JPH08247766A - Rate gyroscope - Google Patents

Abstract

PURPOSE: To reduce the number of assembling and wiring processes. CONSTITUTION: In a rate gyroscope, a motor 14 is supported in a gimbal 13 which is supported to be rotatable around an axis perpendicular to a rotation axle 14a of the motor 14. A slit plate 27 is provided outside of the gimbal 13 by being projected therefrom in parallel to the rotation axle 14a. A light emitting element 29 and a photodetector element 31 are attached to a circuit board 68 to be disposed at one of the sides of the slip plate 27. An optical path consisting of reflection mirrors 82, 83 that introduces a light from the light emitting element 29 to the photodetector element 31 passing through a slit of the slit plate 27 is provided on the other side of the slit plate 27. The optical path may be constituted of an optical fiber with ball tip.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rate gyro structure.

[0002]

2. Description of the Related Art As shown in FIGS. 2 and 3, a substantially rectangular parallelepiped case 11 has one surface, the upper surface in the drawing, which is open, and the open surface is covered with a cover 12. Case 11
The gimbal 13 is rotatably accommodated in the gimbal 13
A motor 14 is mounted inside. That is, in the figure, the gimbal 13 has a tubular shape, and on a line perpendicular to the tubular axis, the turning axis 15 is fixed so as to project outward from both side surfaces of the gimbal 13, and the turning axis 15 Is case 11
Is rotatably held by the opposite side plates 11a and 11b.

In this example, the rotation axis of the motor 14 is substantially aligned with the axis of the cylindrical body of the gimbal 13, and the gimbal 1
3, the gimbal 13 is integrally formed with a collar 17 on the inner surface of the gimbal 13 on the cover 12 side, and the motor 1 is formed on the inner surface of the collar 17.
The peripheral portion of the fixing plate 18 of No. 4 is fixed by, for example, adhesion. The rotating shaft of the motor 14 and the rotating shaft center 15 of the gimbal are perpendicular to each other, and the shaft perpendicular to both is the input shaft 25, and the angular velocity around the input shaft 25 with respect to the case 11 is as indicated by an arrow 26. When added, the constantly rotating motor 14 receives the Coriolis force, the motor 14 is attached, and the gimbal 13 rotates about the rotation axis 15.
This rotational displacement amount is detected as the input angular velocity.

Optical detection means is used to detect the amount of displacement of the gimbal 13, that is, the amount of rotation. Therefore, in the past, the side surface of the gimbal 13, that is, the rotation axis 1 in the figure, has been conventionally used.
A slit plate 27 is provided so as to project at a side surface 90 ° away from the mounting position of 5, and the plate surface of the slit plate 27 is parallel to the cylindrical axis of the gimbal 13, and the slit plate 27 has a rotation axis 15 A slit 28 extending in a direction perpendicular to both the extension direction of the gimbal 13 and the axis of the cylindrical body of the gimbal 13 is opened. A light emitting element 29 such as a light emitting diode is arranged on one side of the slit plate 27, and a light receiving element 31 such as a photodiode is arranged on the other side. There are a plurality of light receiving elements 31, and they are arranged separately from the slit 28 on both sides of the slit 28 in the width direction. Slit plate 27
Is rotated about the rotation axis 15, the light emitting element 29
From one side, the amount of light received by the light receiving element 31 through the slit 28 increases in one side and decreases in the other side, the outputs of these two light receiving elements are taken out differentially, and the displacement direction of the slit plate 27 depends on the polarity and size thereof. And the amount of displacement is detected.

The light emitting element 29 and the light receiving element 31 are L
It is attached to each vertical portion of the letter-shaped tools 33, 34. On the other hand, inside the case 11, so as to separate the inside into two parts,
Two guide plates 35 and 36 are provided so as to project from the inner surfaces of the side plates 11a and 11b. The L-shaped tool 33 is inserted and positioned by being guided between the guide plates 35, and the cover 12 of the case 11 is covered.
It is fixed with a screw 38 to the bottom plate 11c opposite to. Similarly, the L-shaped tool 34 is also guided and positioned by the guide plate 36 and fixed to the bottom plate 11c by the screw 39. At this time,
The light emitting element 29 and the light receiving element 31 are arranged so that the slit 28 has a predetermined positional relationship.

Braking means, so-called damper, is provided so as to stop immediately when the gimbal 13 returns to the neutral position. As a braking means, a braking plate 47 projects and is fixed from the side surface of the gimbal 13 opposite to the side where the slit plate 27 projects, and the magnet 4 is sandwiched by the braking plate 47.
8 and 49 are arranged, the magnets 48 and 49 are connected by a magnetic yoke 51, and different magnetic poles are opposed to each other.
A magnetic air gap 52 is formed between the magnets 48 and 49, and the braking plate 47 is positioned between the magnetic air gap 52. Therefore, the magnetic flux generated in the magnetic gap 52 is incident on the braking plate 47 at a right angle. Since the braking plate 47 is made of a highly conductive metal plate such as aluminum, the gimbal 1
When 3 rotates about the axis 15, an eddy current is generated in the braking plate 47, and the reaction and the power consumption cause a braking action. When the magnetic yoke 51 is arranged at a predetermined position on the bottom plate 11c, the braking plate 47 is properly positioned between the magnetic gaps 52.

The gimbal 13 is held at a right angle with respect to both the rotary shaft of the motor 14 and the angular velocity input shaft 25 by a proper force, and the gimbal 13 is easily rotated without rattling. Retained to be able to move. The screws 61 are side plates 11a and 11b as shown in FIG.
The screw 61 is screwed into the screw hole 67 formed in the, and the tightening force in the axial direction of the gimbal 13 is adjusted by the screwing amount of the screw 61 into the screw hole 67.

Various electrical circuits for supplying DC power to the motor 14, supplying power to the light emitting element 29, differentially extracting the output from the light receiving element 31, amplifying the output, etc. are mounted on the wiring board 68. The wiring board 68 is housed in the portion of the case 11 separated by the guide plates 35 and 36 on the side opposite to the gimbal 13, and the side plates 11a,
Both side edges of the wiring board 68 are guided by the groove 69 formed on the inner surface of 11b and held by the case 11. Light emitting element 2
9 and the light receiving element 31 are connected to the wiring board 68 by an FPC (not shown). A cable 71 including a power supply line, an output signal line, and the like is led out from the wiring board 68 to the outside through one side hole of the case 11, and a connector 72 is attached to the leading end thereof.

2 and 3, the rotary shaft 14a of the motor 14 is arranged in the same direction as the axis of the gimbal 13, but at a right angle to this, it extends in the direction connecting the braking plate 47 and the slit plate 27. It may be distributed. The input axis of the angular velocity in that case coincides with the axial direction of the gimbal 13.

[0010]

In the conventional structure, the light emitting element 29 and the light receiving element 31 must be individually mounted on the L-shaped members 33 and 34, and the light emitting element 29 and the light receiving element 31 and the wiring board 68. There is a drawback that the workability of assembling is deteriorated and the man-hours for assembling and wiring are increased due to the fact that an FPC must be provided between the and.

An object of the present invention is to solve these conventional drawbacks and reduce the number of assembling / wiring steps.

[0012]

[Means for Solving the Problems]

(1) The invention of claim 1 is a rate gyro in which a motor is held in a gimbal and the gimbal is rotatably held in a case about an axis perpendicular to the rotation axis of the motor. A slit plate parallel to the motor shaft is attached so as to project outward, and the light emitting element and the light receiving element are arranged on one side of the slit plate in a state of being mounted on the wiring board, and the light emitting element is emitted on the opposite side of the slit plate. An optical path is provided for guiding the light of the element through the slit of the slit plate to the light receiving element.

(2) In the invention of claim 2, in the above (1), the optical path further includes a first reflecting mirror for reflecting the light of the light emitting element, and a light reflected by the first reflecting mirror. It is composed of a second reflecting mirror that reflects the light to the light receiving element. (3) In the invention of claim 3, in the above-mentioned (1), the optical path is constituted by an optical fiber which makes light of the light emitting element enter from one end and emits the incident light from the other end toward the light receiving element. It

(4) In the invention of claim 4, in the above (3), the optical fiber is a spherical optical fiber.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention is shown in FIG. 1 with the same reference numerals attached to the parts corresponding to those in FIGS. In the present invention, the motor shaft 1 is provided outside the gimbal 13.
The slit plate 27 is mounted so as to project in parallel with 4a.
One side, that is, the yoke 51 in the case 11 in the figure.
When viewed from the opposite side, the light emitting element 29 and the light receiving element 31 are arranged on the left side of the slit plate 27 in a state of being mounted on the wiring board 68. Further, on the opposite side of the slit plate 27, an optical path for guiding the light of the light emitting element 29 through the slit of the slit plate 27 to the light receiving element 31 is provided.

In the example of FIG. 1A, the optical path is composed of reflecting mirrors 82 and 83 attached to a holder 81.
That is, the light of the light emitting element 29 is sequentially reflected by the reflecting mirrors 82 and 83, passes through the slit of the slit plate 27, and enters the light receiving element 31. It should be noted that the optical path may be configured by the optical fiber 87 as shown in FIG. 1D. In that case, it is desirable to process both ends of the optical fiber 87 into a lens shape (referred to as a spherical fiber) because the coupling loss of light with the light emitting element 29 and the light receiving element 31 is reduced.

In the present invention, the motor 14 and the light emitting element 29
The light emitting element 2 is mounted on the wiring board 68 on which various electric circuits such as a power circuit for
9 and the light receiving element 31 are also mounted together, and its wiring board 6
A bolt 8 and a nut 86 are fixed to the protrusion 11a and the protrusion 11b on the inner surface of the case 11 substantially parallel to the slit plate 27.

Incidentally, W in FIG. 1B is the width of the projection 13a for holding the slit plate 27. In addition, as described in the conventional example, the motor 14 has the rotating shaft 14a of the braking plate 47.
In some cases, the input shaft 25 for angular velocity is arranged in the direction connecting the slit plate 27 and the slit plate 27, and is set in the axial direction of the gimbal 13.

[0019]

In the prior art, the light emitting element 29 and the light receiving element 31 are individually attached to the L-shaped tool, and the L-shaped tool is screwed into the case 11, and the light emitting element 29 and the light receiving element 31 are further mounted. In contrast to the FPC wiring between the wiring board 68 and the wiring board 68, in the present invention, the light emitting element 29 and the light receiving element 31 are mounted on the wiring board 68 together with other components. , FPC to these devices
No wiring is required, and assembly and wiring man-hours can be significantly reduced.

[Brief description of drawings]

FIG. 1 is a view showing an embodiment of the present invention, in which A is a plan view of a rate gyro, B is a sectional view taken along the line aa 'of C, C is a perspective view of an optical path of A and its holder 81, and D is an optical view. The top view which shows the other example of a road and its holder.

FIG. 2 is a partially exploded perspective view of a conventional rate gyro.

3A is a plan view of the rate gyro with the cover 12 of FIG. 2 removed, and B is a cross-sectional view taken along the line BB of A. FIG.

Claims (4)

[Claims] 1. A rate gyro in which a motor is held in a gimbal, and the gimbal is rotatably held in a case around an axis perpendicular to the rotation axis of the motor. A parallel slit plate is attached so as to project outward, the light emitting element and the light receiving element are arranged on one side of the slit plate in a state of being mounted on a wiring board, and the light emitting element is provided on the opposite side of the slit plate. An optical path for guiding the light of (1) to the light receiving element through the slit of the slit plate is provided. 2. The first reflecting mirror according to claim 1, wherein the optical path reflects the light of the light emitting element, and the light reflecting element further reflects the light reflected by the first reflecting mirror to the light receiving element. A rate gyro characterized by comprising two reflecting mirrors. 3. The optical path according to claim 1, wherein the optical path is formed of an optical fiber that allows light from the light emitting element to enter from one end and emit the incident light from the other end toward the light receiving element. Rate gyro. 4. The rate gyro according to claim 3, wherein the optical fiber is a spherical optical fiber.