JP2595297B2 - Vertical gyro - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vertical gyro, and in particular, to a small and high-performance configuration in which an output signal can be optically extracted using only one motor. New improvements to obtain

b. Conventional technology Conventionally, various types of vertical gyros of this type have been proposed. Among them, a typical configuration is described. Here, a document name indicating the conventional configuration is disclosed. Although not described, a vertical gyro manufactured in-house by the applicant shown in FIG. 4 will be described.

That is, in FIG. 4, reference numeral 1 denotes an inner gimbal including a first synchro 2, a gyro motor 3, and a first torquer 4 for detecting an angle in a first direction. The gyromotor 3 is provided with a level sensor 8 while being rotatably provided in the first direction by a bearing not provided.

Further, the first gimbal 1 is located at an outer position thereof.
The angle detection in the first direction detected by the synchro 2 means the second synchro 5 and the second synchro 5 for performing the angle detection in the orthogonal direction.
An outer gimbal 7 having a torquer 6 is rotatably provided, and the outer gimbal 7 is supported by a bearing (not shown).

The conventional vertical gyro is configured as described above, and its operation will be described below.

First, while the gyro motor 3 is rotating, the vertical detection of the inner gimbal 1 is performed by the level sensor 8.

The vertical detection signal 8a from the level sensor 8 is
The gyromotor 3 is supplied to the torquer 4 and the second torquer 6 and the spin shaft (not shown) of the gyromotor 3 is maintained in a vertical state.

In the above-mentioned state, the vertical gyro is inclined, and the change angle is detected by the first and second synchros 2 and 5 provided on the inner gimbal 1 and the outer gimbal 7, so that the pitch angle (A) and the rotor are changed. The corner (B) is detected.

c. Problems to be Solved by the Invention Since the conventional vertical gyro was configured as described above, it had the following problems.

In other words, the gyro as a whole requires two torquers including a motor and two synchro as rotating machines in addition to the gyro motor 3, so that a total of five rotating machines are required. In order to take out the power supply and the output signal respectively supplied to the power supply, signal input / output means including many slip rings and brushes is required.

Therefore, the structure itself becomes extremely complicated, the number of parts increases, and it is impossible to meet the demand for a small, inexpensive, and high-performance vertical gyro.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and in particular, provides a small, high-performance vertical gyro capable of optically extracting an output signal using only one motor. The purpose is to do.

d. Means for Solving the Problems A vertical gyro according to the present invention is rotatable in a first direction between outer gimbal bearings provided at both ends of a base having an overall shape substantially box-shaped and having an opening at an upper portion. An inner gimbal rotatably supported in a second direction orthogonal to the first direction between inner gimbal bearings provided at both ends of the outer gimbal; A gyromotor provided in the gyromotor drive circuit unit provided in the inner gimbal, a power supply means connected to the gyromotor from the base and made of a flexible wire,
A light emitting unit provided at a lower portion of the inner gimbal, a light detecting unit formed in a hemispherical shape for receiving light from the light emitting unit provided on the base, and a detection signal from the light detecting unit. And a detection signal processing circuit for processing.

e. Operation In the vertical gyro according to the present invention, the inner gimbal having only one gyro motor is rotatably provided in the outer gimbal provided rotatably on the base,
Since the gimbal has a light emitting section and a hemispherical light detecting section provided on the base, the light emitting section is always kept in the vertical direction when the gyro motor is operating. .

Further, when the base is tilted around the pitch axis and the rotor axis, the light emitted from the light emitting unit moves to a different position on the light detecting unit. Therefore, by detecting a change in the relative position of the light, the pitch angle is detected. And a change in the rotor angle can be detected.

Therefore, the entire two-axis signal detection configuration can be obtained by only one gyromotor and the light emitting unit and the light detection unit. A vertical gyro with high performance and low price can be obtained.

f. Embodiment Hereinafter, a preferred embodiment of the vertical gyro according to the present invention will be described in detail with reference to the drawings.

The same or equivalent parts as those in the conventional example will be described using the same reference numerals.

FIGS. 1 to 3 show a vertical gyro according to the present invention. FIG. 1 is a block diagram showing the overall structure, FIG. 2 is a sectional view, and FIG. 3 is a plan sectional view of FIG. is there.

First, a base indicated by reference numeral 10 in FIGS. 2 and 3 is a base having a substantially box-shaped overall shape and having an opening 11 at an upper portion, and is formed at a substantially central portion of the base 10. On the pair of outer gimbal bearings 12, an outer gimbal 7 having a square frame shape as a whole is disposed rotatably in a first direction (x) via a pair of outer gimbal shafts 7a.

A pair of inner gimbal bearings 13 are formed in the outer gimbal 7 at positions orthogonal to the respective outer gimbal shafts 7a, and these inner gimbal bearings 13 have a gyro motor composed of only one brushless DC motor. The inner gimbal 1 having the built-in 3 is connected to the first gimbal via a pair of inner gimbal shafts 1a.
It is arranged rotatably in a second direction (y) orthogonal to the direction (x). The rotation of the gyro motor 3 is detected by a Hall element 3a.

On the outer surface of the inner gimbal 1, a mechanical self-standing mechanism 15 and a gyro motor drive circuit section 16 having a configuration such as ball rotation or pendulum type are mounted. 1
A light emitting section 17 made of an LED is integrally mounted on the lower surface of the LED.

The bottom part 18 of the base 10 corresponding to the light emitting part 17 is formed in a substantially hemispherical shape, and on the bottom part 18 is formed a matrix circuit composed of a large number of phototransistors or photodiodes formed in a substantially hemispherical shape. The configured photodetector 19 is provided.

A detection signal 19a from the light detection unit 19 is processed by a detection signal processing circuit unit 20, and a pitch angle signal (A) and a roll angle signal (B) are extracted.

Further, a pair of flexible wires 21 are connected to the gyro motor 3 from above the base 10 as power supply means for the gyro motor 3. In the case described above, the flexible wire 21 replaces the conventional power supply means using a slip ring and a brush, and suppresses the pitch of the inner gimbal 1 and the degree of freedom of the gimbal around the roll axis within 90 °.

The vertical gyro according to the present invention is configured as described above, and its operation will be described below.

First, in the state of FIG.
When power is supplied to the gyro motor 3 through the gyro motor 3, only one gyro motor 3 rotates at a predetermined rotation speed, and the inner gimbal 1
Are held in the vertical direction, and the light emitting unit 17 is also held in the vertical direction.

In the state described above, the detection signal 19 obtained from the light detection unit 19
“a” indicates that the origin position is detected and that the base 10 is not inclined at all.

In the state described above, when the base 10 is tilted around the pitch and roll axes, the light emitting unit 17 rotates, and the relative position with respect to the light detecting unit 19 changes. Then, the detection signal 19a is processed by the detection signal processing circuit unit 20, and the pitch angle signal (A) and the roll angle signal (B) are detected.

g. Effects of the Invention Since the vertical gyro according to the present invention is configured as described above, the following effects can be obtained.

(1) Since a vertical gyro can be configured using only one gyro motor as a rotating machine, a compact, high-performance, and low-priced device can be realized.

(2) By using a brushless DC motor as the gyro motor, the power supply means can be composed of two flexible wires, so that it is not necessary to use many slip rings or the like as in the conventional case, and the configuration becomes extremely simple. The power supply means increases the gimbal pitch around the inner gimbal and the degree of freedom of the gimbal around the roll axis by 90%.
° can be suppressed within.

(3) Since the extraction of the detection signal is performed by a non-contact type detecting means using a light emitting unit and a light detecting unit, the reliability can be remarkably improved as compared with a configuration using many conventional slip rings. .

[Brief description of the drawings]

FIGS. 1 to 3 show a vertical gyro according to the present invention, and FIG. 1 is a block diagram showing the entire structure.
2 is a sectional view, FIG. 3 is a plan sectional view of FIG. 2, and FIG. 4 is a block diagram showing a conventional vertical gyro. 1 is an inner gimbal, 3 is a gyro motor, 7 is an outer gimbal, 10 is a base, 12 is an outer gimbal bearing, 13 is an inner gimbal bearing, 17 is a light emitting part, 19 is a light detecting part, 19a is a detection signal, and 20 is a detecting signal. The detection signal processing circuit unit 21 is a power supply unit (flexible wire).

Claims (1)

(57) [Claims] An outer gimbal (1) rotatably supported in a first direction (x) between outer gimbal bearings (12) provided at both ends of a base (10) having a substantially box shape as a whole. 7) and an inner gimbal bearing (13) provided at both ends of the outer gimbal (7), which is rotatably supported in a second direction (y) orthogonal to the first direction (x). A gimbal (1), a gyro motor (3) provided in the inner gimbal (1), a gyro motor drive circuit section (16) provided in the inner gimbal (1), and the base (10). A power supply means (21) connected to a gyro motor (3) and made of a flexible wire; a light emitting section (17) provided below the inner gimbal (1); and a light emitting section provided on the base (10). A light detecting section (19) formed in a hemispherical shape for receiving light from the section (17); and the light detecting section (19). And a detection signal processing circuit unit (20) for processing a detection signal (19a) from the gyro motor. Only one gyro motor (3) is used as a rotating machine, and the pitch of the inner gimbal (1) and The gimbal freedom around the roll axis is 90
The vertical gyro is characterized in that the pitch angle and the roll angle are detected by movement of the light emitting section (17) within the range of °.