JPH0352897B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a gyro device, and particularly to a gyro device in which a gimbal incorporating a gyro rotor rotating at high speed is elastically restrained by a torsion bar.

[Conventional technology]

Conventionally, as this type of gyro device, there is one shown in FIG. 4, for example. In the same figure,
Reference numeral 1 denotes a cylindrical case, both open ends of which are sealed by a housing 2 and a bellows 11. Inside the case 1, a gimbal 6 enclosing a gyro rotor 8 having a rotor 8a and a stator 8b is enclosed together with damping oil 12. Note that 8c is a bearing for the rotor 8a. The gimbal 6 is rotatably supported by a torsion bar 4 and a bearing 9. Here, the electric circuit 10a,
By supplying power to the gyro rotor 8 through 10b, the rotor 8a rotates along the spin axis 13 at high speed.
Rotate around -13. At this time, when an angular velocity is applied around an input axis (not shown) perpendicular to the spin axis 13-13 and the output axis 14-14, a preset torque proportional to the angular velocity is generated around the output axis 14-14. The gimbal 6 rotates relative to the case 1, causing an angle change. The magnitude of this angle shift is determined by matching the preset torque with the torque caused by twisting the torsion bar 4 due to angle shift. This displacement angle is detected by a displacement angle detection device 5 consisting of a fixed part 5a fixed to the case 1 and a rotating part 5b fixed to the gimbal 6.
Output as an electrical signal. In such a gyroscope device 18, a stopper 7 is provided to restrict the rotation angle of the gimbal 6 so that when an excessive input is applied, the angle of displacement becomes excessive and the torsional stress of the torsion bar 4 does not exceed a limit.

[Problem that the invention seeks to solve]

However, the conventional gyro device described above has the following drawbacks.

That is, in the gyro device 18 shown in FIG.
f is supported by a housing 16 on the side of the bellows 11, and the housing 16 is fixed inside the case 1. Therefore, in order to construct the stopper 7, it is necessary to incorporate the gimbal 6 into the case 1. When this conventional method is used, the following two methods are used to adjust the degree of freedom of the stopper 7. The first method uses a groove 7e provided on one side of the gimbal 6 to form a gap on the left and right sides of the output axis 14-14 and an adjustment pin 7f in order to obtain a predetermined degree of freedom. It's a method. In this method, the degree of freedom is determined by the dimensions of the component parts, so there is no need to adjust the degree of freedom itself later, but it is necessary to assemble so that the left and right gaps are even. . Assembling this gap uniformly is a very difficult task. If the target degree of freedom is ±1° and the variation is to be suppressed to ±0.1°, the outer diameter of the case 1 of the gyroscope 18 is normally 20°.
mm to 25 mm, the rotation radius of the stopper 7 is at most 10 mm. Therefore, the gap for 1 degree of freedom is 0.17 mm, and the variation is ±0.1
To measure the gap, the gap must be determined with an accuracy of 0.017mm.

The above-described method has significant disadvantages in terms of both workability and part accuracy.

On the other hand, a second method described below can also be used. That is, the tip of the adjustment pin 7f that determines the degree of freedom is eccentric with respect to the root incorporated in the housing 16, and by turning the adjustment pin 7f having this eccentricity in the groove 7e provided in the gimbal 6, The gap between the outer periphery of the adjustment pin 7f and the side surface of the groove 7e is adjusted. By providing two sets of such mechanisms,
The left and right degrees of freedom can be adjusted independently. According to this second method, high precision parts are not required. However, a significant drawback of this method is that the gimbal 6 is not accessible in the assembly situation. Therefore, in order to check the degree of freedom, the gyroscope rotor 8 is actually rotated, which gives the gimbal 6 a deflection angle by applying an input angular velocity. This displacement angle is extracted as an electrical signal by the displacement angle detection device 5, and adjustment is performed.

In this way, the gyro rotor 8 is installed at an intermediate stage of assembly.
Rotating the gimbal 6 is not preferable considering that the gimbal 6 is originally used floating in the dipping oil 12. That is, the vibration accompanying the rotation of the gyro rotor 8 is directly transmitted to the bearing 9, or the stopper 7 hits the bearing 9 without using damping. These things cause generation of metal powder, which is the most disliked by the gyroscope device 18, which is composed of precision parts. Furthermore, turning the adjustment pin 7f to adjust the degree of freedom causes metals to rub against each other with the housing 16, which also generates metal powder. The metal powder generated at this stage enters the inside of the case 1, housing 2, and housing 16 and becomes irremovable. These metal powders contaminate the bearing 9, leading to deterioration in the performance of the gyro device 18.

In addition, as another drawback, the conventional gyro device 18
In this case, electric circuits 10a and 10b for supplying power to the gyro rotor 8 are drawn out from both ends of the spin axis 13-13 of the gimbal 6, as shown in FIG. This is because the gyro rotor 8 having as large an angular momentum as possible is used inside the gimbal 6, so the gimbal 6 becomes large and the space for storing the electric circuit is limited. Therefore, only two electric circuits 10a and 10b are provided. However, the stator 8b of the gyro rotor 8 used in the gyro device 18 consists of two-phase windings or three-phase windings. These windings are windings having three terminals, and one wire is missing from the two electric circuits 10a and 10b described above. To solve this problem, power is supplied via the torsion bar 4. As a result, the housing 2 to which the tone bar 4 is fixed and the case 1 are also electrically coupled.
This is inconvenient both in terms of insulation when the gyro device 18 is used in conjunction with other equipment and in terms of generating electrical potential for grounding, and has been a bottleneck when the gyro device 18 is used in the civilian market.

[Means for solving problems]

The present invention provides a gyro device that solves the above problems, and includes a gyro rotor, a gimbal incorporating the gyro rotor, an output shaft provided on one of the axes of the gimbal orthogonal to the spin axis of the gyro rotor, and A torsion bar provided on the opposite side of the output shaft, an output shaft bearing containing the gimbal and fitted with the output shaft, a case to which the other end of the torsion bar is attached, and a displacement angle of the gimbal around the output axis with respect to the case. In the gyroscope device, the gimbal is composed of first and second cylindrical bodies that are centered on the output axis and can be separated into two in the axial direction, and the first cylindrical body is separated into two bodies in the axial direction. One end of the torsion bar and the gyroscope rotor are fixed to the shaped body, and the gyroscope rotor has two sides cut out near the shaft end, and the gyroscope rotor is placed in one of the spaces created by the two chamfers and the case. The other space includes a stopper for restricting the angular movement of the gimbal about the output axis relative to the case.

[Effect]

According to the gyro device of the present invention, the gimbal containing the gyro rotor is constructed from two cylindrical bodies, and one of the cylindrical bodies has a two-chamfered portion near the spin shaft end of the gyro rotor, and the two-chamfered portion Assembly and adjustment are simplified by arranging the power supply circuit to the gyro rotor and the gimbal stopper in the space created between the gyro rotor and the case.

〔Example〕

FIGS. 1, 2, and 3 are a cross-sectional view, a cross-sectional view, and a perspective view of the main parts of an embodiment of the present invention. In this figure, the same members as those in FIG. 4 are given the same numbers, and their explanations will be omitted.

In this example of the invention, the gimbal 6 is
It is formed of a cylindrical body 6a and a second cylindrical body 6b that is integrally and separably connected to the cylindrical body 6a. From the vicinity of the spin axis 13-13 of the gyro rotor 8 of one cylindrical body, for example, the first cylindrical body 6a, the first
The portion facing left in the figure is chamfered in two to form first and second recesses 19a and 19 each having a crescent-shaped cross section.
b.

In this example of the present invention, the fixing portion 7a is mainly
The stopper 7 for regulating the rotation angle of the gimbal 6, which is composed of the movable part 7b and the base 7c, is placed in the space between the case 1 and the first recess 19a formed by chamfering two sides of the first cylindrical body 6a. Deploy. That is,
One end of the fixing portion 7a of the stopper 7 is fixed to a ring-shaped base 7c fixed to the inner surface of the housing 2. The rod-shaped movable part 7b of the stopper 7 is placed on the gimbal 6, and the first recess 19a is formed by chamfering the two sides of the rod-shaped movable part 7b.
It is fixed in the direction of the output axis 14-14. or,
Three electric circuits 10a, 10b, and 10c are incorporated in the second recess 19b formed by chamfering two sides.

2nd and 3 are a sectional view and a perspective view showing their positional relationship. As shown in the figure, the fixed part 7a has two forks 7a _-1 and 7a _-2 that are parallel to each other and extend parallel to the output axis 14-14, and the movable part 7b is arranged between them. A gap is provided between both sides of the portion 7b and the fork 7a _-1 , 7a _-2 .
g ₁ and g ₂ are formed, respectively. The gears g ₁ and g ₂ are adjustment screws 7d _{1 and 7 screwed into the forks 7a -1 and} 7a _-2 .
It can be adjusted freely by d ₂ . That is, the degree of freedom of the stopper 7 can be adjusted. By using such a structure, the stopper 7 can be constructed by attaching the gimbal 6 to the housing 2 via the torsion bar 4. In FIG. 1, the torsion bar 4 is attached to the housing 2 via the holder 3, but there is no difference in the effects of the present invention even without the holder 3.

〔Effect of the invention〕

According to the gyro device of the present invention described above, the degree of freedom of the stopper 7 can be adjusted without using the case 1 and the housing 16.
In addition, when adjusting this degree of freedom, the gimbal 6 is not covered with the case 1, so it can be touched freely. Therefore, the gimbal 6 can be given a varying angle without rotating the gyro rotor 8. As a result, vibrations due to the rotation of the gyro rotor 8 are not imparted to the bearing 9 that supports the output shaft 14a.
The degree of freedom of the gimbal 6 can be adjusted. Furthermore, even if metal powder is generated during this adjustment stage, since the gimbal 6 is not housed in the case 1 at this stage, it can be cleaned. As described above, according to the present invention, not only is it easy to adjust the degree of freedom of the gimbal 6, but also the reliability of the device can be greatly improved by removing metal powder generated during adjustment.

In addition, since the three electric circuits 10a, 10b, and 10c can be arranged in the second recess 19b formed by chamfering,
It is no longer necessary to use the torsion bar 4 as an electric path, which is a problem in the prior art. The drawback that the case 1 is electrically connected is solved. Therefore, the gyro device 18 has become easier to use for various purposes, and since it is no longer necessary to pass current through the torsion bar 4, twisting of the torsion bar 4 due to energization is eliminated, making it possible to use a gyro device with higher precision. Can be configured.

[Brief explanation of drawings]

Fig. 1 is a sectional view of an embodiment of the present invention, Fig. 2 is a sectional view taken along the - line in Fig. 1, Fig. 3 is a perspective view of its main parts, and Fig. 4 is a conventional gyro device. FIG. In the figure, 1 is the case, 2 is the housing, 3 is the holder, 4 is the torsion bar, 5 is the angle detection device, 6 is the gimbal, 7 is the stopper, 8 is the rotor, 9 is the bearing, 10a, 10b, 10c are the electrical circuits. , 11 is a bellows, 12 is a damping oil, 13-13 is a spin axis, 14-14 is an output axis, 16 is a housing, 18 is a gyro device,
19a and 19b are first and second recesses, g ₁ and g ₂
is a gap.

Claims (1)

[Claims] 1 a gyroscope rotor, a gimbal containing the gyroscope rotor, an output shaft provided on one side of the axis of the gimbal orthogonal to the spin axis of the gyroscope rotor, a torsion bar disposed on the opposite side of the output shaft, a gimbal containing the gimbal and the output shaft A gyro device comprising an output shaft bearing fitted with the torsion bar, a case to which the other end of the torsion bar is attached, and a displacement angle detection device for detecting a displacement angle of the gimbal about the output axis with respect to the case, the gimbal is configured to It is composed of a first and a second cylindrical body that can be separated into two bodies in the axial direction around an axis, and one end of the torsion bar and the gyro rotor are fixed to the first cylindrical body. The vicinity of the shaft end of the gyro rotor has a shape in which two sides are taken out, and one space created by the two chamfers and the case houses an electric circuit for supplying power to the gyro rotor, and the other space houses a power supply line for the case of the gimbal. A gyro device comprising a stopper for restricting angular movement around the output axis.