JP2021181964A - Attitude control device and attitude control method - Google Patents

Abstract

To provide a biaxial attitude control device that is lightweight and can be miniaturized, and an attitude control method.SOLUTION: An attitude control device 20 which is installed to an unmanned submersible so as to control its attitude comprises: a flywheel 21; a drive motor 27 that rotates the flywheel 21; a first gimbal 24 that rotatably supports the flywheel 21, and has a tilt shaft 25 extending outward in the diametrical direction of the flywheel 21; and a second gimbal 31 that rotatably supports the tilt shaft 25, and fixes a mounting shaft 32 extending in a direction perpendicular to the tilt shaft 25. The attitude control device 20 is installed to an unmanned submersible via a support 40 that rotatably supports the mounting shaft 32.SELECTED DRAWING: Figure 3

Description

The present invention relates to an attitude control device and a posture control method for controlling to maintain the posture of a tilting device.

Conventionally, an unmanned submersible that remotely inspects dams and harbor structures underwater has been developed (see, for example, Non-Patent Document 1). The unmanned submersible described in this non-patent document includes an attitude control device that controls a predetermined posture even if the posture changes due to a wave generated on the water surface. This attitude control device is provided in a pressure-resistant container mounted on an unmanned submersible, and includes two uniaxial swivel control devices using a gyro effect. The two swivel control devices each include a flywheel, a drive motor and a gimbal, and are arranged so that the support axes of the gimbal are orthogonal to each other. Then, when the gimbal tilts while the flywheel rotates at high speed by the drive motor, a force that cancels the tilt of the gimbal is generated in the turning control device by the gyro effect, and the attitude of the attitude control device is controlled to be constant. NS.

Obayashi, "Development of underwater infrastructure inspection robot" Diag TM "equipped with Aqua Adjuster R", [online], [Search on May 9, 2nd year of Reiwa], Internet <URL: https://www.obayashi.co .jp / news / detail / news20170510_01.html>

As described above, the conventional attitude control device is provided with two turning control devices corresponding to the tilt of each axis in order to cope with the tilt in the biaxial direction. For this reason, the attitude control device has become large and heavy.

The attitude control device for solving the above problems is an attitude control device provided in the target device for controlling the attitude, and rotatably supports the flywheel, the drive motor for rotating the flywheel, and the flywheel. , The first gimbal to which the tilt axis extending outward in the diameter direction of the flywheel is fixed, and the mounting shaft that rotatably supports the tilt axis and extends in the direction orthogonal to the tilt axis are fixed. The second gimbal is provided, and the mounting shaft is rotatably mounted on the target device.

According to the present invention, the attitude control device in the biaxial direction can be made lighter and smaller.

Schematic perspective view of an unmanned submersible equipped with an attitude control device according to an embodiment. The front view of the attitude control device in an embodiment. The perspective view seen from the rear diagonal direction of the attitude control device in an embodiment. Top view of the attitude control device in the embodiment. FIG. 3 is a perspective view in which the first gimbal of the attitude control device according to the embodiment is rotated. FIG. 3 is a perspective view in which the second gimbal of the attitude control device according to the embodiment is rotated.

Hereinafter, an embodiment in which the attitude control device and the attitude control method are embodied will be described with reference to FIGS. 1 to 6. In the present embodiment, the posture control device for controlling the posture of the unmanned submersible as the target device will be described as in the prior art.

As shown in FIG. 1, the unmanned submersible 10 equipped with an attitude control device includes a frame 11 constituting a substantially rectangular parallelepiped shape, a plurality of buoyant bodies 12, an underwater photographing device 13, and a pressure-resistant container 15. A buoyant body 12, an underwater photographing apparatus 13, and a pressure-resistant container 15 are attached to the frame 11. The buoyant body 12 floats the unmanned submersible 10. The underwater photographing device 13 includes a main camera 14, and photographs underwater such as the wall surface of an underwater dam. The pressure-resistant container 15 is arranged substantially in the center of the unmanned diving device, and has an attitude control device built-in.

2 to 4 are a front view, a perspective view, and a top view of the attitude control device 20 built in the pressure-resistant container, respectively.
As shown in FIG. 2, the attitude control device 20 includes a disk-shaped flywheel 21, a first gimbal 24, a drive motor 27, and a second gimbal 31.

The first gimbal 24 has a band shape surrounding the outer circumference of the flywheel 21 in the radial direction. Specifically, the first gimbal 24 has a height H1 corresponding to the diameter of the drive motor 27 with the plane including the center line C1 of the flywheel 21 as the center. As a result, the flywheel 21 is supported by the first gimbal 24 with both end portions (upper end portion and lower end portion) facing each other exposed from the first gimbal 24.
Further, as shown in FIG. 4, the first gimbal 24 has a plate shape having a thickness W1 in which the central portion on the front side protrudes.

As shown in FIG. 3, a drive motor 27 is attached to the rear side of the first gimbal 24 via an attachment member 26. The mounting member 26 has an L angle having a rib formed in the center, and is fixed to the first gimbal 24 and also fixes the drive motor 27.

As shown in FIG. 4, the rotation shaft 27a of the drive motor 27 is fixed through the center line C1 of the flywheel 21. The tip (front side) of the rotating shaft 27a is rotatably supported by the first gimbal 24 via a bearing (not shown). A weight 23 is fixed to the rotating shaft 27a between the flywheel 21 and the first gimbal 24. The weight 23 balances the tilting shaft 25 of the first gimbal 24 with the drive motor 27 side.

As shown in FIG. 2, two tilting axes 25 extending in opposite directions along the center line C2 are fixed to the outside of the first gimbal 24. The center line C2 is orthogonal to the center line C1 in the plane including the center line C1.
The second gimbal 31 has a U-shape, and bearings (not shown) that rotatably support the tilting shaft 25 are fixed to both ends thereof. Therefore, the first gimbal 24 is rotatably attached to the end of the second gimbal 31 via the tilting shaft 25, and tilts about the center line C2.

Further, a slip ring 29 is provided between one end of the first gimbal 24 and the second gimbal 31. Specifically, the ring portion of the slip ring 29 is fixed to one of the tilting shafts 25 in a penetrating state.
As shown in FIG. 3, the ring portion of the slip ring 29 is connected to the drive motor 27 via power lines 28a and 28b. Further, a brush portion of the slip ring 29 is fixed to one end of the second gimbal 31 (the end on the slip ring 29 side).

A mounting shaft 32 and a weight 30w are fixed to the second gimbal 31.
The weight 30w is provided so as to balance the left and right weights of the second gimbal 31 on the center line C3 of the mounting shaft 32. As a result, the second gimbal 31 can be smoothly rotated.

The mounting shaft 32 is directly below the flywheel 21 and is provided at the center of the second gimbal 31 so as to project outside the U-shape of the second gimbal 31. The mounting shaft 32 is rotatably supported around the center line C3 at the central portion of the support portion 40. This center line C3 is in a direction perpendicular to the support plate 41, is orthogonal to the center line C2, and passes through the intersection of the center lines C1 and C2.
A slip ring 34 is provided between the second gimbal 31 and the support portion 40. Specifically, it is fixed to the mounting shaft 32 with the ring portion of the slip ring 34 penetrating on the support portion 40 side on the support portion 40. The brush portion of the slip ring 34 is fixed to the center of the support plate 41 of the support portion 40.

Power lines 33a and 33b are arranged from the second gimbal 31 along the tip of the mounting shaft 32. Both ends of the power lines 33a and 33b are connected to the brush portion of the slip ring 29 and the ring portion of the slip ring 34.

The support portion 40 includes a substantially square plate-shaped support plate 41, a rectangular parallelepiped-shaped support base 42, and a cylindrical support base 45. On the back surface of the support plate 41 (the side opposite to the second gimbal 31), support bases 42 are provided on both sides in the front-rear direction, and support bases 45 are provided in the central portion. The support base 45 is provided with a bearing (not shown) that supports the mounting shaft 32 and a brush portion of the slip ring 34. Power lines 38a and 38b are connected to the brush portion of the slip ring 34, and the power lines 38a and 38b are connected to a battery device (not shown).
Then, the support bases 42 and 45 of the support portion 40 are fixed to the inside of the pressure-resistant container 15 of the unmanned submersible 10. As a result, the attitude control device 20 is attached to the unmanned submersible 10 via the support portion 40.

(Attitude control method)
Next, the attitude control method of the unmanned submersible 10 to which the above-mentioned attitude control device 20 is attached will be described.

When operating the attitude control device 20, power is supplied to the drive motor 27 via the power lines 38a and 38b, the slip ring 34, the power lines 33a and 33b, the slip ring 29, and the power lines 28a and 28b. As a result, the rotation shaft 27a of the drive motor 27 rotates, and the flywheel 21 is rotated around the center line C1.

After that, the unmanned submersible 10 and the attitude control device 20 fixed to the unmanned submersible 10 are tilted by waves or the like. In this case, since the flywheel 21 of the attitude control device 20 is rotating, a force acts so that the attitude of the flywheel 21 returns to the original position due to the inertial force (gyro effect) due to the centrifugal force of the flywheel 21. .. As a result, the first gimbal 24 rotates with respect to the second gimbal 31, and the second gimbal 31 rotates with respect to the support portion 40. , The force acts to maintain the posture.

For example, it is assumed that the unmanned submersible 10 is tilted so that the rear of the support portion 40 of the attitude control device 20 is higher at the positions shown in FIGS. 2 to 4. In this case, the tilted flywheel 21 is tilted so that the upper portion of the first gimbal 24 tilts backward with respect to the second gimbal 31 in an attempt to return to the original position, and the support plate 41 is tilted along with this tilt. Tilt in the direction of returning to the original position. As a result, the support portion 40 and the unmanned submersible vehicle 10 maintain their postures.
Then, as shown in FIG. 5, the first gimbal 24 may be positioned so as to be substantially parallel to the support plate 41 when the inclination to increase the rearward is continuous several times.

Further, it is assumed that the left side of the support portion 40 of the attitude control device 20 is tilted so as to be higher at the positions shown in FIGS. 2 to 4. In this case, the support 40 and the unmanned submersible 10 maintain their postures while the second gimbal 31 rotates with respect to the support 40 as the rotated flywheel 21 tries to return to its original position.
Then, as shown in FIG. 6, when the inclination that the left side becomes high is continuous several times, the second gimbal 31 may be positioned so as to be substantially parallel to the extending direction of the support base 42.

As described above, when the unmanned submersible 10 is tilted due to the gyro effect of the rotating flywheel 21, the force for canceling the tilt acts on the support portion 40, so that the posture of the unmanned submersible 10 is constant. Can be kept in.

(Action)
The first gimbal 24 that rotatably supports the flywheel 21 rotated by the drive motor 27 is rotatably supported by the second gimbal 31 around the center line C2. Further, the second gimbal 31 is rotatably supported by the support portion 40 around the center line C3 orthogonal to the center line C2. As a result, the attitude can be controlled by suppressing pitching and rolling on two axes by the gyro effect of one flywheel 21.

According to this embodiment, the following effects can be obtained.
(1) In the present embodiment, the second gimbal 31 is rotatably supported around the center line C3 of the mounting shaft 32 orthogonal to the center line C2 on which the first gimbal 24 that rotatably supports the flywheel 21 tilts. do. As a result, when a force that tilts in the biaxial direction is generated in the support portion 40 of the attitude control device 20 having one flywheel 21, the force that cancels the generated force due to the gyro effect of the rotating flywheel 21 is generated. It occurs, and it is possible to maintain the attitude with a space-saving and lightweight mechanism.

(2) In the present embodiment, slip rings 29 and 34 are provided between one end of the first gimbal 24 and the second gimbal 31, and between the second gimbal 31 and the support portion 40, respectively. In this case, in order to maintain the posture of the attitude control device 20, the first gimbal 24 and the second gimbal 31 rotate according to the direction in which the force for canceling the generated inclination is generated. Therefore, depending on the force received, even if the first gimbal 24 and the second gimbal 31 continue to rotate in the same direction, power can be supplied to the drive motor 27 via the power lines 28a, 28b, 33a, 33b.

(3) In the present embodiment, the power lines 28a, 28b, 33a, 33b for supplying electric power to the drive motor 27 are arranged along the first gimbal 24 and the second gimbal 31. As a result, the power lines 28a, 28b, 33a, 33b can be fixed, so that it is possible to suppress the application of an unreasonable force to the power lines 28a, 28b, 33a, 33b.

(4) In the present embodiment, the first gimbal 24 has a band shape that covers only the central portion of the flywheel 21. As a result, the weight of the first gimbal 24 can be reduced as compared with the case where the first gimbal 24 covers the entire flywheel 21, so that the attitude control device 20 can be further reduced in weight.

This embodiment can be modified and implemented as follows. The present embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.
In the above embodiment, power is supplied to the drive motor 27 via the power lines 28a, 28b, 33a, 33b, 38a, 38b and the slip rings 29, 34. The method of supplying electric power to the drive motor 27 is not limited to the case where the slip rings 29 and 34 are used. For example, a coil or the like may be arranged at the position of the slip ring to wirelessly supply electric power to the drive motor. Further, although the slip ring 29 is provided between the first gimbal 24 and the second gimbal 31, it may be provided outside the second gimbal 31. Also in this case, the ring portion of the slip ring is provided on the tilting shaft 25, and the brush portion of the slip ring is provided on the tip portion of the second gimbal 31.

In the above embodiment, the slip ring 29 is provided on one of the tilting shafts 25. In addition to this, the other tilting shaft 25, which is not provided with the slip ring 29, may be provided with a weight corresponding to the weight of the slip ring 29. Further, the other tilting shaft 25 without the slip ring 29 may be lengthened so that the mounting shaft 32 may be arranged at the center of the second gimbal 31.

-In the above embodiment, the first gimbal 24 has a band shape that covers only the central portion of the flywheel 21. The shape of the first gimbal 24 is not limited to this, and may be, for example, a shape that covers the entire flywheel 21.

Further, the second gimbal 31 has a U-shape, and a mounting shaft 32 is provided in the center. The shape of the second gimbal 31 is not limited to this, and may have, for example, a semi-arc shape or an inverted π shape, and the mounting shaft 32 is not directly below the center line C1 of the flywheel 21, but the flywheel 21. Or the second gimbal 31 may be provided at a position corresponding to the position of the center of gravity.

The support portion 40 of the attitude control device 20 of the above embodiment includes a support plate 41 having a substantially square shape. The support portion 40 fixed to the unmanned submersible vehicle 10 as a target device for controlling the posture is not limited to this shape. For example, if the shape of the support portion 40 is such that a gyro effect in which a force acts in the direction of canceling the inclination can be expected, for example, a block having a disk-shaped support plate or a block corresponding to the shape of the portion to be fixed. It may be in shape. Further, the support portion 40 of the attitude control device 20 may be omitted, and the attitude control device 20 may be fixed by directly supporting the attachment shaft 32 rotatably on the target device for controlling the posture.

Next, the technical ideas that can be grasped from the above embodiment and other examples will be added below.
(A) The first gimbal is characterized in that the central portion of the flywheel is supported and the drive motor is fixed in a state where the opposite end portions of the flywheel are exposed. The attitude control device according to.
(B) The second gimbal has a shape that supports both sides of the tilting shaft.
The mounting shaft is provided in the center of the second gimbal and is provided.
The attitude control device according to claim 1, 2 or (a), wherein a power line for supplying electric power is arranged in the drive motor along the second gimbal and the mounting shaft.

C1, C2, C3 ... Center line, 10 ... Unmanned submersible as target device, 11 ... Frame, 12 ... Buoyant body, 13 ... Underwater photography device, 14 ... Main camera, 15 ... Pressure resistant container, 20 ... Attitude control device, 21 ... flywheel, 23, 30w ... weight, 24 ... first gimbal, 25 ... tilting shaft, 26 ... mounting member, 27 ... drive motor, 27a ... rotating shaft, 28a, 28b, 33a, 33b, 38a, 38b ... power line , 29, 34 ... Slip ring, 31 ... Second gimbal, 32 ... Mounting shaft, 40 ... Support part, 41 ... Support plate, 42, 45 ... Support stand

Claims (3)

It is an attitude control device provided in the target device that controls the posture.
With a flywheel,
The drive motor that rotates the flywheel and
A first gimbal that rotatably supports the flywheel and has a fixed tilt axis that extends outward in the radial direction of the flywheel.
It is provided with a second gimbal that rotatably supports the tilting axis and has a fixed mounting shaft extending in a direction orthogonal to the tilting axis.
An attitude control device characterized in that the mounting shaft is rotatably mounted on the target device. A first slip ring provided between the first gimbal and the second gimbal,
The attitude control device according to claim 1, further comprising a second slip ring provided between the second gimbal and the target device. A posture with a flywheel, a drive motor for rotating the flywheel, and a first gimbal that rotatably supports the flywheel and has a fixed tilt axis extending outward in the radial direction of the flywheel. It is an attitude control method that controls the attitude of the target device by using the gyro effect generated by tilting the rotated flywheel having a control device.
The attitude control device further includes a second gimbal that rotatably supports the tilting shaft and has a mounting shaft extending in a direction orthogonal to the tilting shaft fixed, so that the mounting shaft can be rotated. Attached to the target device,
A posture control method comprising controlling the posture of the target device by using a force acting to cancel the inclination generated in the target device by the gyro effect.

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