JP4364976B2 - Horizontal table holding device by passive control - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an apparatus for stably maintaining the posture of a horizontally supported horizontal table by a passive mechanism.
[0002]
[Prior art]
An earth station antenna or measuring instrument for mobile satellite communications used on a moving body with shaking must have a function to prevent its posture from changing due to changes in tilt, lateral acceleration, etc. I must.
Therefore, conventionally, an active method has been used in which the attitude of the balanced supporter is controlled based on motion information detected using a gyroscope or the like.
[0003]
Recently, with the increasing demand for mobile communication, it is desired to realize a device that is simple in operation and reliable in operation and inexpensive. In order to respond to such a demand, the inventor of the present application arranges a pair of loads horizontally on a rocking body by one gimbal and an orthogonal relationship with respect to a predetermined position on the horizontal base. A suspended joint for XZ plane and a suspended joint for YZ plane, a central connecting part for coupling these suspended joints, and a weight suspended from the central connecting part, Proposed first “Horizontal Stand Holding Device Using Suspension Combined Body” that has a structure in which the horizontal base can support the load horizontally against the action of the swinging body and lateral acceleration in the original space [See Japanese Patent Application No. 10-187051].
[0004]
[Problems to be solved by the invention]
However, this prior application device uses a suspended coupled body having a suspension width ratio value greater than 1, and its structural arrangement and operation are not simple, and the horizontal holding function has an error.
[0005]
The object of the present invention is to further simplify the structure of the device according to the prior application, reduce the error of horizontal maintenance, and easily realize the stabilization of the posture according to such a demand. The object is to provide a flat table holding device.
[0006]
In order to achieve this object, in the horizontal holding device by passive control according to the present invention, the XX ′ system and the YY ′ system each having a central axis and a movable outer ring are orthogonal to each other. A gimbal that is configured to be in a relationship and in which the central axis of one system on the fixed side is attached at a predetermined position on the moving body;
A horizontal base attached to the central axis of the other system which is the equilibrium side, unlike the one system which is the fixed side of the gimbal;
A load attached to the horizontal platform such that the horizontal platform maintains a horizontal equilibrium on the central axis that is on the equilibrium side of the gimbal;
Each pair forms a first opening angle radially downward from a center position on the equilibrium side with respect to a vertical axis passing through the center of the gimbal, and each upper end on the center axis on the equilibrium side so that each pair is orthogonal to each other. Two pairs of suspension connections to which is attached;
Four lower rotary couplers attached to each lower end of the two pairs of suspension connections;
Two pairs of holding connectors each having a lower end attached to each movable part of the four lower rotary couplers and having a length shorter than the length of the suspension connector;
Four upper rotary couplers respectively attached to the upper ends of the two pairs of holding connections;
The movable parts of the four upper rotary couplers are interconnected, and each pair of the two pairs of holding connectors is below the gimbal and has a second opening angle greater than the first opening angle with respect to the vertical axis. A central connector arranged to form an opening angle;
A weight suspension body having an upper end attached to the center of the central connection body;
A weight attached to the lower end of the weight suspension;
On the central axis of the gimbal, a composite of at least the two pairs of suspension connectors, the four lower rotary couplers, the two pairs of holding connectors, the four upper rotary couplers and the central connector. A balancing weight attached to the horizontal platform so as to be positioned above the gimbal for balancing with weight;
Passive control by gravity of the weight is performed so that the horizontal base is kept horizontal on the moving body.
Furthermore, a shake restricting means for restricting the shake of the weight from the vertical axis within the range of the second opening angle can be provided.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
The device according to the present invention has a special structure in which the value of the change width ratio is substantially 0 in the device of the prior application.
The device according to the present invention can maintain the posture of the horizontal table horizontally with respect to the motion of the moving body moving in the three-dimensional space, that is, the effects of tilt and lateral acceleration.
[0008]
【Example】
Embodiments of the present invention will be described below with reference to the drawings. This device is used as a three-dimensional device. It consists of a combination of two two-dimensional devices, XX 'system and YY' system, which are arranged orthogonal to each other. Therefore, the configuration and operation of the two-dimensional apparatus operating in the XZ plane will be described first.
[0009]
FIG. 1 shows an example of the structure of a two-dimensional device for explaining the two-dimensional operation of the present invention. A is a rocking body that serves as a base on which the apparatus is installed. P ₀ is a gimbal provided so that its center is placed at a predetermined position as a reference of this apparatus. This structure example is a two-dimensional device, gimbal P ₀ is the central axis P ₀₁ which is arranged perpendicular to the plane of illustration, which is formed so as be rotatable about its central axis P ₀₁ It is shown as a rotary coupler structure with a movable outer ring P ₀₂ . A horizontal base B is fixed to the movable outer ring P ₀₂ of the gimbal P ₀ so as to project on both sides of the gimbal P ₀ , and the horizontal base B has a weight that balances with each other in order to balance and support the horizontal base B on the central axis P ₀₁ of the gimbal P ₀ . A load L is attached to both ends of the horizontal base B, and a balancing weight W ₁ is attached to the center upper end of the movable outer ring P ₀₂ via a support rod J.
[0010]
In a practical three-dimensional apparatus, as will be described later, the gimbal P ₀ is composed of the XX ′ system and the YY ′ system arranged orthogonal to each other as described above, and the central axis of the system on the fixed side. P ₀₁ is fixed on the oscillating body A, and a horizontal base B is attached to the central axis of the system on the equilibrium side. However, in order to facilitate the understanding of the operation, FIG. 1 shows one two-dimensional device in which the central axis P ₀₁ is fixed and a horizontal base is attached to the movable outer ring P ₀₂ . .
[0011]
So as to form a gimbal P movable exocyclic P ₀₂ in mounted around P ₀ radial angular aperture downward gamma _{1 0} (opening angle gamma _1/2 for vertical axis ZZ 'passing through the center of the gimbal P ₀₎ Suspension connection bodies C ₁ and C ₂ are extended to the lower ends of the suspension connection bodies C ₁ and C ₂ , and the central shafts Q ₁₁ and Q ₂₁ of the lower rotary couplers Q ₁ and Q ₂ are attached. Yes.
[0012]
Is attached has the lower end of the lower rotary coupler Q _1, respectively held connector to each movable outer ring Q _12, Q ₂₂ of the Q ₂ E _1, E _2, each upper end of the holding connection assembly E _1, E ₂ Are connected to the central axes S ₁₁ , S ₂₁ of the upper rotary couplers S ₁ , S ₂ , respectively. The movable outer rings S ₁₂ and S ₂₂ of the upper rotary couplers S ₁ and S ₂ are interconnected by a central connector E. With such a configuration, the distances from the centers of the lower rotary couplers Q ₁ and Q ₂ to the vertical axis ZZ ′ are equal to each other. Since the upper rotary couplers S ₁ and S ₂ are located below the gimbal P ₀ , the lengths of the holding connectors E ₁ and E ₂ are the same as the lengths of the suspension connectors C ₁ and C _2. Shorter than that.
[0013]
A weight suspension body F is extended from the middle point S ₀ of the central connection body E below, and a weight W is attached to the lower end thereof. That is, the central connection member E is held with the holding connector E _1, E ₂ opened at the center by angle gamma ₂ (opening angle gamma _2/2 for vertical axis ZZ '). As shown, γ ₂ > γ ₁ .
As will be described later, in the three-dimensional apparatus, the central connector E is configured to be held by holding connectors respectively connected to the four lower rotary couplers.
[0014]
The weight W ₁ connected to the support rod J connected to the upper part of the movable outer ring P ₀₂ of the central gimbal P ₀ so as to be oriented in the vertical direction is composed of the suspension connectors C ₁ and C ₂ and the lower rotary coupler. Q ₁ , Q ₂ , the upper rotary coupler S ₁ , S ₂ , the center connection E and the balance weight W ₁ for balancing with the combined weight of the holding connections E ₁ , E ₂ .
[0015]
H is a steady rest for the weight W, and has a cylindrical shape with an open top that is configured to have a desired radius around the vertical axis ZZ ′, and the weight W swings from the vertical axis ZZ ′. is the opening angle (γ _1/2) regulating means for regulating within.
[0016]
Hereinafter, the operation of the device of the present invention will be described for a two-dimensional device.
FIG. 1 shows a state in which the tilt angle θ of the oscillating body A is 0 ° and only the gravity g acts. Weight W is located on the vertical axis ZZ 'passing the point P _0, If you work is f ₀ becomes a force to the weight W, becomes equal to each other f _0/2 in each of the lower rotary coupler Q _1, Q ₂ Power Work. That is, the suspended connection bodies C ₁ and C ₂ are suspended symmetrically with respect to the vertical axis ZZ ′, and the horizontal base B is held on the horizontal axis XX ′.
[0017]
Consider first the case where the device is subjected to lateral acceleration.
FIG. 2 is a diagram for explaining the operation and the state in which the lateral acceleration α acts on the apparatus and the weight W is swung by β = tan ⁻¹ (α / g). The suspension connectors C ₁ and C ₂ do not move by the action of the balance weight W ₁ , and only the weight W can swing. f ₀ is the force due to Jutsumu W acting on the middle point S ₀ of the central connection body E.
[0018]
Now, as shown in FIG. 2, for example, when the weight W swings to the right of the vertical axis ZZ ′, the suspension connectors C ₁ and C ₂ do not cause any movement as described above and the lower rotary coupler. Q ₁ and Q ₂ are also stationary. In this state, the central connector E is inclined so that the right end side rises and the left end side descends. At this time, the upper rotary coupler similarly rises S _{2 and} lowers S _1, but the central axes S ₁₁ and S _{21 of} the upper rotary couplers S ₁ and S ₂ are respectively attached to the upper ends. Since the lower ends of the connecting bodies E ₁ and E ₂ are respectively attached to the movable outer rings Q ₁₂ and Q ₂₂ of the stationary lower rotary couplers Q ₁ and Q ₂ , the upper rotary coupler on the right side In S ₂ , the movable outer ring S ₂₂ is subjected to the action of rising and clockwise rotation (clockwise direction). In this case, the central axis S ₂₁ of the upper rotary coupler S ₂ is subjected to an ascending action, but since the lower rotary coupler Q ₂ on the right side is stationary, the central axis S ₂₁ is connected to the lower rotary joint on the right side. It moves on a circular arc ARC ₂ indicated by a dotted line with the center being the center of the unit Q ₂ and having a radius between the center and the center of the center axis S ₂₁ of the upper rotary coupler S ₂ on the right side.
[0019]
On the other hand, in the left upper rotary coupler S ₁ , the movable outer ring S ₁₂ is subjected to the action of lowering and counterclockwise rotation (counterclockwise direction). At this time, the center axis S ₁₁ of the upper rotary coupler S ₁ is subjected to the action of falling, but since the lower rotary coupler to Q ₁ left is stationary, the center axis S ₁₁ is left of the lower rotary coupler It moves on the circular arc ARC ₁ indicated by a dotted line with the radius from the center of Q ₁ as the center and the distance from the center of the central axis S ₁₁ of the upper rotary coupler S ₁ .
[0020]
When the weight W swings to the left of the vertical line ZZ ′, the central connection body E tilts so that the left end side rises and the right end side descends, and as will be understood from the above operation, the center of the upper rotary coupler S ₁ of the central shaft S _11, moves along an arc aRC ₁ of the center of the right side of the central axis S ₂₁ of the upper rotary coupler S ₂ is an arc aRC ₂ of the Move along.
[0021]
As a result of the above operation, the frictional force between the central shafts of the lower rotary couplers Q ₁ and Q ₂ and the upper rotary couplers S ₁ and S ₂ and the movable outer ring has a value that can be ignored. In this case, the upper rotary couplers S ₁ and S ₂ can also be used in the case of the right upward or left upward inclination of the central connection body E that occurs when the weight W swings rightward or leftward from the vertical line ZZ ′. Since the condition that the centers of the central axes S ₁₁ and S ₂₁ move on the arcs ARC ₁ and ARC ₂ is ensured, the center S ₀ of the central connection body E is slightly raised and lowered along the vertical line ZZ ′. It only moves. This means that the state in which the weight W moves around the center point S ₀ of the central connection body is stable. Eventually, the suspension connectors C ₁ and C ₂ remain stationary without changing their posture. This operation result has been confirmed by making a prototype of this apparatus.
[0022]
As described above, the posture of the suspended connecting body, that is, the horizontal base B is not affected by the action of the lateral acceleration.
[0023]
In addition, the above description is the operation in a range in which the swing of the weight W does not exceed the opening angle γ ₁ of the suspended connection bodies C ₁ and C ₂ . As described above, the condition for maintaining the posture is that the shake of the weight W is within the range of the opening angle γ ₁ , that is, inside the radiations T ₁ and T ₂ . Therefore, it is not necessary under the condition that the swing of the weight W is small, but if the swing is large, the steady rest H for the above-described swing restriction is necessary.
[0024]
Secondly, the inclination of the moving body A will be considered. With respect to FIG. 2, in general, when the oscillating body A is inclined, if the gimbal P ₀ has friction, an angle error δ occurs in the posture of the horizontal base B. If the frictional force is f _R , the angle error δ is expressed by δ = sin ⁻¹ (f _R / f ₀ ). Here, since the value of f _R / f ₀ is as small as about 0.01 and it is easy to work, the horizontal platform B can not make an error even if the oscillating body is inclined regardless of the lateral acceleration. Is held approximately horizontal to the extent.
[0025]
Finally, consider the case where the horizontal state of the horizontal platform B is broken by an external force.
As apparent from FIG. 1, under the condition where only the gravity g is applied, the weight suspension point S ₀ becomes higher than the initially set position when the posture of the horizontal platform is collapsed. The force due to gravity g acts on the suspension point S ₀ and returns to its original stable state. In other words, the device has resiliency.
[0026]
Although the operation as a two-dimensional device has been described above, a three-dimensional device can be easily configured by arranging two-dimensional devices in an orthogonal relationship with each other as shown in the perspective view of FIG. In FIG. 3, P ₀ is a gimbal, and a system having a central axis P ₀₁ on the YY ′ axis is a fixed side coupled to the oscillating body A, and is centered on the XX ′ axis that is orthogonal to the system. A system having the axis P ₀₃ is configured as an equilibrium side. The central axes P ₀₁ and P ₀₃ are supported by movable outer rings P ₀₂ and P ₀₄ , respectively. A horizontal base B is attached to a central axis P ₀₃ on the XX ′ axis, and a load L is attached to the horizontal base B so as to be horizontally balanced and supported in the XY plane. From the mounting member P, which is provided so as to be attached to the central axis P ₀₃ at the center point P ₀ of the gimbal P ₀ and is orthogonally arranged, a pair of suspension connecting bodies C are radially provided downward. ₁ , C ₂ and C ₃ , C ₄ are extended with an opening angle γ ₁ in the XZ plane and YZ plane, respectively. If this is viewed as a two-dimensional device in the YZ plane, it can be seen that the suspension connectors C ₁ and C ₂ are completely equivalent to the state connected to the movable outer ring P ₀₂ in FIG. Further, Q _{1 to} Q ₄ , E _{1 to} E ₄ , and S _{1 to} S ₄ are four component parts. Other symbols are the same as those in FIGS. Here, the holding connectors E _{1 to} E ₄ are connected to the planar central connector E via the upper rotary couplers S _{1 to} S ₄ , respectively. The mounting positions of the upper rotary couplers S ₁ , S ₂ and S ₃ , S ₄ are symmetrical with respect to the center point S ₀ of the central connector E. The mounting positions of the upper rotary couplers S _{1 to} S ₄ are Form a rectangle. The lower end of the weight hanging hard F attached to the center point S ₀ is the weight W is mounted. Although the steady rest H of the three-dimensional apparatus is shown as a cylindrical shape, a part of the steady rest H is omitted to avoid confusion.
[0027]
In the above configuration, as can be understood from the above description of the two-dimensional device, the holding connectors E _{1 to} E ₄ maintain the horizontal platform in a horizontal state with respect to the deflection angle β due to the lateral acceleration of the weight W. Operates as follows.
In addition, the movement of the weight W is made smooth by making the attachment position of the upper rotary couplers S _{1 to} S ₄ rectangular. Further, even if the oscillating body A is inclined in any direction, the posture of the horizontal base B is substantially maintained in an equilibrium state. Further, it is apparent from the configuration of FIG. 3 that the posture is restored even when disturbance is applied to the horizontal platform B from the outside.
[0028]
In the above description, in the lower rotary couplers Q _{1 to} Q ₄ and the upper rotary couplers S _{1 to} S ₄ , it has been described that the central axis is a fixed part and the outer ring is a movable part. It is also possible to use the central axis as a movable part as a fixed part.
[0029]
As described above, the “horizontal table holding device by passive control” according to the present invention shown in FIG. 3 includes the XX ′ system and the YY ′ system, each of which has a central axis and a movable outer ring. A gimbal (P ₀ ) configured such that the central axes are orthogonal to each other, and the central axis of one system on the fixed side is attached at a predetermined position on the oscillating body (A);
A horizontal base (B) attached to the central axis of the system that is the other equilibrium side orthogonal to the one system that is the fixed side of the gimbal;
A load (L) attached to the horizontal base so that the horizontal base (B) maintains a horizontal equilibrium state on the central axis on the equilibrium side of the gimbal (P ₀ );
Each pair forms a _first opening angle (γ 1/2) radially downward from the center position on the equilibrium side with respect to a vertical axis (ZZ ′) passing through the center position of the gimbal, and each pair is orthogonal to each other. In this way, two pairs of suspension connections (C ₁ , C ₂ ; C ₃ , C ₄ ) each having an upper end attached to the center axis on the equilibrium side,
Four lower rotary couplers (Q ₁ , Q ₂ , Q ₃ , Q ₄ ) attached to the lower ends of the two pairs of suspended connections (C ₁ , C ₂ ; C ₃ , C ₄ );
Lower ends are respectively attached to the movable parts of the _four lower rotary couplers (Q ₁ , Q ₂ , Q ₃ , Q ₄ ), and the suspension connecting bodies (C ₁ , C ₂ , C ₃ , C ₄ ) Two pairs of holding connections (E ₁ , E ₂ ; E ₃ , E ₄ ) having a length shorter than
Four upper rotary couplers (S ₁ , S ₂ , S ₃ , S ₄ ) respectively attached to the upper ends of the two pairs of holding connectors (E ₁ , E ₂ ; E ₃ , E ₄ );
The movable parts of the four upper rotary couplers are interconnected so that the two pairs of holding connectors (E ₁ , E ₂ ; E ₃ , E ₄ ) are below the gimbal and the vertical axis (ZZ ') said first opening angle (gamma _1/2) than the arrangement so as to form a large becomes second opening angle (gamma _2/2) is a central connecting body relative to the (E),
A weight suspension (F) having an upper end attached to the center (S ₀ ) of the central connection body;
A weight (W) attached to the lower end of the weight suspension (F);
On the central axis of the system on the equilibrium side of the gimbal P ₀ , at least the two pairs of suspension connections (C ₁ , C ₂ ; C ₃ , C ₄ ), the four lower rotary couplers ( Q ₁ , Q ₂ , Q ₃ , Q ₄ ), the two pairs of holding connection frames (E ₁ , E ₂ ; E ₃ , E ₄ ), the four upper rotary couplers (S ₁ , S ₂ , S ₃ , S ₄ ) and a balance weight (W ₁ ) attached to the horizontal table so as to be positioned above the horizontal table (B) in order to balance the combined weight of the central connector (E). And
Passive control by gravity of the weight (W) is performed so that the horizontal base (B) is kept horizontal on the moving body (A).
[0030]
As described in detail above, the device of the present invention maintains the horizontal platform in its original state against changes in tilt angle, lateral acceleration, and disturbance of posture due to external force, or Self-healing.
[0031]
【The invention's effect】
Since the apparatus of the present invention is simple in structure, it can be widely used as a tilt angle meter on a rocking body with shaking and impact, or as a device for posture stabilization. In addition, this device is more reliable and easy to handle and economical. Therefore, the range of applications such as communication, navigation, and industrial devices is wide.
[Brief description of the drawings]
FIG. 1 is a schematic front view showing a two-dimensional configuration of an embodiment of the present invention.
FIG. 2 is a schematic front view for explaining the operation of the two-dimensional configuration of the device of the present invention with respect to shaking.
FIG. 3 is a perspective view showing a configuration example of a three-dimensional apparatus according to the present invention.
[Explanation of symbols]
A upset body B horizontal base _{C 1, C 2, C 3} , C 4 hanger connector E central connecting body _{E 1, E 2, E 3} , E 4 held connector F weight hanging rigid H bracing J support桿 L Load P Mounting member P ₀ Gimbal and its movable outer rings Q ₁ , Q ₂ , Q ₃ , Q ₄ lower rotational connection with rotation axes P ₀₂ , P ₀₄ P ₀₁ , P ₀₃ of their centers P ₀₁ , P ₀₃ P ₀ Middle points S ₁ , S ₂ , S ₃ , S ₄ upper rotary coupler S ₁₁ of inner rings Q ₁₂ , Q ₂₂ Q ₁ , Q ₂ of outer rings S ₀ E of the devices Q ₁₁ , Q ₂₁ Q ₁ , Q ₂ , S ₂₁ S ₁ , S ₂ inner rings S ₁₂ , S ₂₂ S ₁ , S ₂ outer rings T ₁ , T ₂ Suspension connection direction XX ′ Horizontal axis YY ′ XX ′ Horizontal axis ZZ ′ perpendicular to the vertical axis W weight W ₁ balance weights ARC ₁ , ARC ₂ S ₁ , force of acting on the trajectory f ₀ S ₀ of the center of S ₂ β weight swing angle θ swing Body tilt angle γ ₁ Suspension connector opening angle γ ₂ Holding connector opening angle

Claims (2)

The XX ′ system and the YY ′ system each having a central axis and a movable outer ring are configured such that the central axes are orthogonal to each other, and the central axis of one system on the fixed side A gimbal attached to a predetermined position on the rocking body,
A horizontal base attached to the central axis of the other system which is the equilibrium side, unlike the one system which is the fixed side of the gimbal;
A load attached to the horizontal platform such that the horizontal platform maintains a horizontal equilibrium on the central axis that is on the equilibrium side of the gimbal;
Each pair forms a first opening angle radially downward from a center position on the equilibrium side with respect to a vertical axis passing through the center of the gimbal, and each upper end on the center axis on the equilibrium side so that each pair is orthogonal to each other. Two pairs of suspension connections to which is attached;
Four lower rotary couplers attached to each lower end of the two pairs of suspension connections;
Two pairs of holding connectors each having a lower end attached to each movable part of the four lower rotary couplers and having a length shorter than the length of the suspension connector;
Four upper rotary couplers respectively attached to the upper ends of the two pairs of holding connections;
The movable parts of the four upper rotary couplers are interconnected, and each pair of the two pairs of holding connectors is below the gimbal and has a second opening angle greater than the first opening angle with respect to the vertical axis. A central connector arranged to form an opening angle;
A weight suspension body having an upper end attached to the center of the central connection body;
A weight attached to the lower end of the weight suspension;
On the central axis of the gimbal, a composite of at least the two pairs of suspension connectors, the four lower rotary couplers, the two pairs of holding connectors, the four upper rotary couplers and the central connector. A balancing weight attached to the horizontal platform so as to be positioned above the gimbal for balancing with weight;
A horizontal base holding device by passive control configured to perform passive control by gravity of the weight so that the horizontal base is maintained horizontally on the moving body. 2. The horizontal base holding device by passive control according to claim 1, further comprising a shake restricting unit that restricts a shake of the weight from the vertical axis within a range of the second opening angle.

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