JP4158854B2 - Space stabilizer - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a space stabilizer, and more particularly, to a novel improvement for suppressing vibrations in a wide range of frequencies by providing a driving body including a piezoelectric element and a piezoelectric actuator provided on a holder.
[0002]
[Prior art]
Conventionally, as this type of space stabilizer used, there has been a space stabilizer mounted on a flying object (for example, see Patent Document 1).
That is, the image captured by the camera is obtained by following the 5-axis space stabilization means.
In addition, an anti-vibration rubber or the like is interposed between the holding frame, which is the outer frame of the space stabilizer in the above-described prior art, and the base side on the fixed side, thereby preventing vibration inside the space stabilizer. Was configured to.
[0003]
[Patent Document 1]
Japanese Patent Laid-Open No. 2000-202153
[Problems to be solved by the invention]
Since the conventional space stabilizer is configured as described above, the following problems exist.
That is, since only the vibration isolation by the vibration isolation rubber is used, the frequency of vibration is limited, and it has been extremely difficult to obtain the vibration isolation effect particularly in the low frequency range.
[0005]
The present invention has been made to solve the above-described problems, and in particular, by providing a vibration body composed of a piezo element and a piezo actuator on a holding body to drive the vibration in a wide range of frequencies. An object of the present invention is to provide a space stabilizer.
[0006]
[Means for Solving the Problems]
A space stabilizer according to the present invention includes a cup-type holding body provided at a base portion via a first drive motor for outer yaw so as to be rotatable in the yaw direction, and a piezo element and a piezoelectric actuator attached to the outer surface of the holding body. A first frame body rotatably provided in the pitch direction via a second drive motor for outer pitch inside the holding body, and an inner yaw first inside the first frame body. A second frame provided to be rotatable in the yaw direction via a 1 finite angle torquer, and provided to be rotatable in the pitch direction via a second finite angle torquer for inner pitch inside the second frame. And a camera provided on the third frame so as to be rotatable in the roll direction. At least a frequency of vibration generated inside the holding body is detected by the piezo element. , the same peripheral and the frequency In spatial stabilizer device configured to suppress vibration of at least the holding member by driving the piezoelectric actuator according to the number of drive signals, the vibrating body, the four corner portions formed on an outer surface of said holding body One piezo element is provided, and the piezo element and the piezo actuator are formed in two layers to form the vibrating body, the piezo element is provided in the holding body, and the piezo actuator is provided outside the piezo element. It is the composition which is.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of a space stabilizer according to the present invention will be described with reference to the drawings.
FIG. 1 is an overall external configuration diagram, FIG. 2 is an actual structural diagram of the configuration of FIG. 1, and FIG. 3 is a functional configuration diagram for showing functions of the structural diagram of FIG.
In FIG. 1, reference numeral 1 denotes a fixing base formed on the body side of a flying object or the like. This base 1 includes a well-known combination of a DC motor and a gear for outer yaw or a geared motor. A cup-shaped holding body 3 is provided so as to be rotatable in a yaw direction indicated by an arrow via a first drive motor 2.
[0008]
Inside the holder 3, an infrared camera 20, a visible camera 21, and a laser distance measuring device 22 are installed so as to be in a stable space state.
[0009]
As shown in detail in FIG. 3, the holding body 3 is provided with a first frame body 5 rotatably on the inner side via a first support shaft 4, which is a well-known outer pitch. The second drive motor 6 comprising a combination of a DC motor and a gear or a geared motor is configured to rotate along a pitch direction indicated by an arrow.
[0010]
A second frame 8 is rotatably provided on the inner side of the first frame 5 via a second support shaft 7, and along a yaw direction indicated by an arrow by a first finite angle torquer 9 for inner yaw. It is configured to rotate.
[0011]
A third frame 11 is rotatably provided inside the second frame 8 via a third support shaft 10 and is arranged in a pitch direction indicated by an arrow by a known second finite angle torquer 12 for inner pitch. It is comprised so that it may rotate along.
[0012]
On the inner wall of the third frame 11, the above-described infrared camera 20, visible camera 21, and laser distance measuring device 22 are provided.
The infrared camera 20 and the visible camera 21 are configured such that a panning operation can be performed along a roll direction indicated by an arrow by a known drive motor (not shown) provided in the third frame 11. .
Further, the laser distance measuring device 22 is fixed to the inner wall of the third frame body 11, and is configured so that its orientation is determined in conjunction with only the posture of the third frame body 11.
[0013]
Therefore, a 5-axis gimbal is provided by the inner pitch, inner yaw, outer pitch, and outer yaw by the rolls of the infrared camera 20 and the visible camera 21, the first and second drive motors 2 and 6, and the first and second finite angle torquers 9 and 12. A configuration is obtained, and each finite-angle torquer 9, 12 is a torquer that rotates only a finite angle, such as a well-known sector type.
[0014]
The four corner portions formed on the outer surface 3a of the holder 3 are each a total of four vibrating body 30 by one are provided apart from each other.
Each of the vibrating bodies 30 includes a known piezoelectric element 30a and a piezoelectric actuator 30b formed in two layers, and detects the frequency of vibration generated from the holding body 3 by the piezoelectric element 30a provided on the holding body 3. Is applied to the control unit 40, and the control unit 40 drives the piezo actuator 30b provided outside the piezo element 30a with a drive signal having the same frequency as the detected frequency. It is configured so that vibration can be suppressed.
Therefore, even when the frequency of vibration of the space stabilizer 100 including the holding body 3 changes, the control unit 40 drives the piezo actuator 30b based on the changed frequency. The vibration can be suppressed by variably responding to the low frequency).
[0015]
【The invention's effect】
Since the space stabilizer according to the present invention is configured as described above, the following effects can be obtained.
In other words, the holding body that supports the entire space stabilizer is provided with a vibrating body consisting of a piezo element and a piezo actuator. It is possible to effectively suppress vibrations in a band including a low frequency by driving in a formula.
[Brief description of the drawings]
FIG. 1 is a front view showing a space stabilizer according to the present invention.
FIG. 2 is a structural diagram showing an actual structure of FIG. 1;
3 is a block diagram functionally showing the structure of FIG. 2. FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Base part 1 1st drive motor 3 Holding body 3a Outer surface 5 1st frame 6 2nd drive motor 8 2nd frame 9 1st finite angle torquer 11 3rd frame 20, 21 Camera 30 Vibrating body 30a Piezo element 30b Piezo Actuator

Claims (1)

A cup-shaped holder (3) provided on the base (1) via the first drive motor (2) for outer yaw so as to be rotatable in the yaw direction, and an outer surface (3a) of the holder (3) A vibrating body (30) comprising a piezo element (30a) and a piezoelectric actuator (30b) attached, and a second drive motor (6) for outer pitch inside the holding body (3) can be rotated in the pitch direction. A first frame (5) provided in the first frame (5) and a second frame (5) provided inside the first frame (5) so as to be rotatable in the yaw direction via a first finite angle torquer (9) for inner yaw. A frame (8), and a third frame (11) provided inside the second frame (8) so as to be rotatable in the pitch direction via a second finite angle torquer (12) for inner pitch. A camera (20, 21) provided on the third frame (11) and rotatably provided in the roll direction, and at least a frequency of vibration generated inside the holding body (3). With element (30a) Out, the spatial stability device configured to suppress vibration of at least the retaining member (3) by driving the by the drive signal having the same frequency as the frequency piezoelectric actuator (30b), said vibrating body (30), One is provided at each of four corners formed on the outer surface (3a) of the holding body (3), and the piezoelectric element (30a) and the piezoelectric actuator (30b) are formed in two layers to form the vibrating body. (30) is formed, said piezoelectric element (30a) is provided in the holding body (3), said piezoelectric actuator (30b) is you characterized in that provided outside of the piezoelectric element (30a) sky between the stabilizer.

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