-retaining device by passive control - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a horizontal stand-retaining device that has simple structure and can be operated securely, is inexpensive, and stabilizes posture by a complete passive system without depending on a conventional active system. SOLUTION: The horizontal stand-retaining device is provided with a horizontal stand for horizontally supporting a pair of loads on a rocking body with one gimbal, suspension connection bodies for XZ and YZ planes that are arranged so that they orthogonally cross each other for a specific position on the horizontal stand and set a suspension width ratio essentially to zero, a central connection body for connecting both the suspension connection bodies, and a heavy weight that is suspended from the central connection body, thus enabling the horizontal stand to horizontally support the loads against the rocking of the rocking body and the operation of traverse acceleration in a three-dimensional space.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for stably holding the attitude of a horizontally supported horizontal table 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,
A function must be provided to prevent a change in the posture due to a change in left-right inclination or a lateral acceleration.
For this purpose, an active method has conventionally been used in which the attitude of the balance supporter is controlled based on fluctuation information detected using a gyroscope or the like.

In recent years, with the growing demand for mobile communication, it has been desired to realize a simple and inexpensive device with a simple structure. In order to respond to such a demand, the inventor of the present application arranges a horizontal table that supports a pair of loads horizontally on a rocking body by one gimbal, and arranges the horizontal table at right angles to a predetermined position on the horizontal table. A tertiary suspension including the XZ plane suspension joint and the YZ plane suspension joint, a center connecting portion for connecting the two suspension joints, and a weight suspended from the center connection. Proposed earlier is a "horizontal table holding device using a suspension joint" having a configuration in which a horizontal table can horizontally support the load against the action of the rocking body and the lateral acceleration in the original space. [Japanese Patent Application No. 10-
No. 187051].

[0004]

However, in this prior-art apparatus, a suspension joint having a suspension width ratio greater than 1 is used, and its structural arrangement and operation are not simple.
The horizontal holding function has a disadvantage that an error occurs.

An object of the present invention is to further simplify the structure of the device according to the prior application, reduce errors in horizontal holding, and easily realize a passive stabilization that meets such a demand. An object of the present invention is to provide a horizontal platform holding device by control.

In order to achieve this object, the passive control horizontal leveling device according to the present invention comprises an XX 'system and a YY' system each having a central axis and a movable outer ring. A gimbal in which the axes are configured to be in an orthogonal relationship and the central axis of one of the systems on the fixed side is mounted at a predetermined position on the rocking body is different from the one on the fixed side of the gimbal. A horizontal table attached to the central axis of the other system on the equilibrium side; and a horizontal table attached to the horizontal table so that the horizontal table maintains a water-balanced state on the central axis on the equilibrium side of the gimbal. With respect to a vertical axis passing through the center of the gimbal, each pair radially forms a first opening angle downward from the center position on the equilibrium side, and the center on the equilibrium side such that each pair is orthogonal. Two pairs of suspension connection bodies each having an upper end attached to a shaft; Four lower rotary couplers attached to each lower end of the suspension connector, and lower ends respectively attached to the movable parts of the four lower rotary couplers and shorter than the length of the suspension connector. Interconnecting the two pairs of holding connectors having the following, four upper rotary couplers respectively attached to the upper ends of the two pairs of holding connectors, and the movable parts of the four upper rotary couplers. A central connector arranged such that each pair of the two pairs of holding connectors forms a second opening angle greater than the first opening angle with respect to the vertical axis below the gimbal; A weight suspension body having an upper end attached to the center of the central connector, and a weight attached to the lower end of the weight suspension body,
On the central axis of the gimbal, a combination of at least the two pairs of suspended connectors, the four lower rotational couplers, the two pairs of holding connectors, the four upper rotational couplers, and the central connector. A counterweight attached to the platform to be positioned above the gimbal for balancing with weight;
The weight is configured to be passively controlled by gravity so that the horizontal platform is kept horizontal on the rocking body. Further, a deflection control means for restricting deflection of the weight from the vertical axis within a range of the second opening angle can be provided.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The apparatus of the present invention has a special structure in which the value of the hanging width ratio is substantially zero in the apparatus of the prior application. The device of the present invention can maintain the attitude of the horizontal platform horizontally against the motion of the rocking body moving in the three-dimensional space, that is, the action of the tilt and the lateral acceleration.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. This device is used as a three-dimensional device, which is composed of an XX ′ system and a Y
Since it is realized by a configuration in which two two-dimensional devices of the -Y 'system are combined and one system is on the fixed side and the other system is on the equilibrium side, first, the system operates in the XZ plane.
The configuration and operation of the three-dimensional device will be described.

FIG. 1 illustrates the present invention in two-dimensional operation.
1 shows an example of the structure of a two-dimensional device to be used. A installs this device
A rocking body that serves as a base. P₀Is the reference point for this device
A gimbal that is positioned so that its center is in place.
You. Since this structural example is a two-dimensional device, the gimbal P₀
Is a central axis P arranged so as to be perpendicular to the plane of the drawing.
₀₁And its central axis P₀₁Formed to be rotatable around
Movable outer ring P₀₂As the structure of the rotary coupler having
It is shown. Gimbal P₀Movable outer ring P of₀₂Has its
The horizontal table B is fixed so as to project to both sides, and the horizontal table
Gimbal P ₀Center axis P of₀₁To support equilibrium above
Loads L of equal weight are applied to both ends of the horizontal base B.
Attached, and the movable outer ring P₀₂At the top center of the balance
Weight W₁Is attached via a support rod J.

In a practical three-dimensional apparatus, as will be described later, the gimbal P ₀ is composed of an XX ′ system and a YY ′ system arranged orthogonally to each other as described above, and a system on the fixed side. central axis P ₀₁ is fixed on the upset body a of the horizontal base B is mounted on the central axis of the system to be balanced side. However, FIG. 1 shows one two-dimensional device for easy understanding of the operation, the center axis _{P01 of which} is fixed, and the movable outer ring _P02.
Shows a state where the horizontal base is attached.

The gimbal P ₀ is attached to the movable outer ring P ₀₂ and radially downwardly opens from the center P ₀ at an opening angle γ ₁ (gimbal P ₀
Angle γ _1/2 for the vertical axis ZZ ′ passing through the center of
The suspension connectors C ₁ and C ₂ are extended so as to form the lower rotary couplers Q ₁ and Q _{2 at} the lower ends of the suspension connectors C ₁ and C ₂ , respectively.
Each central axis Q ₁₁ of _2, Q ₂₁ is attached.

Each movable outer ring Q of the lower rotary couplers Q ₁ and Q _2
12, each holding the connection member E ₁ to Q _22, and the lower end of the E ₂ is attached, the central axis S ₁₁ of each upper end of the holding connection assembly E _1, E ₂ is an upper rotary coupler S _1, S ₂ It is connected to S _21. The movable outer rings S ₁₂ and S ₂₂ of the upper rotary couplers S ₁ and S ₂ are interconnected by a central connector E. With such a configuration, the lower rotary couplers Q ₁ , Q ₂
The distance from each center to the vertical axis ZZ 'is made equal. The upper rotary couplers S ₁ and S ₂ are connected to the gimbal P _0.
, The length of each of the holding connectors E ₁ and E ₂ is shorter than the length of each of the suspension connectors C ₁ and C ₂ .

A weight suspension F is extended below the center point S ₀ of the central connector E, and a weight W is attached to a lower end thereof. That is, the central connection member E is held with the holding connector E _1, E ₂ opened at the center by angle gamma ₂ (opening angle gamma _2/2 for vertical axis ZZ '). As shown, γ
_2> is a γ _1. In addition, as described later, in a three-dimensional device,
The central connector E is configured to be retained by retaining connectors respectively connected to the four lower rotary couplers.

Central gimbal P₀Movable outer ring P of₀₂At the top of
Connected to a support rod J that is connected in a vertical direction
Weight W₁Is the suspension connector C₁, C_Two, Lower rotating coupling
Container Q ₁, Q_Two, Upper rotary coupler S₁, S_Two, Central connection
E and holding connector E₁, E _TwoBalance with the synthetic weight of
Equilibrium weight W₁It is.

H denotes a steady rest for the weight W, which has a cylindrical shape with an open top configured to have a desired radius around the vertical axis ZZ ', and
It is the opening angle (γ _1/2) regulating means for regulating within from Z '.

Hereinafter, the operation of the apparatus of the present invention will be described for a two-dimensional apparatus. FIG. 1 shows a state where the tilt angle θ of the rocking body A is 0 ° and only the gravity g acts. Weight W is at point P ₀
Are located on the vertical axis ZZ 'passing through the weight W, and when a force of f ₀ acts on the weight W, the lower rotary couplers Q ₁ and Q ₂ have the same f _0.
/ 2 force works. That is, the suspension connectors C ₁ and C ₂ are suspended symmetrically about the vertical axis ZZ ′, and the horizontal table B is held on the horizontal axis XX ′.

First consider the case where the device is subject to lateral acceleration. FIG. 2 is a diagram illustrating a state in which the lateral acceleration α acts on the device, the weight W swings by β = tan ⁻¹ (α / g), and the operation thereof. The suspension connectors C ₁ and C ₂ do not themselves move due to the action of the balanced weight W ₁ , and only the weight W swings. f ₀ is the middle point S of the central connector E
_This is the force of the weight W acting on _zero .

Now, as shown in FIG. 2, the weight W is, for example, a vertical axis.
If it swings to the right of ZZ ',
Continuation C₁, C_TwoDoes not move by itself and rotates downward
Coupler Q₁, Q_TwoIs also stationary. Central connection in this state
Body E is inclined so that the right end rises and the left end descends
You. At this time, the upper rotary coupler is similarly S_TwoRises and S
₁Falls, but the upper rotary coupler S₁, S_TwoEach central axis
S₁₁, S_{twenty one}Are attached to each upper end.
Continuation E₁, E_TwoEach lower end of the
Rotary coupler Q₁, Q_TwoEach movable outer ring Q₁₂, Q_{twenty two}Mounted on
The right upper rotational coupler S_TwoThen
Movable outer ring S_{twenty two}Has the effect of rising and turning clockwise (clockwise)
receive. In this case, the upper rotary coupler S_TwoCenter axis of
S_{twenty one}Receives the ascending action, but the lower rotating coupler on the right
Q_TwoIs stationary, its central axis S_{twenty one}Is the lower right
Rotary coupler Q_TwoCentered on the center and above the center and right
Rotary coupler S_TwoCenter axis S of_{twenty one}The distance from the center of the
Arc ARC indicated by dotted line_TwoWill move up.

On the other hand, the left upper rotary coupler S₁Then
Movable outer ring S₁₂Moves downward and counterclockwise (counterclockwise)
Receive. At this time, the upper rotary coupler S₁Center axis of
S₁₁Receives lowering action, but the lower rotating coupler on the left
Q₁Is stationary, its central axis S₁₁Is the lower left
Rotary coupler Q₁, The upper rotary coupler S ₁
Center axis S of₁₁Circle indicated by a dotted line whose radius is the distance from the center of
Arc ARC₁Will move up.

When the weight W swings to the left of the vertical line ZZ ', the central connector E is inclined such that the left end rises and the right end descends, as will be understood from the above operation. , the center of the center axis S ₁₁ on the left side of the upper rotary coupler S ₁ moves along an arc aRC ₁ of the center of the central shaft S ₂₁ of the right upper rotary coupler S _2, the arc AR
To move along the C _2.

As a result of the above operation, the lower rotary coupler Q ₁ ,
Assuming that the frictional force between each central axis of Q ₂ and each of the upper rotary couplers S ₁ , S ₂ and the movable outer ring has a negligible value, the weight W moves rightward from the vertical line ZZ ′. Also in the case of a right-up or left-up incline of the central connector E that occurs when swinging in the left or right direction, the centers of the central axes S ₁₁ and S ₂₁ of the upper rotary couplers S ₁ and S ₂ are as described above. Arc ARC ₁ , ARC
_Since the condition of moving on the top ₂ is ensured, the center S ₀ of the central connector E moves only slightly up and down along the vertical line ZZ ′. This means that the state in which the weight W moves around the center point S ₀ of the central connector is stable. As a result, the suspension connectors C ₁ and C ₂ remain stationary without changing their posture. This operation result has been confirmed by trial production of this device.

As described above, the posture of the suspension connector, that is, the horizontal base B is not affected by the action of the lateral acceleration.

The above description is an operation in a range where the deflection of the weight W does not exceed the opening angle γ ₁ of the suspension connectors C ₁ and C ₂ . Thus within the deflection of Jutsumu W is opening angle gamma _1,
In other words, the condition for keeping the posture is inside the radiations T ₁ and T ₂ . Therefore, it is not necessary under the condition that the deflection of the weight W is small, but when the deflection is large, the steady rest H for controlling the above-mentioned deflection is required.

Second, the inclination of the rocking body A will be considered.
For Figure 2, when the general upset body A is inclined, if there is friction in the gimbal P _0, the angle error δ occurs in the posture of the horizontal table B. If the friction force is f _R , the angle error δ is δ =
It is represented by sin ^-1 (f _R / f ₀ ). Here, f _R / f ₀
Is small to about 0.01 and it is easy to machine. Therefore, the horizontal table B is held almost horizontally to such an extent that an error cannot be caused even if the rocking body is inclined irrespective of the lateral acceleration. .

Finally, consider the case where the horizontal stage B is broken by an external force. As is clear from FIG. 1, only the gravity g is higher than the hanger point S ₀ of the weight was first set position when was collapsed horizontal stand posture under a state acting, the weight W The force due to the gravitational force g of the suspension point S ₀
To return to its original stable state. That is, the device has resilience.

The operation as a two-dimensional device has been described above. The three-dimensional device can be easily constructed by arranging the two-dimensional devices in an orthogonal relationship to each other as shown in the perspective view of FIG. In FIG. 3, P ₀ is a gimbal, and a system having a central axis P ₀₁ on the YY ′ axis is a fixed side coupled to the oscillator A, and a center is on the XX ′ axis orthogonal to this. The system with axis P ₀₃ is configured as the equilibrium side. Center axis P ₀₁ ,
P ₀₃ is supported by movable outer rings P ₀₂ and P ₀₄ , respectively. A horizontal table B is mounted on the central axis _P03 on the XX 'axis, and a load L is mounted on the horizontal table B so that the horizontal table B is horizontally supported in a balanced manner in the XY plane. Center point P of gimbal P _0
From the mounting member P, which is provided so as to be mounted on the central axis _P03 at ₀ and in which a pair of semicircular disks are orthogonally arranged, two pairs of suspension connectors C ₁ , C ₂ and C ₃ radiate downward. , C ₄ is stretched with a opening angle gamma ₁ in X-Z plane and Y-Z plane, respectively. When viewed as a two-dimensional device in the YZ plane, it can be seen that the suspension connectors C ₁ and C ₂ are completely equivalent to the state of being connected to the movable outer ring P ₀₂ in FIG. Further _{Q 1 ~Q 4, E 1 ~E} 4, S 1 ~S 4 are each four components. Other symbols are the same as in FIGS. 1 and 2. Here each holding connector E ₁ to E ₄ in through the upper rotary coupler S ₁ to S ₄ is connected to the planar central connector E. Upper rotary coupler S _1, S ₂ and S _3, S
₄ mounting positions are symmetrical to each other with respect to the center point S ₀ of the central connecting body E, the mounting position of the upper rotary coupler S ₁ to S ₄ forms a rectangle. The lower end of the weight hanging hard F attached to the center point S ₀ is the weight W is mounted. The steady rest H of the three-dimensional device is shown as cylindrical, but a part thereof is omitted to avoid confusion in the figure.

In the above configuration, as can be understood from the above description of the two-dimensional device, the holding connectors E _{1 to} E _{4 change} the attitude of the horizontal table to the horizontal state with respect to the deflection angle β due to the lateral acceleration of the weight W. Operate to maintain In addition, by making the mounting position of the upper rotary couplers S _{1 to} S ₄ rectangular,
The weight W moves smoothly. Further, even if the rocking body A is tilted in any direction, the attitude of the horizontal base B maintains a substantially balanced state. Further, it is clear from the configuration of FIG. 3 that the posture is restored even if the horizontal base B is externally disturbed.

In the above description, the lower rotary coupler Q ₁
In to Q ₄ and the upper rotary coupler S ₁ to S _4, the center axis is a fixed part, but the outer ring is described as a movable portion, using the central axis of the outer ring and the fixing portion as a movable portion You can also.

As described above, the "passive controlled horizontal platform holding apparatus" according to the present invention shown in FIG. 3 is composed of an XX 'system and a YY' system each having a center axis and a movable outer ring. And a gimbal (P ₀ ) in which the center axis of one of the systems on the fixed side is mounted at a predetermined position on the rocking body (A); A horizontal table (B) attached to the center axis of the other system that is orthogonal to the one system that is the fixed side, and the horizontal table (B) is mounted on the equilibrium side of the gimbal (P ₀ ). Each pair of the load (L) attached to the horizontal table and the vertical axis (ZZ ') passing through the center position of the gimbal is on the equilibrium side with respect to the central axis. first opening angle radially downward from the center position of the (gamma _1/2) formed and each pair is orthogonal Hanger connection of two pairs of respective upper end is attached to the central axis of the balanced side (C _1, C _2;
C ₃ , C ₄ ) and the two pairs of suspension connection bodies (C ₁ , C ₂ ; C
_3, C ₄₎ four bottom rotary coupler attached to each lower end of the (Q _1, Q _2, Q _3, Q _4), said four bottom rotary coupler (Q _1, Q _2, Q ₃ , Q ₄ ), the lower end of each of which is attached to each of the movable parts, and the suspension connector (C ₁ , C ₂ , C ₄ )
_3, C ₄ 2 pairs of holding connection member having a length shorter than the length _{of) (E 1, E 2;} E 3, E 4) and the holding connection of the two pairs _{(E 1, E 2; E} 3 , E ₄ ), four upper rotary couplers (S ₁ , S ₂ , S ₃ ,
S ₄ ), and the movable parts of the four upper rotary couplers are interconnected to each other (E ₁ , E ₂ ; E ₃ ,
E ₄₎ so as to form the vertical axis below the gimbal (ZZ 'the first opening angle (gamma _1/2) than become larger second opening angle with respect to) (gamma _2/2) A central connector (E) arranged, a weight suspended body (F) having an upper end attached to the center (S ₀ ) of the central connector, and an attached lower end of the weight suspended body (F) Weight (W) and at least the two pairs of suspension connectors (C ₁ , C ₂ ; C ₃ , C ₄ ) on the central axis of the system on the equilibrium side of the gimbal P ₀ , 4 above
Lower rotating couplers (Q ₁ , Q ₂ , Q ₃ , Q ₄ ), the two pairs of holding connection frames (E ₁ , E ₂ ; E ₃ , E ₄ ), and the four upper rotating couplers (S ₁ , S ₂ , S ₃ , S ₄ ) and the composite weight of the central connector (E),
A counterweight (W ₁ ) attached to the horizontal base so as to be located above the horizontal base (B), and
Above, the weight (W) is configured to be passively controlled by gravity so that the horizontal table (B) is kept horizontal.

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

[0031]

The device of the present invention can be widely used as an inclinometer on a oscillating body which is subject to shaking and impact due to its simple structure, or 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 a schematic front view showing a two-dimensional configuration of an embodiment of the present invention.

FIG. 2 is a schematic front view for explaining an operation with respect to a swing of a two-dimensional configuration of the device of the present invention.

FIG. 3 is a perspective view showing a configuration example of a three-dimensional device of the present invention.

[Explanation of symbols]

A Moving body B Horizontal table C ₁ , C ₂ , C ₃ , C ₄ Suspended connection E Central connection E ₁ , E ₂ , E ₃ , E ₄ Holding connection F F Weight suspension H Steady J Support rod L load P mounting member P ₀ gimbal and the movable outer ring Q ₁ with respect to the rotation axis _{P 02, P 04 P 01,} P 03 of the center _{P 01, P 03 P 0,} Q 2, Q 3, Q 4 lower rotary coupling vessel Q _11, Q ₂₁ Q _1, midpoint S ₁ of Q inner ring Q ₁₂ of _{2, Q 22 Q 1, Q} 2 of the outer ring _{S 0 E, S 2, S} 3, S 4 upper rotary coupler S ₁₁ , S ₂₁ S ₁ , S ₂ Inner ring S ₁₂ , S ₂₂ S ₁ , S ₂ Outer ring T ₁ , T ₂ Extension direction of suspension connection body XX ′ Horizontal axis YY ′ XX ′ orthogonal horizontal axis Z-Z 'vertical axis W weight W ₁ balance weight ARC _1, ARC ₂ S _1, the locus f of the center of motion of S _{2 0} S ₀ to acting force β deflection angle θ upset of the weight of the body inclination angle gamma ₁ hanger connection of opening angle gamma ₂ held connection of the Can angle

Claims (2)

[Claims] 1. An XX ′ system and a YY ′ system each having a central axis and a movable outer ring, each of which is configured such that the central axes are orthogonal to each other, and one of the systems on the fixed side is provided. A gimbal in which the center axis of the system is mounted at a predetermined position on the rocking body; and a horizontal table mounted on the center axis of the other system which is on the equilibrium side different from the one on the fixed side of the gimbal. A load mounted on the horizontal platform such that the horizontal platform maintains a water-equilibrium state on the central axis on the equilibrium side of the gimbal; and each pair with respect to a vertical axis passing through the center of the gimbal. Two pairs of suspension connectors, each of which forms a first opening angle radially downward from the center position on the equilibrium side and each upper end is attached to the central axis on the equilibrium side such that each pair is orthogonal to each other; Four lower rotary couplers attached to each lower end of the two pairs of suspension connection bodies; A lower end is attached to each movable part of the lower rotary coupler, and two pairs of holding connectors having a length shorter than the length of the suspension connector are attached to each upper end of the two pairs of holding connectors. 4
The upper rotating couplers and the movable parts of the four upper rotating couplers are interconnected.
A central connector, wherein each pair of the retaining connectors of the pair is arranged to form a second opening angle greater than the first opening angle with respect to the vertical axis below the gimbal; A weight suspended body having an upper end attached to the center of the body, a weight attached to a lower end of the weight suspended body, and at least the two pairs of suspended connection bodies on a center axis of the gimbal; The water is positioned above the gimbal to balance the combined weight of the four lower rotational couplers, the two pairs of retaining connectors, the four upper rotational couplers, and the central connector. And a balance weight attached to a flat base, wherein the horizontal base is held by passive control so that passive control by gravity of the weight is performed so that the horizontal base is kept horizontal on the rocking body. apparatus. 2. The passive control according to claim 1, further comprising a run-out control unit that controls run-out of the weight from the vertical axis within a range of the second opening angle. Horizontal platform holding device.