JP2604682Y2 - Gyro-type stabilizer - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gyro-type stabilizer mounted on a moving body such as a ship.

[0002]

2. Description of the Related Art A gyro-type stabilizer is mounted on a rotating body such as a gyro or a flywheel while compensating for swinging (roll, pitch, etc.) of a mounted moving body (for example, a ship). This is a mechanism that holds the device horizontally. FIG.
9 and 20 show the configuration of a gyroscopic stabilizer according to a first conventional example.

A gyro-type stable table shown in FIG. 1 includes a table 10 having a flat plate shape, a gimbal 12 for swingably supporting the table 10, and a gyro (flywheel) case disposed below the gimbal 12. 14 is provided.
The table 10 is supported on its lower surface by a stabilizer support 16. A gyro (flywheel) case 14 is attached to a lower portion of the stabilizer support 16, and a gyro (flywheel) 18 is stored in the gyro (flywheel) case.

The stabilizer support 16 is attached to the Y-axis 20. The Y-axis 20 is one of the axes constituting the gimbal 12, and the base 10 and the gyro (flywheel) case 14 are rotatable around the Y-axis 20. Gimbal 1
2 further has an X axis 22 orthogonal to the Y axis 20. The X-axis 22 is supported by a gimbal support 24 provided upright on the pedestal 30, and the base 10 and the gyro (flywheel) case 14 are rotatable about the X-axis 22.

In this conventional example, as means for restricting the movable range of the table 10, a Y stopper 26 and an X stopper 2
8 are provided. The Y stopper 26 is provided on the gimbal 12, that is, on the movable portion of the gyro-type stabilizer shown in this figure, and the X stopper 28 is attached to the gimbal support 24. When the base 10 is largely rotated around the Y axis 20, the lower edge of the base 10 is
Therefore, the movable range of the base 10 around the Y axis is limited by the Y stopper 26 to, for example, about ± 15 °.
Similarly, when the base 10 is rotated largely around the X axis 22,
The frame of the gimbal 12 comes into contact with the X stopper 28, and as a result, the movable range of the table 10 around the X axis 22 is limited to, for example, about ± 30 ° by the X stopper 28.

FIGS. 21 and 22 show a configuration of a gyro-type stabilizer according to a second conventional example. In this conventional example, a stopper 34 supported by a stopper frame 32 is used instead of the X stopper 28 and the Y stopper 26 in the first conventional example. The stopper frame 32 is supported by the gimbal support 24 and includes a stopper 34.
Is provided on the periphery of the opening of the stopper frame 32. Stand 1
The movable range of 0 is limited by the contact of the stabilizer support 16 with the stopper 34.

[0007]

However, in such a configuration, a precession movement (precession) occurs. In particular, when the angular momentum is large, intense precession movement (runaway) occurs, leading to destruction of the mechanism and reduction in reliability.

For example, in the above-mentioned first conventional example, FIG.
A precession vector P as shown in FIG. In this figure, what is indicated by S is a spin vector of a gyro (flywheel) 18 housed in a gyro (flywheel) case 14, and T is
Is a torque vector generated when the lower side abuts on the Y-stop 26. When such a torque T is generated, a precession P in a direction as shown in the drawing is generated according to SToP's law. That is, a precession movement occurs (for the SToP law, see, for example, Moriya and Washiz, “Introduction to Mechanics”, Baifukan p182).

In the second conventional example, a pre-session P as shown in FIG. 24 occurs. That is, when the stabilizer support 16 comes into contact with the stopper 34, a torque T as shown in this figure is generated, and as a result, a precession P is generated.

As described above, in the gyro-type stable table in which the movable range of the table 10 is limited by using the stopper, the rotation torque T, and consequently the precession, is caused by the contact of the stable table support 16 and the table 10 with the stopper. P occurs. Once the precession P as shown in FIG. 23 and FIG. 24 occurs, the table or the stabilizing table support comes into contact with another stopper, and the precession movement is repeated. Such intense precession involves the danger of breaking down mechanisms and reducing reliability.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and in a gyro-type stable table in which the movable range of the table is limited, an undesirable precession is preferably suppressed. The purpose is to:

[0012]

In order to achieve the above object, a gyroscopic stabilizer according to the present invention comprises a pedestal, a support connected to the pedestal, a gyro connected to or accommodated in the pedestal, and a flywheel. the inertial rotating body etc., and supporting means for swingably supporting the inertial rotating body and base via struts, the movable range limiter for limiting the swinging range of the platform, around及beauty Friendly strut <br A friction member adhered to the strut contact surface of the movement range limiter, wherein the friction member is a tapered portion of an opposing member .
And having a tapered portion provided to partial surface contact.

Further, the gyro-type stable base of the present invention is characterized in that the directional antenna is mounted directly or indirectly on the base.

[0014]

In [act present invention, the friction by the friction member which is deposited and formed occurs post abutment surface around and movable range restrictor strut. This friction acts as a reaction to the precession. Therefore, the torque generated by the reaction force related to the friction acts in a direction to reduce the inclination of the table. As a result, the precession movement of the table is suppressed, and the occurrence of the intense precession movement, and further, the destruction of the mechanism and the decrease in reliability are prevented.

Furthermore, in the gyro-type stable stand of the present invention, the friction member, that have a tapered portion provided so as to contact the tapered portion and the surface of the opposing member. A friction member around the standoff, and the friction member on the post contact surface of the movable range limiter, in surface contact with each other, the reaction force is increased remarkably according to the friction.

The gyro-type stabilizer of the present invention includes:
For example, a directional antenna is mounted. That is, the directional antenna is mounted directly or indirectly on the table. As a result, highly reliable and suitable wireless transmission / reception is performed on a moving body such as a ship while preventing precession movement accompanying the shaking of the moving body.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Before describing a preferred embodiment of the present invention, a reference example effective for understanding the principle of the present invention will be described with reference to the drawings. Note that the same components as those in the conventional example shown in FIGS. 19 to 24 are denoted by the same reference numerals, and description thereof will be omitted.

FIGS. 1 and 2 show the configuration of a gyro-type stabilizer according to a first reference example. FIG. 1 particularly shows the side surface, and FIG. 2 shows the DD end surface.

In this embodiment, a stopper 36 with a non-slip is used instead of the stopper 34 in the second conventional example.
Is used. FIGS. 3 and 4, in which a non-slip 38 is also provided around the stabilizer support 16, show the operation of this reference example. As shown in these drawings, when the stabilizer support 16 is greatly inclined, the non-slip 38 and the non-slip stopper 36 around the non-slip 38 are rubbed. The reaction force due to this friction is a reaction to precession. Torque T _f due to the reaction force of the friction between the slip 38 and the slip with the stopper 36, since it has a direction shown in FIG. 4, a pre-session P _f is pre-session P caused in accordance with the laws of SToP This torque Tf It acts in the direction of suppressing.

Therefore, in this embodiment, the anti-slip 3
Since the table 10 moves so as to return to the horizontal position due to the friction between the stopper 8 and the stopper 36 with a non-slip, the problems such as the destruction of the mechanism and the reduction in reliability due to the continued precession movement do not occur.

FIGS. 5 to 7 show the configuration of a gyro-type stabilizer according to the second reference example. The gyro-type stabilizer shown in these figures is a gyro (flywheel)
The case 14 is used as the base 10. That is, the gyro (flywheel) case 14 is attached to the upper part of the stabilizer support 16 and functions as the support 10.

In this embodiment, a friction-related mechanism using the non-slip stopper 36 and the non-slip 38 is provided below the gimbal 12. That is, the non-slip 38 is provided below the stabilizer support 16, and the non-slip stopper 36 is provided below the gimbal 12 so as to rub against the non-slip 38. The stopper frame 32 that supports the stopper 36 with a non-slip is supported not by the gimbal support 24 but by the stopper support 40.

In this embodiment, substantially the same effects as in the first embodiment can be obtained.

FIGS. 8 and 9 show the configuration and operation of a gyro-type stabilizer according to a third reference example. The gyro-type stable table shown in this drawing is different from the first and second embodiments described above in that the spin S of the gyro (flywheel) 18 is in a horizontal plane when the attitude of the table 10 is substantially horizontal. , The gyro (flywheel) 18
Is provided.

Even in such a configuration, since the precession Pf as shown in FIG. 9 occurs, the table 10 attempts to return to the horizontal posture. Therefore, in this embodiment, the same effects as those of the above-described first and second embodiments can be obtained.

FIGS. 10 to 12 show the configuration of a gyro-type stabilizer according to a fourth reference example. In this reference example, a universal joint 42 is provided instead of the gimbal 12. Universal joint 42
Is supported by a universal joint column 46 via a shaft 44.

The universal joint 42 is shown in FIG.
As shown in FIG. 1, the partial spherical ball retainers 48, 50
And a plurality of balls 52. The partial spherical ball retainer 48 is connected to the shaft 44, and the partial spherical ball retainer 50 is mounted on the stabilizer support 16. Ball 52 is held between these partially spherical ball retainers 48 and 50. Accordingly, the base 10 rotates about the axis 44 and also rotates about the stabilizer base 16 by the rolling of the ball 52.

Also in this embodiment, since the anti-slip 38 and the anti-slip stopper 36 are used, as shown in FIG. 12, the same effects as those of the first to third embodiments can be obtained.

FIGS. 13 and 14 show the structure of a gyro-type stabilizer according to a fifth reference example. This reference example has a configuration including a gimbal 12. This reference example differs from the first reference example, for example, in that two movable support gyros 54 and 56 are mounted as gyros.

The movable support gyros 54 and 56 are gyros supported by an additional movable shaft separately from the gimbal 12 so as to be able to move within a predetermined range. By using the two movable support gyros 54 and 56 in this manner, the radius of the gyro rotating body can be reduced.
Further, it is easier to improve the stabilizing performance of the table 10 than when using one fixed gyro having the same angular momentum. For a conventional technique using the movable support gyro, see Japanese Patent Application Laid-Open No. Sho 51-64352.

In this embodiment, as shown in FIG. 14, the same effects as those of the above-described first to fourth embodiments can be obtained by the friction between the stopper 36 with a non-slip and the non-slip 38.

[0032]

FIG. 15 shows the principle of the present invention for further increasing the friction effect in each of the above embodiments. In this figure, a non-slip stopper 58 replaces the non-slip stopper 36, and a non-slip 60 replaces the non-slip 38.
Each is used. These non-slip stoppers 5
8 and the non-slip 60 are tapered on opposing surfaces thereof.
8 is different. Also, this taper is
6 is provided so that when the stopper 36 with the anti-slip and the anti-slip 38 come into contact with each other, this contact becomes a surface contact.

When the stopper 58 and the stopper 60 having such shapes are used, therefore, the generated friction is not the friction due to the line contact but the friction due to the surface contact. Therefore, when each of the above-described reference examples is modified based on such a principle, that is, when the stoppers 36 and 38 with non-slip are replaced with the stoppers 58 and 60 with non-slip, the effect of suppressing the precession due to friction is obtained. Becomes more pronounced. In other words, the occurrence of so-called runaway or mechanism destruction is more remarkably suppressed.

FIGS. 16 and 17 show a construction in which the stoppers 36 and 38 with non-slip are replaced by the stoppers 58 and 60 with non-slip in the second embodiment described above, that is, the construction of the embodiment of the present invention. It is shown. FIG. 16 particularly shows the side surface, and FIG. 17 particularly shows the vertical end surface. In this embodiment, the inner surface of the stopper 58 with a non-slip is tapered so as to increase the lower diameter, and the outer surface of the non-slip 60 is tapered so as to increase the upper diameter. In this reference example,
In addition to the effect of the second embodiment described above, an effect of remarkably suppressing precession movement due to an increase in friction is obtained. In addition,
The present invention can be applied to any of the first to fifth embodiments.

FIG. 18 shows an application example of the stabilizer according to the present invention. This figure shows a state where a directional antenna 62 such as a helical antenna is mounted on the stable base 18 of the embodiment. Thus, when the present invention is used for stabilizing the antenna 62, this stabilization can be more suitably realized.

[0036]

[Effects of the Invention] As described above, according to the present invention,
Since the deposited and formed a friction member to the post abutment surface around及beauty friendly dynamic range limiter strut, the torque caused by the reaction force according to this friction generates a pre-session acting in the direction to return the platform in a horizontal position As a result, a gyro-type stable table that is more stable and free from intense precession movement is obtained.

Further, according to the present invention, since the friction member is provided with a tapered portion so as to be in surface contact with the tapered portion of the opposing member , the reaction force relating to friction is significantly increased by the surface contact, The above effect becomes more remarkable.

By using the present invention for stabilizing a directional antenna, more suitable wireless transmission and reception can be performed on a more stable and highly reliable stabilizing platform.

[Brief description of the drawings]

FIG. 1 is a side view showing a configuration of a gyro-type stabilizer according to a first reference example.

FIG. 2 is a DD end view showing the configuration of this reference example.

FIG. 3 is a DD end view showing the operation of the reference example.

FIG. 4 is an EE schematic end view showing the operation of the reference example.

FIG. 5 is a side view showing a configuration of a gyro-type stabilizer according to a second reference example.

FIG. 6 is a top view in which a pedestal showing a configuration of the reference example is omitted.

FIG. 7 is an FF end view showing the configuration of this reference example.

FIG. 8 is a side view showing a configuration of a gyro-type stabilizer according to a third reference example.

FIG. 9 is a schematic longitudinal sectional view showing the operation of this reference example.

FIG. 10 is a side view showing a configuration of a gyro-type stabilizer according to a fourth reference example.

FIG. 11 is a GG end view showing the configuration of this reference example.

FIG. 12 is an HH end view showing the configuration of this reference example.

FIG. 13 is a side view showing a configuration of a gyro-type stabilizer according to a fifth reference example.

FIG. 14 is an II end view showing the configuration of this reference example.

FIG. 15 is a schematic end view for explaining the principle of friction increase in the present invention.

FIG. 16 is a side view showing a configuration of a gyroscopic stabilizer according to an embodiment of the present invention.

FIG. 17 is a vertical end view showing the configuration of this embodiment.

FIG. 18 is a side view showing an example of an application of the present invention.

FIG. 19 is a side view showing a configuration of a gyro-type stabilizer according to a first conventional example.

FIG. 20 is a top view showing the configuration of this conventional example with the pedestal omitted.

FIG. 21 is a side view showing a configuration of a gyro-type stabilizer according to a second conventional example.

FIG. 22 is a BB end view showing the configuration of this conventional example.

FIG. 23 is an AA schematic end view showing a problem of the first conventional example.

FIG. 24 is a schematic CC end view showing a problem of the second conventional example.

[Explanation of symbols]

 10 units 12 gimbal 14 gyro (flywheel) case 16 stabilizer support 18 gyro (flywheel) 20 Y-axis 22 X-axis 24 gimbal support 30 pedestal 32 stopper frame 36, 58 Non-slip stopper 38, 60 Non-slip 40 Stopper post 42 Universal Joint 44 Axis 46 Universal Joint Support 54, 56 Movable Support Gyro 62 Directional Antenna S Spin Tf Torque Due to Reaction Force Due to Friction Pf Precession Using Torque Tf

Claims (2)

(57) [Scope of request for utility model registration] A pedestal, a column connected to the pedestal, an inertial rotating body such as a gyro or a flywheel connected or housed in the pedestal, and swingably supported through the column. and support means, in the gyro-type stabilizing stand comprising: a movable range limiter, the limiting the swinging range of the base, the friction member which is deposited and formed on the strut abutment surface around及beauty friendly dynamic range limiter posts the provided, the friction member, a gyro-type stabilizing stand and having a tapered portion and a tapered portion provided so as to surface contact the opposing member. 2. The gyro-type stable table according to claim 1, wherein the directional antenna is mounted directly or indirectly on the table.