JP2001270500A - Angle adjusting device - Google Patents
Angle adjusting deviceInfo
- Publication number
- JP2001270500A JP2001270500A JP2000088960A JP2000088960A JP2001270500A JP 2001270500 A JP2001270500 A JP 2001270500A JP 2000088960 A JP2000088960 A JP 2000088960A JP 2000088960 A JP2000088960 A JP 2000088960A JP 2001270500 A JP2001270500 A JP 2001270500A
- Authority
- JP
- Japan
- Prior art keywords
- angle adjusting
- flexible elastic
- angle
- adjusting device
- axial direction
- 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.)
- Granted
Links
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、例えば人工衛星
や宇宙ステーション等の宇宙航行体に搭載されるアンテ
ナ装置や光学機器等の高精度な設置精度が要請される機
器を高精度に設置するのに用いる角度調節装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for installing a high-precision device such as an antenna device or an optical device mounted on a space vehicle such as an artificial satellite or a space station. The present invention relates to an angle adjusting device used for:
【０００２】[0002]
【従来の技術】一般に、搭載機器、例えばアンテナ装置
を宇宙航行体に搭載する手段としては、図９に示すよう
にアンテナ反射鏡１を、ブーム２の先端に取付けて、こ
のブーム２の基端が角度調節装置３を介して宇宙航行体
本体４に角度調整可能に取付けられる。そして、このよ
うなアンテナ装置は、そのブーム２の組付け誤差や熱変
形等により、アンテナ反射鏡１の指向方向に誤差が生じ
た場合、上記角度調節装置３が図中破線で示す如く可動
制御されて、そのアンテナ反射鏡１の角度誤差が補正さ
れる。これにより、アンテナ反射鏡１は、そのブーム２
を介して所望の指向方向に搭載された状態において、そ
の指向方向が角度調節装置３を介して調整されて誤差が
補正され、その給電部５と協動して信号の送受が行われ
る。2. Description of the Related Art Generally, as means for mounting an on-board device, for example, an antenna device on a spacecraft, an antenna reflector 1 is attached to a distal end of a boom 2 as shown in FIG. Is attached to the spacecraft main body 4 via the angle adjusting device 3 so that the angle can be adjusted. When such an antenna device has an error in the pointing direction of the antenna reflecting mirror 1 due to an assembly error of the boom 2, thermal deformation, or the like, the angle adjusting device 3 controls the movement of the antenna as shown by a broken line in the figure. Then, the angle error of the antenna reflecting mirror 1 is corrected. As a result, the antenna reflecting mirror 1
In the state where the antenna is mounted in a desired directional direction, the directional direction is adjusted via the angle adjusting device 3 to correct an error, and signals are transmitted and received in cooperation with the power supply unit 5.
【０００３】ところで、このような従来の角度調節装置
３は、一般的に、２軸ジンバル機構等のいわゆるシリア
ルリンク構造のものが用いられている。例えば、ブーム
２の基端側には、第１のテーブルが第１の軸回りに回動
自在に取付けられ、この第１のテーブル上には、第２の
テーブルが第１の軸に直交する第２の軸回りに回動自在
に配設される。そして、上記第２のテーブル上には、上
記アンテナ反射鏡１が設置される。Incidentally, such a conventional angle adjusting device 3 generally has a so-called serial link structure such as a two-axis gimbal mechanism. For example, a first table is attached to the base end side of the boom 2 so as to be rotatable around a first axis. On the first table, a second table is orthogonal to the first axis. It is arranged rotatably around the second axis. Then, the antenna reflecting mirror 1 is installed on the second table.
【０００４】上記構成において、アンテナ反射鏡１は、
第１の軸回りに回動制御されると、第２のテーブルが第
１のテーブルと共に第１の軸回りに回動されて、その角
度が可動調整され、第２の軸回りに回動制御されると、
第２のテーブルが第２の軸回りに回動されて、その角度
が可動調整される。In the above configuration, the antenna reflecting mirror 1 is
When the rotation control is performed about the first axis, the second table is rotated about the first axis together with the first table, the angle thereof is movably adjusted, and the rotation control is performed about the second axis. When done
The second table is rotated about the second axis, and the angle is movably adjusted.
【０００５】しかしながら、上記角度調節装置３では、
シリアルリンク構造を採用し、その回転支軸が２軸積重
状に存在するために、その構成が複雑となると共に、そ
の回動支軸に、いわゆる「がた」と称する遊びが発生す
る虞れがあり、その固有振動数が低下して、高精度な角
度調整が困難であるという問題を有する。However, in the angle adjusting device 3,
The serial link structure is employed, and the rotation support shafts are in the form of a two-axis stack, which complicates the configuration and may cause a so-called play in the rotation support shaft. However, there is a problem that the natural frequency is lowered and it is difficult to adjust the angle with high accuracy.
【０００６】また、これによると、角度調節を回転型駆
動装置で制御する場合は、第１及び第２のテーブルを位
置決めするためのブレーキ機構を備えなければならない
ために、この点からも構成が複雑となる。According to this, when the angle adjustment is controlled by a rotary driving device, a brake mechanism for positioning the first and second tables must be provided. It gets complicated.
【０００７】なお、係る問題は、特に、簡単な構成で、
高精度な精度と共に、高信頼性の要請される宇宙開発の
分野では、重要な課題の一つとなっている。[0007] The above problem is particularly problematic with a simple configuration.
This is one of the important issues in the field of space development, which requires high accuracy and high reliability.
【０００８】[0008]
【発明が解決しようとする課題】以上述べたように、従
来の角度調節装置では、構成が複雑となると共に、高精
度な角度調整が困難であるという問題を有する。As described above, the conventional angle adjusting device has a problem that the structure is complicated and that it is difficult to adjust the angle with high accuracy.
【０００９】この発明は、上記の事情に鑑みてなされた
もので、簡易な構成で、且つ、信頼性の高い高精度な角
度調整を容易に実現し得るようにした角度調節装置を提
供することを目的とする。SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides an angle adjusting device having a simple configuration and capable of easily realizing highly reliable and accurate angle adjustment. With the goal.
【００１０】[0010]
【課題を解決するための手段】この発明は、角度調整部
と支持部との間に放射状に配置され、相互間を連結する
弾性変形自在な第１乃至第３の可撓性弾性体と、この第
１乃至第３の可撓性弾性体の少なくとも２つを、軸方向
に摺動させて前記角度調整部を前記支持部に対して角度
調整してなる角度調節手段とを備えて角度調節装置を構
成した。According to the present invention, there is provided an elastically deformable first to third flexible elastic member which is radially arranged between an angle adjusting portion and a support portion and interconnects each other; Angle adjusting means for adjusting at least two of the first to third flexible elastic members in the axial direction to adjust the angle of the angle adjusting portion with respect to the support portion. The device was configured.
【００１１】上記構成によれば、第１乃至第３の可撓性
弾性体の少なくとも２つを軸方向に摺動させると、これ
ら第１乃至第３の可撓性弾性体が弾性変形することによ
り、して、他の一つを支点する直交２軸回りに回動され
て、角度調整部が支持部に対して角度調整される。これ
により、「がた」の発生原因となり易い、軸回りに回動
可能な回動支軸を備えることなく、角度調整部の角度調
整が可能となることにより、可及的に高精度な角度調整
が可能となる。According to the above configuration, when at least two of the first to third flexible elastic bodies are slid in the axial direction, the first to third flexible elastic bodies are elastically deformed. Accordingly, the angle adjustment unit is rotated about two orthogonal axes that support the other one, and the angle of the angle adjustment unit is adjusted with respect to the support unit. This makes it possible to adjust the angle of the angle adjustment unit without providing a rotation support shaft that can rotate around the axis, which is likely to cause “play”, and as a result, the angle can be adjusted as accurately as possible. Adjustment is possible.
【００１２】また、この発明は、前記第１乃至第３の可
撓性弾性体を、角度調整部と支持部との間に同心円上に
配設して相互間を連結するように構成した。Further, in the present invention, the first to third flexible elastic members are arranged concentrically between the angle adjusting portion and the support portion so as to connect them.
【００１３】上記構成によれば、第１乃至第３の可撓性
弾性体の摺動制御の高精度な調整が簡易に実現されて、
角度調整の簡略化が図れる。According to the above configuration, highly accurate adjustment of the sliding control of the first to third flexible elastic members can be easily realized,
The angle adjustment can be simplified.
【００１４】さらに、この発明は、前記角度調整部と前
記支持部との間に予圧を付与する付勢手段を備えて構成
した。Further, the present invention includes an urging means for applying a preload between the angle adjusting section and the support section.
【００１５】上記構成によれば、角度調整部と支持部と
の間の「がた」を高精度に防止することが可能となり、
さらに角度調整の高性能化が図れる。According to the above configuration, it is possible to prevent "chatter" between the angle adjusting section and the supporting section with high accuracy.
Further, higher performance of the angle adjustment can be achieved.
【００１６】[0016]
【発明の実施の形態】以下、の発明の実施の形態につい
て、図面を参照して詳細に説明する。Embodiments of the present invention will be described below in detail with reference to the drawings.
【００１７】図１は、この発明の一実施の形態に係る角
度調節装置を示すもので、支持構体等の支持部１０に
は、第１のテーブル１１が取付けられる。この第１のテ
ーブル１１上には、第２のテーブル１２が、例えば図２
に示すように仮想中心Ｏに対して同心円上に配置された
弾性変形自在な第１乃至第３の可撓性弾性体１３，１
４，１５を介していわゆるパラレルリンク構造に連結さ
れる。そして、第２のテーブル１２には、アンテナ装置
等の角度調整用の被調整機器１６が設置される。FIG. 1 shows an angle adjusting apparatus according to an embodiment of the present invention. A first table 11 is attached to a support section 10 such as a support structure. On the first table 11, a second table 12, for example, as shown in FIG.
, Elastically deformable first to third flexible elastic members 13 and 1 disposed concentrically with respect to a virtual center O as shown in FIG.
4 and 15 are connected to a so-called parallel link structure. Then, on the second table 12, an adjustment target device 16 for angle adjustment such as an antenna device is installed.
【００１８】上記第１の可撓性弾性体１３は、その両端
に螺子部１３１，１３２が形成され、この螺子部１３
１，１３２が上記第１及び第２のテーブル１１，１２に
挿通されてナット部材１７が螺着されて該第１及び第２
のテーブル１１，１２間に固着される。そして、上記第
２及び第３の可撓性弾性体１４（１５）は、略同様にそ
の両端に螺子部１４１，１４２（１５１，１５２）が形
成され、これら螺子部１４１，１４２（１５１，１５
２）の一方が第２のテーブル１２に挿通されてナット部
材１７がそれぞれ螺着されて該第２のテーブル１２に固
着される。The first flexible elastic body 13 has screw portions 131 and 132 formed at both ends thereof.
1 and 132 are inserted through the first and second tables 11 and 12 and the nut member 17 is screwed into the first and second tables 11 and 12.
Is fixed between the tables 11 and 12. The second and third flexible elastic members 14 (15) are formed with screw portions 141, 142 (151, 152) at both ends in substantially the same manner, and these screw portions 141, 142 (151, 15) are formed.
One of 2) is inserted through the second table 12, and the nut members 17 are respectively screwed and fixed to the second table 12.
【００１９】また、上記第２及び第３の可撓性弾性体１
４，１５の他方の螺子部１４２（１５２）には、スライ
ド部材１９（２０）の一端が螺着される。これらスライ
ド部材１９（２０）には、上記螺子孔１９１（２０１）
がそれぞれ軸方向に対応して形成され、上記第１のテー
ブル１１に設けられた筒状の案内部材２１（２２）の案
内部２１１（２２１）に矢印Ａ，Ｂ方向（軸方向）にそ
れぞれ摺動自在に挿着される。そして、これらスライド
部材１９（２０）の螺子孔１９１（２０１）の他端側に
は、螺子部材２３（２４）の一端部が螺合調整自在に螺
合される。Further, the second and third flexible elastic members 1
One end of the slide member 19 (20) is screwed to the other screw portion 142 (152) of the fourth or fifth screw member. These slide members 19 (20) have screw holes 191 (201).
Are formed corresponding to the axial directions, respectively, and are slid in the directions of arrows A and B (axial directions) on the guide portions 211 (221) of the cylindrical guide members 21 (22) provided on the first table 11, respectively. It is inserted movably. One end of a screw member 23 (24) is screwed to the other end side of the screw hole 191 (201) of the slide member 19 (20) so as to be able to be screwed and adjusted.
【００２０】螺子部材２３（２４）には、その中間部に
回転部２３１（２４１）が設けられ、この回転部２３１
（２４１）は、軸受２５（２６）を介して上記案内部材
２１（２２）に回転自在に支持される。また、螺子部材
２３（２４）の他端には、駆動モータ２７（２８）が減
速機構部２９（３０）を介して連結される。これら減速
機構部２９（３０）及び駆動モータ２７（２８）は、上
記案内部材２１（２２）に取付け部材３１（３２）を介
して取付け配置される。The screw member 23 (24) is provided with a rotating part 231 (241) at an intermediate part thereof.
(241) is rotatably supported by the guide member 21 (22) via a bearing 25 (26). A drive motor 27 (28) is connected to the other end of the screw member 23 (24) via a speed reduction mechanism 29 (30). The deceleration mechanism 29 (30) and the drive motor 27 (28) are mounted on the guide member 21 (22) via mounting members 31 (32).
【００２１】ここで、上記第１乃至第３の可撓性弾性体
１３，１４，１５は、例えば第２及び第３の可撓性弾性
体１４，１５がそれぞれ図３に示すように軸方向にδだ
け摺動されると、それぞれが弾性変形して第１の可撓性
弾性体１３を支点として第２のテーブル１２が、角度θ
傾斜され、その支点間の長さＬが ΔＬ＝（Ｌ2＋δ2）0.5−Ｌ の如く長くなる。Here, the first to third flexible elastic members 13, 14, 15 are formed, for example, by the second and third flexible elastic members 14, 15, respectively, as shown in FIG. , Each of them is elastically deformed, and the second table 12 is rotated by an angle θ with the first flexible elastic body 13 as a fulcrum.
It is inclined, and the length L between its fulcrums becomes longer as ΔL = (L 2 + δ 2 ) 0.5 -L.
【００２２】即ち、第２及び第３の可撓性弾性体１４，
１５が同方向に摺動されると、第２のテーブル１２は、
第１の可撓性弾性体１３を支点として直交２軸（Ｘ軸，
Ｙ軸）のＸ軸回りに回動され、第２及び第３の可撓性弾
性体１４，１５が逆方向に摺動されると、第１の可撓性
弾性体１３を支点としてＹ軸回りに回動される（図２参
照）。That is, the second and third flexible elastic members 14,
15 is slid in the same direction, the second table 12
With the first flexible elastic body 13 as a fulcrum, two orthogonal axes (X axis,
When the second and third flexible elastic bodies 14 and 15 are slid in opposite directions around the X axis (Y axis), the Y axis is It is pivoted around (see FIG. 2).
【００２３】さらに、上記第２及び第３の可撓性弾性体
１４，１５の周囲には、予圧用スプリング部材３３（３
４）がハウジング３５（３６）を介して装着される。こ
れらスプリング部材３３（３４）は、その一端が第１の
テーブル１１に係着され、その他端が第２のテーブル１
２に、例えば離間する方向に付勢力を付与するように係
着される。Further, a preload spring member 33 (3) is provided around the second and third flexible elastic bodies 14 and 15.
4) is mounted via the housing 35 (36). One end of each of the spring members 33 (34) is engaged with the first table 11 and the other end is connected to the second table 1.
2 is engaged so as to apply an urging force in a direction in which the two are separated from each other.
【００２４】上記構成において、第２のテーブル１２を
第１のテーブル１１に対してＹ軸回りに角度調整する場
合には、先ず駆動モータ２７，２８を同方向に回転駆動
させる。すると、駆動モータ２７，２８の回転力は、減
速機構部２９，３０を介して螺子部材２３，２４に伝達
され、該螺子部材２３，２４が同方向に回転されて、ス
ライド部材１９，２０の螺子孔１９１，２０１との螺合
が調整され、図４に示すようにスライド部材１９，２０
を矢印Ａ方向に移動付勢する。In the above configuration, when the angle of the second table 12 is adjusted about the Y axis with respect to the first table 11, first, the drive motors 27 and 28 are driven to rotate in the same direction. Then, the rotational force of the drive motors 27 and 28 is transmitted to the screw members 23 and 24 via the speed reduction mechanisms 29 and 30, and the screw members 23 and 24 are rotated in the same direction, and the sliding members 19 and 20 are rotated. The screw engagement with the screw holes 191 and 201 is adjusted, and as shown in FIG.
In the direction of arrow A.
【００２５】ここで、第２及び第３の可撓性弾性体は、
スライド部材１９，２０の移動量δｙだけ摺動されて、
第２のテーブル１２が、第１の可撓性弾性体１３を支点
として、角度θｙ傾斜され、被調整機器１６をＹ軸回り
に角度調整させる。この際、第２及び第３の可撓性弾性
体１４，１５は、スプリング部材３３，３４を介して所
定の予圧が付与される。Here, the second and third flexible elastic bodies are:
The slide members 19 and 20 are slid by the movement amount δy,
The second table 12 is tilted at an angle θy about the first flexible elastic body 13 as a fulcrum, and adjusts the angle of the device to be adjusted 16 about the Y axis. At this time, a predetermined preload is applied to the second and third flexible elastic bodies 14 and 15 via the spring members 33 and 34.
【００２６】また、第２のテーブル１２を第１のテーブ
ル１１に対してＸ軸回りに角度調整する場合には、駆動
モータ２７，２８が逆方向に駆動される。すると、駆動
モータ２７，２８の回転力は、減速機構部２９，３０を
介して螺子部材２３，２４に伝達されて、該螺子部材２
３，２４が逆方向に回転され、スライド部材１９，２０
の螺子孔１９１，２０１との螺合が調整され、該スライ
ド部材１９，２０を矢印Ａ方向及び矢印Ｂ方向に移動付
勢する。When adjusting the angle of the second table 12 about the X axis with respect to the first table 11, the drive motors 27 and 28 are driven in the opposite directions. Then, the rotational force of the drive motors 27, 28 is transmitted to the screw members 23, 24 via the speed reduction mechanism units 29, 30, and the screw members 2
3 and 24 are rotated in the opposite direction, and the slide members 19 and 20 are rotated.
The screw engagement with the screw holes 191 and 201 is adjusted, and the slide members 19 and 20 are urged to move in the arrow A direction and the arrow B direction.
【００２７】ここで、第２及び第３の可撓性弾性体１
４，１５は、図５に示すようにスライド部材１９，２０
の移動量δｙだけ摺動されて、第２のテーブル１２が、
第１の可撓性弾性体１３を支点として、角度θｙ傾斜さ
れ、被調整機器１６をＹ軸回りに角度調整させる。この
際、第２及び第３の可撓性弾性体１４，１５は、同様に
スプリング部材３３，３４を介して所定の予圧が付与さ
れる。Here, the second and third flexible elastic bodies 1
4, 15 are sliding members 19, 20 as shown in FIG.
Is moved by the movement amount δy of
With the first flexible elastic body 13 as a fulcrum, the angle is tilted by θy, and the device to be adjusted 16 is adjusted in angle around the Y axis. At this time, a predetermined preload is similarly applied to the second and third flexible elastic bodies 14 and 15 via the spring members 33 and 34.
【００２８】このように、上記角度調節装置は、第１及
び第２のテーブル１１，１２を同心円上に配置した第１
乃至第３の可撓性弾性体１３，１４，１５を介して対向
配置して、その第２及び第３の可撓性弾性体１４，１５
を、軸方向に摺動制御することにより、これら第１乃至
第３の可撓性弾性体１３，１４，１５が弾性変形され
て、第２のテーブル１２が第１の可撓性弾性体１３を支
点として第１のテーブル１１に対して回動され、被調整
機器１６が支持部１０に対して角度調整されるように構
成した。As described above, the angle adjusting device has a structure in which the first and second tables 11 and 12 are arranged concentrically.
And the third and third flexible elastic members 14, 15 are disposed to face each other via the third and third flexible elastic members 13, 14, 15.
The first to third flexible elastic members 13, 14, 15 are elastically deformed by controlling the sliding of the first elastic member 13 in the axial direction, and the second table 12 is moved to the first flexible elastic member 13. Is rotated with respect to the first table 11 with the fulcrum as a fulcrum, so that the device to be adjusted 16 is adjusted in angle with respect to the support 10.
【００２９】これによれば、「がた」の発生原因となり
易い、軸回りに回動される回動支軸を備えることなく、
支持部１０に対する被調整機器１６の角度調整を実現す
ることができることにより、簡易な構成を実現したうえ
で、高精度な角度調整を実現することができる。According to this, without providing a pivot which is likely to cause "lash" and which is rotated around an axis,
Since the angle adjustment of the device to be adjusted 16 with respect to the support unit 10 can be realized, a simple configuration can be realized, and also highly accurate angle adjustment can be realized.
【００３０】なお、この発明は、上記実施の形態に限る
ことなく、その他、図６、図７及び図８に示すように構
成することも可能であり、いずれの構成においても略同
様の効果が期待される。但し、図６、図７及び図８
（ａ）（ｂ）においては、前記図１及び図２と同一部分
について、同一符号を付して、その説明を省略する。The present invention is not limited to the above-described embodiment, but may be configured as shown in FIGS. 6, 7, and 8, and substantially the same effects can be obtained in any of the configurations. Be expected. However, FIGS. 6, 7 and 8
1A and 1B, the same parts as those in FIGS. 1 and 2 are denoted by the same reference numerals, and the description thereof will be omitted.
【００３１】図６は、上記図１のスライド部材１９（２
０）に代えて第２及び第１の可撓性弾性体１４，１５の
他端にスライド部１４３（１５３）を一体的に設けて構
成したものである。即ち、第２及び第３の可撓性弾性体
１４（１５）には、その他端にスライド部１４３（１５
３）が一体的に形成され、このスライド部１４３（１５
３）は、上記案内部材２１（２２）の案内部２１１（２
２１）に矢印Ａ，Ｂ方向に摺動自在に挿着される。この
スライド部１４３（１５３）には、同様に螺子孔１４４
（１５４）が軸方向に対応して形成され、この螺子孔１
４４（１５４）には、上記螺子部材２３（２４）の一端
部が螺合調整自在に螺合される。そして、この螺子部材
２３（２４）は、同様にその回転部２３１（２４１）
が、軸受２５（２６）を介して案内部材２１（２２）に
回転自在に支持される。FIG. 6 shows the slide member 19 (2
The slide part 143 (153) is integrally provided at the other end of the second and first flexible elastic bodies 14 and 15 in place of (0). That is, the second and third flexible elastic bodies 14 (15) are provided with a sliding portion 143 (15
3) are integrally formed, and the slide portion 143 (15)
3) is a guide portion 211 (2) of the guide member 21 (22).
21) is slidably inserted in the directions of arrows A and B. Similarly, a screw hole 144 is formed in the slide portion 143 (153).
(154) are formed corresponding to the axial direction.
One end of the screw member 23 (24) is screwed into 44 (154) so as to be freely screwed. And this screw member 23 (24) also has its rotating part 231 (241).
Are rotatably supported by guide members 21 (22) via bearings 25 (26).
【００３２】また、螺子部材２３（２４）の他端には、
動力伝達路変更用の歯車３７（３８）が嵌着される。こ
の歯車３７（３８）には、駆動歯車３９（４０）が歯合
され、この駆動歯車３９（４０）には、上記駆動モータ
２７（２８）に連結された減速機構部２９（３０）の出
力軸が嵌着される。これにより、第２及び第３の可撓性
弾性体１４，１５は、第１及び第２のテーブル１１，１
２の外周部に対して、動力伝達系を構成する減速機構部
２９（３０）及び駆動モータ２７（２８）が邪魔となる
ことなく、配置することが可能となることにより、その
配置構成上の多様化が図れる。Further, at the other end of the screw member 23 (24),
A power transmission path changing gear 37 (38) is fitted. A drive gear 39 (40) meshes with the gear 37 (38). The drive gear 39 (40) has an output of the reduction mechanism 29 (30) connected to the drive motor 27 (28). The shaft is fitted. Thereby, the second and third flexible elastic bodies 14 and 15 are connected to the first and second tables 11 and 1.
In the outer peripheral portion of the motor 2, the speed reduction mechanism 29 (30) and the drive motor 27 (28) constituting the power transmission system can be arranged without obstruction, so that Diversification can be achieved.
【００３３】さらに、上記第１及び第２のテーブル１
１，１２には、予圧用第１及び第２の取付け台４１，４
２が対応して設けられる。このうち第２のテーブル１２
の第２の取付け台４２には、ローラ４２１が設けられ、
第１のテーブル１１の第１の取付け台４１には、押圧部
４１１が上記軸方向と直交する方向に移動自在に設けら
れる。Further, the first and second tables 1
1 and 12, first and second preloading mounts 41 and 4 are provided.
2 are provided correspondingly. Of these, the second table 12
A roller 421 is provided on the second mounting table 42 of
On the first mounting table 41 of the first table 11, a pressing portion 411 is provided movably in a direction orthogonal to the axial direction.
【００３４】そして、第１の取付け台４１と押圧部４１
１との間には、予圧用スプリング部材４３がローラ方向
に付勢力を付与するように係着される。ここで、スプリ
ング部材４３は、その付勢力を押圧部４１１に付与し
て、押圧部４１１を第２の取付け台４２のローラ４２１
に押圧して、第２及び第３の可撓性弾性体１４（１５）
に対して軸方向と直交する方向に予圧を与える。なお、
第２及び第３の可撓性弾性体１４（１５）は、同時に上
記スプリング部材３３（３４）により、軸方向の予圧が
付与される。Then, the first mounting table 41 and the pressing portion 41
1, the preload spring member 43 is engaged so as to apply an urging force in the roller direction. Here, the spring member 43 applies the urging force to the pressing portion 411 to apply the pressing portion 411 to the roller 421 of the second mount 42.
To the second and third flexible elastic bodies 14 (15).
, A preload is applied in a direction perpendicular to the axial direction. In addition,
The second and third flexible elastic bodies 14 (15) are simultaneously preloaded in the axial direction by the spring members 33 (34).
【００３５】なお、上記ローラ４２１及び押圧部４１１
は、図６の構成に限ることなく、押圧部４１１を第２の
取付け台４１に設け、ローラ４２１を第１の取付け台４
１に設けるように構成してもよい。The roller 421 and the pressing portion 411
The present invention is not limited to the configuration shown in FIG. 6, and the pressing portion 411 is provided on the second mounting base 41 and the roller 421 is mounted on the first mounting base 4.
1 may be provided.
【００３６】また、図７は、第２及び第３の可撓性弾性
体１４（１５）の他端に図６の構成と略同様にスライド
部１４３（１５３）を一体的に設けて、このスライド部
１４３（１５３）の基端に螺子部１４６（１５６）を突
設するように構成したものである。即ち、第２及び第３
の可撓性弾性体１４（１５）の各スライド部１４３（１
５３）は、上記案内部材２１（２２）に摺動自在に支持
される。FIG. 7 shows that the slide portions 143 (153) are integrally provided at the other ends of the second and third flexible elastic members 14 (15) in substantially the same manner as in FIG. The screw portion 146 (156) is configured to protrude from the base end of the slide portion 143 (153). That is, the second and third
Each slide portion 143 (1) of the flexible elastic body 14 (15)
53) is slidably supported by the guide members 21 (22).
【００３７】この案内部材２１（２２）には、スライド
部１４３（１５３）に対向して回転部材４４（４５）が
軸受２５（２６）を介して回転自在に設けられる。そし
て、回転部材４４（４５）の一端部には、螺子孔４４１
（４５１）が軸方向に対応して形成され、この螺子孔４
４１（４５１）には、上記スライド部１４３（１５３）
の螺子部１４５（１５５）が螺合調整自在に螺合され
る。そして、回転部材４４（４５）の他端には、例えば
図６の構成と同様に伝達路変更用の歯車３７（３８）が
嵌着され、この歯車３７（３８）には、同様に上記駆動
歯車３９（４０）、減速機構部２９（３０）及び駆動モ
ータ２７（２８）が順に連結される。A rotary member 44 (45) is rotatably provided on the guide member 21 (22) through a bearing 25 (26) so as to face the slide portion 143 (153). A screw hole 441 is provided at one end of the rotating member 44 (45).
(451) are formed corresponding to the axial direction.
41 (451) includes the slide portion 143 (153).
Screw portion 145 (155) is screwed so as to be able to adjust the screwing. A gear 37 (38) for changing the transmission path is fitted to the other end of the rotating member 44 (45), for example, similarly to the configuration of FIG. The gear 39 (40), the reduction mechanism 29 (30), and the drive motor 27 (28) are sequentially connected.
【００３８】図８（ａ）（ｂ）は、第２及び第３の可撓
性弾性体１４（１５）の予圧手段として、上記案内部材
２１（２２）の中間部にフローティングガイド部４６
（４７）をスライド部１４３（１５３）（スライド部材
１９（２０））に対応して軸と直交する方向に移動自在
に配設して、このフローティングガイド部４６（４７）
を予圧用スプリング部材４８（４９）で付勢してスライ
ド部１４３（１５３）（スライド部材１９（２０））に
押圧させ、このスプリング部材４８（４９）の付勢力に
より第２及び第３の可撓性弾性体１４（１５）に予圧を
付与して、「がた」の防止を図るように構成したもので
ある。FIGS. 8 (a) and 8 (b) show floating guide portions 46 in the middle of the guide members 21 (22) as preload means for the second and third flexible elastic members 14 (15).
The floating guide 46 (47) is provided so as to be movable in a direction orthogonal to the axis corresponding to the slide portion 143 (153) (slide member 19 (20)).
Is urged by the preload spring member 48 (49) to be pressed against the slide portion 143 (153) (slide member 19 (20)), and the second and third movable members are biased by the urging force of the spring member 48 (49). The preload is applied to the flexible elastic body 14 (15) to prevent "chatter".
【００３９】また、上記実施の形態では、第１乃至第３
の可撓性弾性体１３，１４，１５の第１の可撓性弾性体
１３を固定式にして、第２及び第３の可撓性弾性体１
４，１５を摺動式に設定するように構成した場合で説明
したが、これに限ることなく、第１乃至第３の可撓性弾
性体１３，１４，１５を摺動式に設定して構成すること
も可能である。Also, in the above embodiment, the first to third
The first flexible elastic body 13 of the flexible elastic bodies 13, 14, 15 is fixed, and the second and third flexible elastic bodies 1
Although the description has been made of the case where the sliding elastic members 4 and 15 are set, the present invention is not limited to this, and the first to third flexible elastic members 13, 14 and 15 are set to be sliding. It is also possible to configure.
【００４０】さらに、上記実施の形態では、第１乃至第
３の可撓性弾性体１３，１４，１５を第１及び第２のテ
ーブル１１，１２との間に仮想中心Ｏに対して同心円上
に配置するように構成した場合で説明したが、これに限
ることなく、仮想中心Ｏに対して放射状に配置するよう
に構成することも可能で、略同様の効果が期待される。Further, in the above-described embodiment, the first to third flexible elastic members 13, 14, 15 are concentrically arranged between the first and second tables 11, 12 with respect to the virtual center O. Although the description has been given of the case where the arrangement is made such that the arrangement is made in the same manner, the arrangement is not limited to this, and the arrangement may be made so as to be arranged radially with respect to the virtual center O, and substantially the same effect is expected.
【００４１】また、上記実施の形態では、宇宙空間で使
用する場合を代表して説明したが、これに限ることな
く、地上において使用される高精度な角度調整の要請さ
れる光学機器等の角度調整に適用することも可能で、同
様の効果が期待される。Further, in the above-described embodiment, the case of use in outer space has been described as a representative example. However, the present invention is not limited to this. It can be applied to adjustment, and the same effect is expected.
【００４２】よって、この発明は、上記実施の形態に限
ることなく、その他、この発明の要旨を逸脱しない範囲
で種々の変形を実施し得ることは勿論のことである。Therefore, it is needless to say that the present invention is not limited to the above-described embodiment, but can be variously modified without departing from the gist of the present invention.
【００４３】[0043]
【発明の効果】以上詳述したように、この発明によれ
ば、簡易な構成で、且つ、信頼性の高い高精度な角度調
整を容易に実現し得るようにした角度調節装置を提供す
ることができる。As described in detail above, according to the present invention, there is provided an angle adjusting apparatus having a simple structure and capable of easily realizing highly reliable and accurate angle adjustment. Can be.
【図１】この発明の一実施の形態に係る角度調節装置の
要部を断面して示した断面図である。FIG. 1 is a cross-sectional view showing a main part of an angle adjusting device according to an embodiment of the present invention;
【図２】図１の第１乃至第３の可撓性弾性体の配置構成
を示した配置図である。FIG. 2 is an arrangement diagram showing an arrangement configuration of first to third flexible elastic bodies in FIG. 1;
【図３】図１の第１乃至第３の可撓性弾性体の動作原理
を説明するために示した原理図である。FIG. 3 is a principle diagram shown to explain the operation principle of the first to third flexible elastic bodies in FIG. 1;
【図４】図１のＹ軸回りの角度調整動作を説明するため
に示した動作説明図である。FIG. 4 is an operation explanatory diagram shown for explaining an angle adjusting operation around a Y axis in FIG. 1;
【図５】図１のＸ軸回りの角度調整動作を説明するため
に示した動作説明図である。FIG. 5 is an operation explanatory diagram shown for explaining an angle adjustment operation around the X axis in FIG. 1;
【図６】この発明の他の実施の形態に係る角度調節装置
を示した断面図である。FIG. 6 is a cross-sectional view showing an angle adjusting device according to another embodiment of the present invention.
【図７】この発明の他の実施の形態に係る角度調節装置
を示した断面図である。FIG. 7 is a cross-sectional view showing an angle adjusting device according to another embodiment of the present invention.
【図８】この発明の他の実施の形態に係る角度調節装置
を示した断面図である。FIG. 8 is a cross-sectional view showing an angle adjusting device according to another embodiment of the present invention.
【図９】この発明の適用される角度調節装置の設置例を
示した配置構成図である。FIG. 9 is a layout diagram showing an installation example of an angle adjusting device to which the present invention is applied.
１０ … 支持部。 １１ … 第１のテーブル。 １２ … 第２のテーブル。 １３ … 第１の可撓性弾性体。 １３１，１３２ … 螺子部。 １４ … 第２の可撓性弾性体。 １４１，１４２ … 螺子部。 １５ … 第３の可撓性弾性体。 １５１，１５２ … 螺子部。 １６ … 被調整機器。 １７ … ナット部材。 １９，２０ … スライド部材。 １９１，２０１ … 螺子孔。 ２１，２２ … 案内部材。 ２１１，２２１ … 案内部。 ２３，２４ … 螺子部材。 ２３１，２４１ … 回転部。 ２５，２６ … 軸受。 ２７，２８ … 駆動モータ。 ２９，３０ … 減速機構部。 ３１，３２ … 取付け部材。 ３３，３４ … スプリング部材。 ３５，３６ … ハウジング。 １４３，１５３ … スライド部。 １４４，１５４ … 螺子孔。 ３６，３７ … 歯車。 ３９，４０ … 駆動歯車。 ４１ … 第１の取付け台。 ４１１ …押圧部。 ４２ 第２の取付け台。 ４２１ … ローラ。 ４３ … スプリング部材。 １４５，１５５ … 螺子部。 ４４，４５ … 回転部材。 ４４１，４５１ … 螺子孔。 ４６，４７ … フローティングガイド部。 ４８，４９ … スプリング部材。 10 Supporting part. 11 1st table. 12 Second table. 13: First flexible elastic body. 131, 132 ... screw part. 14 Second flexible elastic body. 141, 142 ... Screw part. 15: Third flexible elastic body. 151, 152 ... Screw part. 16 ... Device to be adjusted. 17 ... nut member. 19, 20 ... slide member. 191, 201 ... screw holes. 21, 22 ... Guide member. 211,221 ... Guide part. 23, 24 ... screw member. 231, 241 Rotating part. 25, 26 ... Bearing. 27, 28 ... drive motor. 29, 30 ... reduction gear mechanism. 31, 32 ... Mounting members. 33, 34 ... Spring members. 35, 36 ... Housing. 143, 153 ... slide part. 144, 154 ... screw holes. 36, 37 ... gears. 39, 40 ... drive gear. 41... First mounting table. 411: pressing part. 42 Second mount. 421 ... roller. 43 ... spring member. 145,155 ... Screw part. 44, 45 ... rotating members. 441, 451 ... screw holes. 46, 47 ... floating guide part. 48, 49 ... Spring member.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 宮坂 明宏 東京都港区浜松町二丁目４番１号 宇宙開 発事業団内 (72)発明者 飯倉 省一 神奈川県川崎市幸区小向東芝町１番地 株 式会社東芝小向工場内 (72)発明者 秋葉 敏克 神奈川県川崎市幸区小向東芝町１番地 株 式会社東芝研究開発センター内 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Akihiro Miyasaka 2-4-1 Hamamatsucho, Minato-ku, Tokyo Inside the Space Development Agency No. 1 In the Toshiba Komukai Plant (72) Inventor Toshikatsu Akiha No. 1 Komukai Toshiba Town, Kawasaki City, Kanagawa Prefecture In the Toshiba R & D Center
Claims (6)
置され、相互間を連結する弾性変形自在な第１乃至第３
の可撓性弾性体と、 この第１乃至第３の可撓性弾性体の少なくとも２つを、
軸方向に摺動させて前記角度調整部を前記支持部に対し
て角度調整してなる角度調節手段とを具備したことを特
徴とする角度調節装置。An elastically deformable first to third radially arranged between an angle adjusting portion and a supporting portion for connecting the angle adjusting portion and the supporting portion to each other.
And at least two of the first to third flexible elastic bodies,
An angle adjusting device, comprising: an angle adjusting unit that slides in an axial direction to adjust an angle of the angle adjusting unit with respect to the support unit.
心円上に配設されることを特徴とする請求項１記載の角
度調整装置。2. The angle adjusting device according to claim 1, wherein the first to third flexible elastic bodies are arranged on concentric circles.
撓性弾性体の１つを固定点として、他の２つを軸方向に
摺動させ、前記角度調整部を前記支持部に対する直交２
軸回りの角度を調整するように構成してなることを特徴
とする請求項１又は２記載の角度調節装置。3. The angle adjusting means sets one of the first to third flexible elastic bodies as a fixed point, and slides the other two in the axial direction, thereby causing the angle adjusting section to move to the support section. Orthogonal 2 to
3. The angle adjusting device according to claim 1, wherein the angle adjusting device is configured to adjust an angle around the axis.
の可撓性弾性体の少なくとも２つに対応して軸方向に摺
動自在に配設されるスライド部と、このスライド部に螺
合される螺子機構とを備え、前記螺子機構の螺合調整に
より前記スライド部が軸方向に直線移動して前記第１乃
至第３の可撓性弾性体の少なくとも２つを軸方向に摺動
制御してなることを特徴とする請求項１乃至３のいずれ
か記載の角度調節装置。4. The apparatus according to claim 1, wherein the angle adjusting means includes the first to third angles.
A slide portion slidably disposed in the axial direction corresponding to at least two of the flexible elastic members, and a screw mechanism screwed to the slide portion. 4. The apparatus according to claim 1, wherein the slide portion linearly moves in the axial direction to control sliding of at least two of the first to third flexible elastic members in the axial direction. The angle adjusting device according to the above.
の間に予圧を付与する付勢手段を具備したことを特徴と
する請求項１乃至４のいずれか記載の角度調節装置。5. The angle adjusting device according to claim 1, further comprising an urging means for applying a preload between said angle adjusting portion and said support portion.
撓性弾性体の少なくとも２つの各軸方向及び該軸方向と
直交する方向に予圧を付与してなることを特徴とする請
求項５記載の角度調節装置。6. The biasing means is characterized in that a preload is applied in at least two axial directions of the first to third flexible elastic members and in a direction orthogonal to the axial direction. The angle adjusting device according to claim 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000088960A JP4556030B2 (en) | 2000-03-28 | 2000-03-28 | Angle adjustment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000088960A JP4556030B2 (en) | 2000-03-28 | 2000-03-28 | Angle adjustment device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2001270500A true JP2001270500A (en) | 2001-10-02 |
| JP4556030B2 JP4556030B2 (en) | 2010-10-06 |
Family
ID=18604771
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000088960A Expired - Fee Related JP4556030B2 (en) | 2000-03-28 | 2000-03-28 | Angle adjustment device |
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| Country | Link |
|---|---|
| JP (1) | JP4556030B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552672A (en) * | 2018-11-12 | 2019-04-02 | 上海宇航系统工程研究所 | A kind of hard limit adjustable position-limit mechanism of angle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63200181U (en) * | 1987-06-08 | 1988-12-23 | ||
| JPH0724534U (en) * | 1993-09-30 | 1995-05-09 | 株式会社東京精密 | Leveling device |
| JPH09210293A (en) * | 1996-02-02 | 1997-08-12 | Nikon Corp | Supporting method and supporting mechanism |
| JPH1064786A (en) * | 1996-08-21 | 1998-03-06 | Dainippon Screen Mfg Co Ltd | Moving stage |
| JPH11202214A (en) * | 1998-01-13 | 1999-07-30 | Nippon Laser Denshi Kk | Microdriving device |
-
2000
- 2000-03-28 JP JP2000088960A patent/JP4556030B2/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63200181U (en) * | 1987-06-08 | 1988-12-23 | ||
| JPH0724534U (en) * | 1993-09-30 | 1995-05-09 | 株式会社東京精密 | Leveling device |
| JPH09210293A (en) * | 1996-02-02 | 1997-08-12 | Nikon Corp | Supporting method and supporting mechanism |
| JPH1064786A (en) * | 1996-08-21 | 1998-03-06 | Dainippon Screen Mfg Co Ltd | Moving stage |
| JPH11202214A (en) * | 1998-01-13 | 1999-07-30 | Nippon Laser Denshi Kk | Microdriving device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552672A (en) * | 2018-11-12 | 2019-04-02 | 上海宇航系统工程研究所 | A kind of hard limit adjustable position-limit mechanism of angle |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4556030B2 (en) | 2010-10-06 |
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