JPH01272911A - Vertical gyro - Google Patents

Abstract

PURPOSE:To optically take out an output signal only by one motor by supporting an external gimbals rotatably in a 1st direction between external gimbals bearing at both ends of a base and also supporting an internal gimbals in a 2nd direction crossing the 1st direction at right angles. CONSTITUTION:The external gimbals 7 is supported rotatably in the 1st direction between the external gimbals bearings 12 at both ends of the base 10. The internal gimbals 1 is supported rotatably in the 2nd direction perpendicular to the 1st direction between internal gimbals bearings 13 at both ends of the external gimbals 7. A gyro motor 3 is provided in the internal gimbals 1 and an electric feeding means 21 is provided between the base 10 and gyro motor 3. Further, a light emission part 17 is provided below the internal gimbals 1. Then a light emission part 17 is moved, and the light from the light emission part 17 is photodetected by a photodetection part 19, whose detection signal is processed by a detection signal processing circuit part 20 to find a pitch angle and a roll angle.

Description

DETAILED DESCRIPTION OF THE INVENTION a. Field of Industrial Application The present invention relates to a vertical gyro, and particularly to a small, high-performance configuration that can optically extract an output signal using only one motor. Concerning a novel improvement for obtaining.

b. Prior Art Various types of vertical gyros have been proposed in the past, but to describe a typical configuration, here we will disclose literature showing the conventional configuration. However, we will discuss a vertical gyro shown in FIG. 4 that is manufactured in-house by the applicant.

That is, in FIG. 4, what is indicated by the symbol 1 is:
This is an inner gimbal consisting of a first synchronizer 2, a gyro motor 3, and a first torquer 4 for detecting an angle in a first direction.
The gyro motor 3 is provided so as to be rotatable in the direction, and a level sensor 8 is also provided on the gyro motor 3.

Further, at an outer position of the inner gimbal 1, a second synchronizer 5 and a second torquer 6 are installed for detecting an angle in a direction perpendicular to the angle detection in the first direction detected by the first synchro 2. An outer gimbal 7 is rotatably provided, and the outer gimbal 7 is supported by a bearing (not shown).

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

First, with the gyro motor 3 rotating, the level sensor 8 performs vertical detection of the inner gimbal 1.

The vertical detection signal 8a from this level sensor 8 is
The spin axis (not shown) of the gyro motor 3 is maintained in a vertical state by being supplied to the torquers 1 to 4 and the second torquer 6.

In the above state, the vertical gyro is tilted and the change angle is detected by the first and second synchronizers 2 and 5 provided on the inner gimbal 1 and the outer gimbal 7, thereby determining the pitch angle (A) and the roll angle. Angle (B) is detected.

C1 Problems to be Solved by the Invention Since the conventional vertical gyros were configured as described above, they had the following problems.

In other words, the gyro as a whole includes, in addition to the gyro motor 3, two torquers consisting of two motors and a five-rotating machine.
Since five synchronizers are required, a total of five rotating machines are required, and signal input/output means consisting of numerous slip rings and brushes are required to supply power to each of these rotating machines and to extract output signals. It is.

As a result, the structure itself has become extremely complex and the number of parts has increased, making it impossible to meet the demands for a small, inexpensive, and high-performance vertical gyro.

The present invention was made to solve the above-mentioned problems, and in particular, it provides a small, high-performance bar decal gyro that can optically extract an output signal using only one motor. The purpose is to provide.

81 Means for Solving the Problems The vertical gyro according to the present invention includes an outer gimbal rotatably supported in a first direction between outer gimbal bearings provided at both ends of a base, and an outer gimbal at both ends of the outer gimbal. an inner gimbal rotatably supported in a second direction orthogonal to the first direction between provided inner gimbal bearings; a gyro motor provided within the inner gimbal; and the base and the gyro motor. a power feeding means provided between the inner gimbal, a light emitting section provided at the lower part of the inner gimbal, a light detecting section provided on the base for receiving light from the light emitting section, and the light detecting section. The configuration includes a detection signal processing circuit section for processing detection signals from the detection signal.

01 Effect In the vertical gyro according to the present invention, an inner gimbal having one gyro motor is rotatably provided within an outer gimbal rotatably provided on a base, and a light emitting section provided on the inner gimbal Since it has a hemispherical light detecting section provided on the base, the light emitting section is always maintained in the vertical direction while the gyro motor is operating.

Furthermore, when the base is tilted around the pitch axis and roll axis, the light emitted from the light emitting part moves to a different position on the light detection part, so by detecting the relative position change of this light, the pitch angle can be adjusted. and changes in roll angle can be detected.

Therefore, an overall two-axis signal detection configuration can be obtained with one gyro motor, a light emitting section, and a light detecting section.
Only one gyro motor is required as the rotating machine, and a small, high-performance, and low-cost bar decal gyro can be obtained.

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

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

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

First, what is indicated by the reference numeral 10 in FIGS. 2 and 3 is a base whose overall shape is approximately box-shaped and has an opening 11 at the top. An outer gimbal 7 having a rectangular frame shape as a whole is disposed in the pair of outer gimbal bearings 12 so as to be rotatable in a first direction (x) via a pair of outer gimbal shafts 7a.

A pair of inner gimbal bearings 13 are formed at positions perpendicular to each of the outer gimbal axes 7a on the outer gimbal 7, and a gyro motor 3 consisting of one brushless DC motor is mounted on these inner gimbal bearings 13. An inner gimbal 1 having a built-in inner gimbal is rotatably arranged in a second direction (y) orthogonal to the first direction (x) via a pair of inner gimbal shafts 1a. Incidentally, the rotation of the gyro motor 3 is detected by a Hall element 3a.

A mechanical self-supporting mechanism 15 and a gyro motor drive circuit section 16 are attached to the outer surface of the inner gimbal 1, and a gyro motor drive circuit section 16 is attached to the outer surface of the inner gimbal 1. A light emitting section 17 made of an LED is integrally attached to the lower surface of the light emitting device 1 .

The bottom part 18 of the base 10 corresponding to the light emitting part 17 is
The bottom portion 18 is formed into a hemispherical shape, and one photodetecting section is provided on the bottom portion 18, which is constituted by a matrix circuit consisting of a large number of phototransistors or photodiodes formed into a hemispherical shape.

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

Furthermore, a pair of flexible wires 21 are connected from the top of the base 10 as power supply means for the gyro motor 14 . In the above case, 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 degrees.

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

First, in the state shown in FIG. 2, the flexible wire 21
When power is supplied to the gyro motor 3 through the gyro motor 3, the gyro motor 3 rotates at a predetermined rotation speed, and the inner gimbal 1 is held in the vertical direction, and the light emitting part 17 is also held in the vertical direction.

In the above state, the detection signal 1 obtained from the photodetector 19
9a indicates that the origin position has been detected and that the base 10 is not in any inclined state.

When the base 10 is tilted around the pitch and roll axes in the above-mentioned state, the light emitting section 17 rotates and the relative position with respect to one light detection section changes, so this change is reflected by one light detection section. The detection signal 19a is processed by the detection signal processing circuit section 20, and the pitch angle signal (A) and roll angle signal (B) are also detected.

g0 Effects of the Invention Since the vertical gyro according to the invention is configured as described above, it is possible to obtain the following effects.

(1) As a rotating machine, a vertical gyro can be configured using only one gyro motor, so it is possible to realize a small size, high performance, and low cost.

(Z) By using a brushless DC motor as the gyro motor, the power supply means can be configured with two flexible wires, so there is no need to use many slip rings etc. as in the past, resulting in an extremely simple configuration. This improves reliability.

(3) Since the detection signal is extracted by a non-contact detection means using a light emitting part and a light detection part, the reliability is significantly improved compared to many conventional slip ring configurations. can.

[Brief explanation of the drawing]

1 to 3 show a vertical gyro according to the present invention, and FIG. 1 is a block diagram showing the overall configuration;
FIG. 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, 1 is a light detection part, 19a is a detection signal, 20 2 is a detection signal processing circuit section, and 21 is a power feeding means (flexible wire). Imen 58-

Claims (3)

[Claims] (1), an outer gimbal (7) rotatably supported in a first direction (x) between outer gimbal bearings (12) provided at both ends of a base (10); ) between inner gimbal bearings (13) provided at both ends of the first direction (x
), an inner gimbal (1) rotatably supported in a second direction (y) perpendicular to the inner gimbal (1), a gyro motor (3) provided in the inner gimbal (1), and the base (10). and a power supply means (21) provided between the gyro motor (3) and the light emitting unit (1) provided at the bottom of the inner gimbal (1).
7) and the light emitting section (1) provided on the base (10).
7); a detection signal processing circuit section (20) for processing a detection signal (19a) from the light detection section (19); A vertical gyro characterized in that a pitch angle and a roll angle are detected by moving a light emitting part (17). (2) The vertical gyro according to claim 1, wherein the power feeding means (21) is made of a flexible wire. (3) The vertical gyro according to claim 1, wherein the gyro motor (3) is a DC brushless motor.