JPH0433108A - Gravity direction holding device using orthogonal sliding body - Google Patents

Abstract

PURPOSE:To restrict directions to which force receiving respective heavy weights operates in the field of gravity and lateral acceleration in the directions of orthogonal sliding bodies S and T by using the sliding bodies which are mutually orthogonal. CONSTITUTION:The size and the direction of force is transmitted to a lower part coupler theta through respective rigid bodies D1, D2, F3 and F2. The size of force which is given to the heavy weights W1 and W2' sliding the sliding body S and which is by gravity (g) is gWsingamma and the size of force operating on the heavy weights W2 and W1' sliding the sliding body T is gWcosgamma. force is transmitted to a center Qo. The size of a resultant force becomes 2gW and it is constant in spite of gamma, namely, an inclination angle theta. On the other hand, the size of force operating on the heavy weights W1 and W2' by the horizontal component alpha1 of lateral acceleration is alpha1 Wcosgamma, and the size of force operation on the heavy weights W2 and W1 is alpha1Wsingamma. Then, the size of the component of the horizontal resultant force of lateral acceleration compensate each other. The size of vertical resultant force comes to 2alpha2 W and it is not influenced by an inclination and lateral acceleration, whereby its posture is held in the direction of gravity.

Description

DETAILED DESCRIPTION OF THE INVENTION (Technical Field of the Invention) The present invention relates to a device for maintaining the direction of gravity.

(Prior art and its problems) Earth station antennas or measuring instruments used in mobile satellite communications operations that are used on a moving body that oscillates change their posture due to back-and-forth oscillations (pitching) and lateral oscillations (rolling). It must be equipped with a function to compensate for oscillations to prevent them from occurring.

In recent years, as the demand for mobile communications has increased, it has been desired to realize a device that is simple in structure, reliable in operation, and inexpensive. In order to satisfy this requirement, the inventor of the present application
-223279 r A gravity direction holding device using a compound pendulum was proposed.

However, the device according to this prior application did not have sufficient functionality for practical use because its operation was uncertain when subjected to strong lateral acceleration.

(Object of the invention) The object of the invention is to eliminate such drawbacks of the prior art and
The object of the present invention is to realize a gravity holding device using a passive method that can stably operate on any inclined surface without being affected by acceleration.

(Structure and operation of the invention) In order to achieve this object, a gravity direction holding device using an orthogonal sliding body according to the present invention includes: an upper coupler or an upper rotating support having a circular cross section attached to the moving body; and the upper part. A suspension body suspended with the center of the coupler or the upper rotation supporter as the center of the rotation axis, and a suspension body that is transmission-coupled so that the rotation direction on a plane including the upper coupler and the circular cross section is the same, and the a lower coupler rotatably supported at the lower end of the suspended body on a rotating shaft located on the center line of the suspended body, or a lower rotational support attached to the lower end of the suspended body; and fixed to the swinging body. a first sliding body and a second sliding body arranged symmetrically with respect to a vertical line passing through the center of the upper coupler or the upper rotating support and perpendicular to each other on the vertical line; and the lower coupler or A first member having a circular cross section, which is mounted on a horizontal line passing through the center of the lower rotating support at right and left positions symmetrical to the center, and slides on the first sliding member and the second sliding member, respectively. a lower slider, a second lower slider, a first lower weight and a second lower weight provided at the center of the first lower slider and the second lower slider; , the second rotary coupler is connected to a rotary coupler installed at right and left positions symmetrical to the center on a horizontal line passing through the center of the lower coupler or lower rotation support, and is located on a vertical line of the rotary coupler. a first upper slider and a second upper slider having circular cross sections that slide on the sliding body and the first sliding body, respectively; and the first upper slider and the second upper slider. By providing a first upper weight and a second upper weight provided at the center of the mover, the center of the upper coupler or upper rotation supporter and the center of the lower coupler or lower rotation supporter are connected. It is constructed so that it is held in the direction connecting the two or in the direction of gravity.

(Example) Hereinafter, the present invention will be explained in detail with reference to the drawings.

First, in order to facilitate the explanation, a case will be described in which the two-dimensional vibration (pitching or rolling) which is the basis of the present invention is within the plane of the paper. That is, for three-dimensional oscillations, the purpose can be easily achieved by combining two-dimensional devices arranged orthogonally.

1 and 2 are diagrams showing an example of the configuration of the apparatus of the present invention.

Figure 1 shows the device when it is not tilted, and Figure 2 shows the device when it is tilted.
This shows the case where the plane is tilted by an angle of .

First, its configuration will be explained with reference to FIG. Here, A is a moving body that serves as a base on which this device is placed, and P is an upper coupler with a circular cross section that is fixed to the moving body (or is rotatably supported on a support shaft that is fixed to the moving body A). (hereinafter representatively referred to as the "upper coupler").

The suspension body B is suspended with the center P of the upper coupler P (marked with an x) as the center of the rotation axis. Point Q on the center line of suspension body B
. A lower coupler (or lower rotating support, hereinafter representatively referred to as "lower coupler") Q is attached with the (X mark) as the center of the rotation axis. The lower coupler Q is connected to the upper coupler P via the intermediate coupler R, and is positively coupled so as to rotate in the same direction as the upper coupler P on the plane of the drawing. That is, these couplers are connected to the center P by suspending a weight as described below. Forms a positively coupled pendulum with the fulcrum at .

Although the above example shows the use of gears as means for the transmission connection of the coupler, it is also possible to use tension wires instead of gears.

The diameter ratio n of the upper coupler P and the lower coupler Q is n=2 in FIG.
1).

S and T are a first sliding body and a second sliding body consisting of parallel bodies, which are fixed to the upper coupler P and are symmetrical to the vertical line ZZ゛ passing through the center P0 of the upper coupler P and at Po. , its center lines So and T.

It is an orthogonal sliding body in which the two sliders are orthogonal to each other.

The lower coupler Q has its center Q. Rigid bodies DI and D2 of equal length in the direction of a horizontal line passing through are attached, and a first lower sliding body having a circular cross section that slides on a first sliding body S and a second sliding body T at its tips, respectively. The element E1 and the second lower slider E2 are coupled. In the illustrated example, as a practical means, rotary couplers are used for the sliders El and E2 in order to reduce the sliding resistance value. The geometric dimensional relationship between the slider and the suspension body is Qo E 1 = Qo E2 = P o Qo
-----(2).

The lower coupler Q has a point Q on a horizontal line passing through its center Qo. The rotary coupler C1 is placed in the right and left positions symmetrical to
, C2 is attached to the rotating shaft.

Rigid bodies Fl of equal length are attached to each rotation axis of the rotation couplers CI and C2,
A first upper slider G1 and a second upper slider G2 are connected to F2 above the vertical line, and each has a circular cross section centered on the rotary coupler at the upper end of the rigid body F InF2.
or combined. The upper sliders G1 and G2 slide on the second slider T and the first slider S, respectively.

Lower slider E2. At the center of E2 (marked with *) there are a first lower weight W1 and a second lower weight W2, and an upper slider G,
, G2 are provided with a first upper weight W'1 and a second upper weight W'2 at the center (marked with *). The weights of these weights each have a weight value indicated by a symbol, and each of these weight values is determined to have the same value W. That is, Wl = W2 = W', = W 2 = W
-----(3).

A pointer H is attached to the upper part of the suspension body B, and the inclination angle θ is determined by the degree of the index with respect to the angle scale (■) provided along the circumference of the first upper coupler P.

W' is a compensating weight attached to the upper part of the suspension body B, and is used to cancel the influence of the suspension body B due to lateral acceleration.

Next, the operation of the apparatus of the present invention will be explained with reference to FIG. 19 and FIG. First, the center Q of the lower coupler Q. It will be stated that it is stably held in the vertical direction of the center P.

In FIG. 1 with no tilt, the lower weight WW2 is expressed by the formula (
3), and have equal weight as shown in equation (2), and center Q as shown in equation (2).
, Qo becomes the center of gravity of the lower weights W, , W2. This means that the first lower weight W1 and the second lower weight W2 can be placed together at the center Q. Also, the upper weights w', w'2 are rectangular C
, G, G2C are the midpoints of G, G2, that is, the ○゛ (x marks) on the extension lines of Po and Qo, which are the centers of gravity of the upper weights w', , w'2. Therefore, all the weights W′
.

The overall center of gravity for W'2, Wl, and W2 is the center line P.

Q, the upper point is 0 (X mark).

So now, the positive coupling pendulum is the fulcrum P. If you move it around the area, each slider E In
F3. G,,G2 slide along the orthogonal sliding body, and each center of gravity point Q. , o', and o move on circular trajectories L' and L, respectively, indicated by dotted lines. As is clear from FIG. 1, the position of the overall center of gravity 0 is lowest in the direction of the vertical line ZZ, so the positively coupled pendulum is stably held in the direction of gravity.

Next, a state in which the present device is tilted as shown in FIG. 2 will be described. The property of the positive coupling pendulum used in the present invention is that when a vertical force acts on the center Q0 of the lower coupler Q, if a clockwise (clockwise) rotational force is applied to the lower coupler Q, the center A rightward force is generated in Q0, and the lower coupler Q
If a counterclockwise (counterclockwise) rotational force is applied to the center Q0, a leftward force will be generated at the center Q0. That is, θ of the upper coupler P
When the lower coupler Q is tilted to the left, the lower coupler Q receives a counterclockwise force, and its center Q. A force to the left is generated. And each slider E,,E2. G, , G2 slide to the position shown in FIG. In this case, the lower weight W+.

The combined center of gravity of W2 is also the center Q. The combined center of gravity of the upper weight W'IIW'2 is also located at the midpoint ○' of the upper side of the parallelogram C, G, 02C2. Therefore, the overall center of gravity is also the center P. exists at point 0 on the vertical line of That is, even if a tilt occurs, the positive coupling pendulum is held stably in the direction of gravity. Note that the circle is drawn with a dotted line centered at point 0'. is the center of the slider G1. The locus of the position relative to the slope of G2 is shown.

The effects of gravity and lateral acceleration on the device of the invention will now be considered generally with reference to FIG. First, if we consider the second sliding body T, the gravity g acts on it at an angle γ, and the lateral acceleration α acts on it at an angle β. To make the explanation easier to understand, the lateral acceleration α will be treated separately into a horizontal component α1 and a vertical component α2. G1 for the second sliding body T
．． G2 angle β1. β2 is β1=90°−γ=45°10θ −−−−−−−(4)
F2 =γ==45° −θ −−−−−−(
5) There is a relationship.

Although the present invention uses mutually orthogonal sliding bodies,
Its feature is that the direction in which the force exerted by each weight in the field of gravity and lateral acceleration can be limited to the orthogonal directions of the sliding bodies S and T. These forces are applied to each rigid body, ,D2. F.

Its magnitude and direction are transmitted to the lower coupler Q via F2. Center Q in that case. The force relationship at is shown in Figure 3.

First, let's talk about the effect of gravity g. The magnitude of the force due to gravity g applied to the weights w, , w2' sliding on the sliding body S is gWsinγ, and the weight w sliding on the sliding body T
2. The magnitude of the force acting on w,' is gWcos, respectively.
γ. These forces are transmitted to the center Q. As shown in FIG. 3, the directions of forces acting on W and W2 are at right angles to each other, and the directions of forces acting on Wl and W2' are also at right angles to each other. The magnitude of their resultant force is 2gWJ7th edition - 〒Mimina) = 2gW - (6), and its direction is vertical. Further, it is constant regardless of γ, that is, the inclination angle θ.

On the other hand, the weight W1. due to the horizontal component force α1 of the lateral acceleration.
As shown in FIG. 3, the magnitudes of the forces acting on W2' are α+Wcosγ, and the magnitudes of the forces acting on the weights W21W and W21 are α and Wsinγ, respectively.

And the directions of the forces due to Wl and w2, w,' and W2° are at right angles to each other. That is, regarding the horizontal component α1 of the lateral acceleration, the resultant force has a magnitude α1W and directions opposite to each other, so that they cancel each other out. On the other hand, regarding the vertical component α2 of lateral acceleration, its magnitude is 2α2W as shown in Fig. 3, similar to the explanation regarding the action of gravity g, and in general, the action of gravity g can be reduced, and depending on the conditions, Both act in the vertical direction to increase it.

Therefore, it is safe to use this device as long as the lateral acceleration is not larger than the gravity g.

In any event, under such conditions, the device of the present invention maintains its orientation in the direction of gravity without being affected by tilt or lateral acceleration.

The above-described device for two-dimensional agitation can also be used in combination as a device for three-dimensional agitation. For example, a certain load is centered at P. For the gimbal device that maintains equilibrium at P. is in a mutually orthogonal vertical plane containing P
. on the horizontal line passing through the plane at right angles to the vertical plane. in this case,
Of course, it is important to keep the balance of the cymbal device intact. Next, the rotation coupler attached to the suspension body of each two-dimensional device or its extended rigid body and the rotation coupler attached to the weighted body hanging from the center of the gimbal are horizontally connected by the rigid body. . In this way, each of the hanging bodies is controlled to be vertical in the orthogonal vertical planes, and the attitude of the gimbal is maintained vertically regardless of three-dimensional vibration or lateral acceleration.

In other words, it is possible to realize a gravity direction holding device against three-dimensional oscillations using a completely passive method.

The above explanations are examples in which a positively coupled pendulum is used to apply rotational force to the lower weight during tilting.

However, depending on usage conditions such as posture holding accuracy, the structure can be practically simplified by replacing the positive coupling pendulum with a simple pendulum and operating only by the restoring force of the simple pendulum in the direction of gravity. FIG. 4 shows a configuration example of a simple structure device for this purpose. That is, an upper rotating support P and a lower rotating support Q are used instead of the upper coupler and the lower coupler, respectively. Furthermore, a portion of the sliding body is omitted to reduce sliding friction. Incidentally, M is a permanent magnet, and U and V are devices that generate an alternating magnetic field and vibrate the suspension body B to fix the pendulum stably and sensitively at a stable point. others,
The symbols used in the figures are the same as in the previous example. Further, the vector relationship of the operating force is also the same as that shown in FIG. 3 above.

The advantage of this simple structure is that a three-dimensional passive system can be easily realized. That is, if gimbal devices are used as the upper and lower rotational supports, and simple structural devices that share the suspension body B are arranged orthogonally to each other, a three-dimensional gravity direction holding device can be constructed with a simple shape. It is. FIG. 4 shows the load W caused by the simple structure device. The procedure for maintaining equilibrium is shown.

(Effects of the Invention) As described in detail above, the present invention is used as an inclination angle meter that is not affected by lateral acceleration. As a practical matter, lateral acceleration often acts from the direction β = π/4 when the moving body starts tilting and turns backwards, so the practical effect of this device can be maximized by selecting the installation location. It can be improved.

Also, the center P of the upper coupler P. If an electromagnetic coupling wire is placed on the moving body with the center at , and the pointer H is connected to the rotating wire coupled to it, tilt angle information can be extracted as an electrical output. By controlling the attitude of the object support using this electrical output, it is possible to realize an attitude stabilizing device using active control.

To summarize the above, the present invention provides a gravity direction holding device using a passive method that is not affected by the inclination of a moving body, lateral acceleration, or external disturbance force. That is, the present invention is simple in structure, reliable in operation, and economical.

Therefore, it can be widely used in mobile communication devices, marine devices, aviation devices, etc.

[Brief explanation of drawings]

1 and 2 are block diagrams showing an embodiment of the present invention, FIG. 3 is a vector diagram of forces acting on the device of the present invention, and FIG. 4 is a block diagram showing another embodiment of the present invention. A... Shaking body, B... Hanging body, C,, C2... Rotating coupler, DI, D2... Rigid body, E+... First lower sliding body, F2... First 2 lower slider, Fl, F2・
...Rigid body, G1...First upper slider, G2...Second upper slider, H...Pointer, ■...Angle scale, L
...Center Q. Locus of, L...locus of the total center of gravity, L
“... Locus of the overall center of gravity of the upper weight, LG... Locus of the upper slider, M... Permanent magnet, ○... Overall center of gravity, 0
'...Overall center of gravity of the upper weight, P...Upper coupler (or upper rotating supporter), Po...Center of the upper coupler (or upper rotating supporter), Q...Lower coupler (or lower rotation supporter), Qo...center of the lower coupler (or lower rotation supporter), R...intermediate coupler, S...first orthogonal sliding body1. T...Second orthogonal sliding body, S,,T,...
・Center line of orthogonal sliding body, U, V...Magnetic pole for alternating magnetic field, Wl...First lower weight, W2...Second lower weight, Wbi...First upper weight Weight, W'2...Second upper weight, W'...Compensation weight, XX゛...Horizontal line, ZZ'...Vertical axis, g...Gravity, α... Lateral acceleration, α1...Horizontal component of lateral acceleration, α2...Vertical component of lateral acceleration, β...Angle between lateral acceleration and sliding body,
The angle between the direction of β, ...α (horizontal line) and the sliding body, β
2...Angle between the direction of α2 (vertical line) and the direction of the sliding body, γ...Angle between the direction of gravity and the direction of the sliding body, θ・
...Inclination angle.

Claims (1)

[Claims] An upper coupler or an upper rotational supporter having a circular cross section attached to a moving body, and a suspension body suspended with the center of the upper coupler or upper rotational supporter as the center of the rotational axis. and the upper coupler is transmission-coupled so that the direction of rotation on a plane including the circular cross section is the same, and is rotatably connected to a rotation shaft located on the center line of the suspension body at the lower end of the suspension body. a lower rotary support attached to the lower end of the supported lower coupler or the suspension body; A first sliding body and a second sliding body arranged so as to be perpendicular to each other on a line, and right and left positions on a horizontal line passing through the center of the lower coupler or lower rotation support and symmetrical to the center. a first lower slider and a second lower slider having circular cross sections that are attached to and slide on the first sliding body and the second sliding body, respectively; and the first lower slider. and a first lower weight and a second lower weight provided at the center of the second lower slider, and symmetrical about the center on a horizontal line passing through the center of the lower coupler or lower rotating support. a first slider having a circular cross section that is connected to a rotary coupler installed at the right and left positions, and slides on the second sliding body and the first sliding body, respectively, on a vertical line of the rotary coupler; an upper slider, a second upper slider, a first upper weight and a second upper weight provided at the center of the first upper slider and the second upper slider; The structure is characterized in that the direction connecting the center of the upper coupler or upper rotation support and the center of the lower coupler or lower rotation support is maintained in the direction of gravity. A gravity direction holding device using orthogonal sliding bodies.