JP2844451B2 - Gravity direction holding device - Google Patents

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 maintaining the posture of a balance supporter 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 having a sway does not change its posture due to a back and forth sway (pitching) and a left and right sway (rolling). Must be equipped with a function to compensate for sway. For that purpose, conventionally, an active method of controlling the balance supporter based on fluctuation information detected by using a rotation mechanism or a vibration mechanism has been performed.

[0003]

Recently, as the demand for mobile communication has increased, it has been desired to realize an inexpensive device with a simple structure and reliable operation.

An object of the present invention is to provide a gravitational direction holding device capable of realizing an attitude stabilizing device meeting such a demand by a completely passive system, not by a conventional active system. is there.

[0005]

In order to achieve the above object, a gravitational direction holding device according to the present invention comprises a first balancing support rotatably provided at a fixed supporting position on a rocking body and a first balancing support. A second equilibrium support, an equilibrium support whose center is supported by the first equilibrium support, and which is horizontally extended so as to be symmetrical with the fixed support position; A pair of loads respectively attached thereto, an extending body having an upper end coupled to the equilibrium support and extending vertically from the fixed support position to a first length, and a supporting shaft at a lower end of the extending body; An attached upper rotary connector,
A moving body on which a load due to the rocking motion of the rocking body is applied; and a second equilibrium support having an upper end coupled thereto and having a distance between the fixed support position and the moving body longer than the first length.
A distance holder provided to hold the moving body and the second length of the moving body so as to freely follow the expansion and contraction of the distance between the moving body and the center of the upper rotary connector. And a telescopic device arranged so that both ends are coupled to the upper rotating connector and the moving body to maintain a pendulum motion limited by the moving body. Also, when the rocking body oscillates so as to perform a pendulum motion, the expanding body is configured to be held vertically from the fixed support position.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A gravitational direction holding device according to the present invention comprises two balancing supports, a balancing support, a pair of loads, a stretcher, an upper rotary connector, a moving body, and a distance holder. And a telescopic device. The two equilibrium supports are rotatably balanced and independently provided at a fixed support position on a rocking body on which the apparatus is installed.
The balancing support is horizontally extended so that its center is supported by the first balancing support and is symmetrical about the center of the balancing support, ie, the fixed support position. The pair of loads described above are respectively attached to both ends of the equilibrium support. The spreader has its upper end coupled to the balance support and extends a first length vertically from the center of the balance support. The support shaft of the upper rotary connector is attached to a lower end of the spreader. In the moving body,
The load accompanying the rocking of the rocking body acts. The distance holder is provided so as to hold a distance between the center of the balance supporter and the moving body at a second length longer than the first length. The telescopic device is configured to maintain a pendulum motion limited by the second length of the moving body in a state in which the telescopic device freely follows expansion and contraction of an interval between the moving body and the center of the upper rotary connector. Are arranged so that both ends are coupled to the upper rotary connector and the moving body. With this structure, even when the rocking body swings such that the moving body performs a pendulum motion around the fixed support position, the expanding body is vertically moved from the center of the second balancing support. Operates to be held in the direction. The distance holder,
The upper end may be realized by a linear body attached to the second balancing support so as to extend from the center of the second balancing support to a second length longer than the first length. I can do it. When this gravitational direction holding device is configured to operate in a three-dimensional space, of the above-mentioned components, the balance supporter, the upper rotary connector, and the distance holder are connected to each other by two two orthogonal to each other. It is provided with a universal joint structure that operates on each of the next planes.
In this case, the moving body is a weight, and the distance holder has an arc-shaped cross section for holding the moving body at a distance of a second length longer than the first length from the center of the balancing support. It can be realized as a bowl-shaped body having the same.

Embodiments of the present invention will be described below with reference to the drawings in the order of a two-dimensional device and a three-dimensional device. First, a two-dimensional oscillation in which the oscillation of the oscillator is in the X-Z plane of the drawing will be described.

FIG. 1 shows an embodiment of a two-dimensional apparatus according to the present invention. A is a rocking body serving as a base on which the present apparatus is installed. P
Reference numerals ₁ and P ₂ denote a first balance support and a second balance support rotatably provided on a fixed support shaft O fixed to the moving body A. At both ends of the first balanced supporting device P ₁ from horizontally stretched a balanced support B, it is given taking the load L with a weight that is equivalent to the extent that the balance can be taken together. Second
Balanced support device P ₂ upper rotary connector to the lower end of the stretched body C of a length L1 which is stretched on the vertical line passing through the center O of D
₁ is provided.

[0009] H is the distance holder for holding the first balanced supporting device longer constant length than the length L1 of the stretched body C the distance from the center O of P ₁ L2, the upper end in the fixed supporting position O It is connected to a _second equilibrium support P2, which is arranged rotatably. G is a moving body attached to the distance holder H and performing a pendulum motion together with the weight W attached to the distance holder H. Rotatably the lower rotary connector D ₂ is provided on the surface of the moving body G.

The upper rotary connector D ₁ (the center is also D ₁ ) and the lower rotary connector D ₂ (the center is also D ₂ ) are symmetrical to each other with respect to a straight line connecting the centers D ₁ and D _2. And a rotary connector F ₁ , which connects the pair of connectors E ₁ , E ₃ and the pair of connectors E ₂ , E ₄ , respectively.
Telescopic device (pantograph) is connected constituted by F _2. The telescopic device is arranged to support the moving body G with the upper rotary connector D ₁ in a state where it can freely follow the expansion and contraction of the interval between the support shaft of the upper rotary connector D ₁ and the moving body G. ing. A pointer I is attached to the upper part of the equilibrium support P so that the inclination angle θ of the rocking body A can be read by an angle scale J.

Hereinafter, the operation of the two-dimensional device of the present invention will be described. The solid line in FIG. 1 shows a state in which the tilt angle θ of the rocking body A is 0 ° and only gravity acts. That is, the weight W is located on a vertical line, the vertical rotation acting on the weight of the telescopic unit is applied to the upper rotary connector D ₁ , the balance support axis B is set horizontally, and the pointer I is stably set vertically. keeping. The weight of the extender is selected to be sufficiently smaller than the weight of the load L or the weight of the weight W. Further, a point N indicated by an X mark is a midpoint position of the expander, and is on the vertical line ZZ '.

Second, consider a case where the rocking body A is tilted without any lateral acceleration. The gravity by the weight W and the moving body G acts on the distance holder H connected to the second balance holder P ₂ in the vertical direction, and the physical property of the load L to keep the posture is maintained. Therefore, even if the inclination occurs with a gradual change, the fixed support shaft O and the first balance support P ₁ ,
If the frictional force between the second balanced supporting device P ₂ is small, the direction that is, the direction passing through the center O and the upper rotary connector D ₁ of the balanced supporting device P of the stretched body C is remains directed in the vertical direction, the No change in posture. That is, the posture of the device of the present invention is inherently stable against a change in the inclination angle.

Third, consider the effect of lateral acceleration on the device of the present invention. The dotted line in FIG. 1 shows a state where a certain amount of lateral acceleration acts on the present apparatus. Since the load L is equilibrated supported at both ends of the balanced support B which is coupled to the first balanced supporting device P _1, the change in attitude about the first center O of the balanced supporting device P ₁ is not caused The moving body G to which the weight W is attached moves on the circumference at a constant distance from the center O in the direction of the resultant force of the forces of gravity and lateral acceleration, and shifts its position.
Stretching instrument, following the pendulum movement of the moving body G, extending pulled lower rotating coupler D ₂ that is attached taken mobile body G. Point N and the point N ₁ shown is an illustration of a center-of-gravity position of the telescopic device in the case of work with if not work the lateral acceleration. The point N ₁ has a straight line OD by gravity and lateral acceleration.
₂ acts parallel force, this force so acts in a direction to lower the upper rotary coupler D _1, does not give a change in the attitude of the stretched body C. That is, the posture of the device of the present invention is stably maintained with respect to the lateral acceleration. However, for example, the expansion device when the lateral acceleration is applied impulsive in the state shown in solid line in FIG. 1 there is a risk of causing a rotational force about the point O as the center point D _2. In order to prevent this, the position of the weight W attached to the distance holder H is configured to be adjustable.

Next, an embodiment of the three-dimensional apparatus shown in FIG. 2 will be described. This device is configured symmetrically with respect to the vertical axis ZZ '. FIG. 2 is a cross-sectional view thereof in the XZ plane. Each symbol corresponds to the symbol in FIG. 1, where P and Q are orthogonal balance supports, so-called gimbal devices, whose rotation axes are orthogonal to each other, and a balance support for the three-dimensional oscillation of the oscillator A. The pointer B is held horizontally and the pointer I is held vertically. The center axis O of the balancing support P of the gimbal device is a fixed support shaft fixed to the rocking body A, and the balancing support Q of the gimbal device is orthogonally coupled to the balancing support P and is horizontally balanced. ing.

D ₁ is an upper rotary connector having a universal joint structure corresponding to three-dimensional swing. G is a moving body with the weight W same center and spherical, although per se having a performance of the universal joint, apart from the lower rotary connector D ₂ is provided in FIG.

H is a bowl-shaped distance holding member having a circular cross section for holding the moving body G at a fixed distance from the center O, and is connected to the rocking body A. The weight W is a distance holder H
It is designed to be able to move while contacting the inner surface. Instead of the bowl-shaped distance holding member, the linear member may be suspended from a _second equilibrium support P2 rotatably provided at the fixed support position O.

The upper rotary connector D ₁ and the lower rotary connector D ₂
Although the above-mentioned telescopic device (pantograph) can be inserted between the parallel sliding member E and the cylindrical parallel sliding member E,
The expander constituted by F is connected. The telescopic device of the embodiment is a sectional view thereof.

The solid line in FIG. 2 shows a state in which only gravity acts, and a dotted line shows a state in which a certain magnitude of lateral acceleration acts together with gravity.

Next, the operation of the three-dimensional apparatus of the present invention will be described. First, not inclined upset body A, when only gravity acts is located in the moving body G on the vertical line, acts in the vertical direction of force by parallel sliding body E on the upper rotary connector D _1, pointer I Is held vertically and shows an inclination angle of 0 °.

Second, consider a case where the rocking body A is tilted in the XZ plane with a tilt angle θ as shown by a dotted line. First, when only gravity acts, since the distance holding body H has a circular cross-section centered on the center O of the gimbal device,
The weight W inscribed in this rotates when it inclines, and returns to the original vertical direction. That is, this is one feature of the three-dimensional device of the present invention. After all, the pointer I is held vertically in the same manner as described above, and indicates the inclination angle θ of the angle scale J.

Third, consider the effect of lateral acceleration. As shown by the dotted line in FIG. 2, when a certain amount of lateral acceleration acts on the present apparatus, the moving body G moves together with the weight W in the direction of the resultant force due to gravity and the lateral acceleration. At this time, the extenders E and F extend and come into contact with each other. Eventually, the upper rotary connector D ₁ changes in attitude does not occur, the pointer continues to be held in a vertical state. When a lateral acceleration is impulsively applied, the parallel sliding bodies E and F do not rotate with respect to the expanding body C because they contact each other, and the posture is stably maintained.

Finally, the above-mentioned two-dimensional or three-dimensional device is provided with an expansion and contraction device which is added to the upper rotary connector D ₁ even if the posture of the equilibrium support B is lost due to a mechanical action of any external force. It has the characteristic of restoring the original posture by the force of weight.

As described above, in the apparatus of the present invention, the posture of the equilibrium holding device is set to the original position regardless of the change of the inclination angle, the effect of the lateral acceleration, and the disturbance of the posture due to the external force. It keeps or restores the state.

[0024]

As described in detail above, the device of the present invention is widely used as an inclinometer on a rocking body which is subject to rocking and shock due to its simple structure, and as a device for stabilizing the posture. It is possible. In addition, the present apparatus is more economical because it operates more reliably and is easier to handle. Therefore, its application range is wide, such as communication, navigation, and industrial equipment.

[Brief description of the drawings]

FIG. 1 shows an embodiment of a device for two-dimensional sway according to the present invention, in which only gravity acts and a dotted line shows a case where lateral acceleration further acts.

FIG. 2 is an embodiment of the device for three-dimensional sway according to the present invention, wherein the case where only gravity acts is indicated by a solid line, and the case where lateral acceleration is further applied is indicated by a dotted line.

[Explanation of symbols]

A Moving body B Balanced support C Expanded body D ₁ Upper rotary connector D ₂ Lower rotary connector E Parallel sliding body E ₁ , E ₂ , E ₃ , E ₄ connecting body F Parallel sliding body F ₁ , F ₂ rotating connection Instrument G Moving body H Distance holder I Pointer J Angle scale L Load O Center of balance support P, Q (fixed support shaft) P1 _First balance support P2 _Second balance support (P, Q) Orthogonal equilibrium support (gimbal) N, N ₁ Midpoint position of telescopic unit XX 'Horizontal axis ZZ' Vertical axis W Weight θ Tilt angle

Claims (3)

(57) [Claims] A first equilibrium supporter and a second equilibrium supporter, which are rotatably equilibrated at a fixed support position on a rocking body; and a center portion of the first equilibrium supporter is supported by the first equilibrium supporter. And a pair of loads respectively attached to both ends of the equilibrium support, and an upper end thereof is coupled to the equilibrium support and the fixing is performed. An extension body extending vertically from the support position to a first length, an upper rotary connector having a support shaft attached to a lower end of the extension body, and a moving body on which a load due to the oscillation of the oscillator acts. A distance holder having an upper end coupled to the second balancing support and provided to maintain a distance between the fixed support position and the moving body at a second length longer than the first length; Between the moving body and the center of the upper rotary connector Both ends are connected to the upper rotary connector and the moving body so as to maintain a pendulum movement limited by the second length of the moving body while freely following the expansion and contraction of the interval. When the rocking body swings such that the moving body performs a pendulum motion with the fixed support position as a fulcrum, the expandable body extends vertically from the fixed support position. A gravitational direction holding device configured to be held by the gravitational direction. 2. The distance holder is a linear body whose upper end is attached to the equilibrium support so as to extend from the fixed support position to a second length longer than the first length. The gravity direction holding device according to claim 1, wherein: 3. The moving body is a weight, and the distance holder has an arc-shaped cross section for holding the moving body at a distance of a second length longer than the first length from the fixed support position. The gravitational direction holding device according to claim 1, wherein the gravitational direction holding device has a bowl shape.