JPH08640Y2 - Gimbal holding mechanism in guidance device - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a mechanism for restraining the rotation of a gimbal such as a flying body guidance device and the like in a predetermined position except during operation.

[Prior Art] Generally, most of the flight guidance devices and the like restrict undesired rotation of the gimbal due to the motion of the aircraft by restraining the movement of the gimbal during transportation or on the launch station or until the guidance is started after launch. Has a holding mechanism.

Conventionally, this holding mechanism uses a solenoid pin (lock pin) driven by a solenoid, a hook, a brake mechanism, or the like, as shown in FIG.

That is, the gimbal is mechanically fixed to a predetermined holding position with a solenoid pin, a hook, a brake or the like, and when the operation is required, the solenoid pin or the like is released by an electric signal to release the gimbal from the holding position.

[Problems to be solved by the invention]

The conventional gimbal holding mechanism has the following problems.

(1) Since a complicated mechanism such as a lock mechanism is required, the reliability is low, but the cost is high and the weight and the occupied space are large.

(2) A switching circuit for control is required, which causes nozzle generation.

(3) Driving power is required and power consumption is large.

(4) Wiring between components is required, which complicates the design.

[Means for solving problems]

As a means for solving the above-mentioned conventional problems, the present invention provides an induction device having a gimbal mechanism, in which a magnetic body or a permanent magnet fixed at an arbitrary portion which is an outer end of an inner gimbal,
A magnetic body or magnet body provided in a portion of the structure supporting the gimbal that faces the magnetic body or permanent magnet so that only the magnetic body or permanent magnet can be attracted and the attracted gimbal is outside the operating area of the gimbal. An object of the present invention is to provide a gimbal holding mechanism in a guiding device characterized by comprising:

[Action]

Since the present invention is configured as described above, a combination of a soft magnetic body and a permanent magnet, a permanent magnet and a permanent magnet, etc., in which a gimbal holding (cage) other than during operation is provided on each of the inner gimbal and the gimbal structure. It can be performed very easily by magnetically attracting.

〔Example〕

A first embodiment of the present invention will be described with reference to FIGS.

In these figures, the infrared sensor 7 is supported by the structure portion 6 of the guiding device via the gimbal 3 having biaxial degrees of freedom. The gimbal 3 includes an inner gimbal 3a that fixedly supports the infrared sensor 7, an outer gimbal 3b that rotatably supports the inner gimbal 3a, and a structure portion 6 (a part of the normal guidance device structure portion) that rotatably supports the outer gimbal 3b. Consists of. A drive mechanism 5 for controlling the rotation angle of the inner gimbal 3a is incorporated in the bearing portion provided in the outer gimbal 3b, and a drive mechanism 5 for controlling the rotation angle of the outer gimbal 3b is incorporated in the bearing portion provided in the structure portion 6. The mechanism 5 is incorporated so that the pointing direction of the infrared sensor 7 can be controlled with two degrees of freedom.

A soft magnetic material (or a permanent magnet) 1 is planted at the end of the inner gimbal 3a that fixedly supports the infrared sensor 7, as shown in FIG. The magnetic body 2 is planted at a close distance. The combination of the soft magnetic body 1 and the permanent magnet 2 may be a combination of permanent magnets, that is, they may be attracted by magnetism. The relative positions of the soft magnetic body 1 and the permanent magnet 2 are set so that they are closest to each other when the gimbal 3 is in the ideal position within its holding area. In this embodiment, as shown by the phantom line in FIG.
The position of the permanent magnet 2 is selected so that the pitch angle θ is maintained at about 30 ° as shown in FIG.

Next, the operation will be described. First, gimbal 3 is second
It is assumed that the soft magnetic body 1 and the permanent magnet 2 are strongly attracted to each other in a posture as shown in the figure and cannot be freely rotated, that is, in a holding state.

The drive mechanism 5 controls the gimbal rotation angle according to the signal from the gimbal control circuit 4. Therefore, by applying a normal control signal to the gimbal control circuit 4 in the holding state of the gimbal 3, the drive mechanism 5 produces the maximum output torque, and the soft magnetic body 1
Then, the holding force of the permanent magnet 2 is shaken off, the gimbal 3 is rotated to a position (in the operating region) corresponding to the control signal, and the pointing direction of the infrared sensor 7 is controlled.

Cage signal (hold position command signal) to return to the holding state
To the gimbal control circuit 4. Then, the drive mechanism 5 rotates the gimbal 3 to a predetermined holding position, so that the control signal is cut off there. After that, the gimbal 3 maintains the holding state again by the holding force of the soft magnetic body 1 and the permanent magnet 2. As described above, it is desirable that the holding state be maintained in a region that is widely separated near both the pitch axis and the yaw axis, which are the operating regions of the gimbal 3. FIG. 3 is a view showing a conceptual holding region where the soft magnetic body 1 and the permanent magnet 2 attract each other.

Next, a second embodiment of the present invention will be described with reference to FIG. The structure is the same as that shown in FIGS. 1 to 3 except for the structure shown in FIG. In the figure, the pin holder 10 fixed to the inner gimbal 3a is made of a magnetic material, and the cage pin 11 is made of a permanent magnet. As shown in the figure, the cage pin 11 is assembled in the case 12 while the bottom flange 14 is being pushed rightward by the spring 13. When the inner gimbal 3a is rotated to arrive at this state due to the cage, the cage pin 11 is magnetically attracted to the pin holder 10, and a small stroke is projected against the pressing force of the spring 13, as shown in the figure. The inner gimbals 3a are caged by attracting each other. In the case of uncaging, apply more force than the attraction between pin holder 10 and cage pin 11 to the inner gimbal.
Give it to 3a and pull it away. Once separated, the cage pin 11 does not restrain the inner gimbal 3a because the magnetic force decays rapidly in inverse proportion to the square of the distance. In this embodiment, the cage pin 11 is uncaged without using a solenoid,
There is an advantage of pulling in by yourself.

Next, a third embodiment of the present invention will be described with reference to FIG. Note that, in FIG. 5, components similar to those in FIG. 4 are denoted by the same reference numerals, and are the same as those in FIGS. In the figure, the cage pin 11a is made of a permanent magnet having a flange 14a near the head, and the spring 13 when uncaged.
It is pushed by and slightly protrudes from the position of the attraction surface with the pin holder 10. Because of the cage, when the inner gimbal 3a arrives, due to the gentle chamfering provided on the head of the pin holder 10 and the head of the cage pin 11a, a component force due to the contact force is generated, and the cage pin 11a becomes a force of the spring 13. A little retracted, and stick to the top surface of the pin holder 10. In this embodiment, in addition to the attraction force by magnetic force, the pin holder 10 and cage pin are
Since 11a and 11a are pressed by the force of the spring 13, there is an advantage that the cage is more surely maintained.

Next, a fourth embodiment of the present invention will be described with reference to FIG. 1 to 3 except for the configuration shown in FIG.
The illustration is omitted because it is similar to FIGS. In the figure, the cage pin 11a made of a permanent magnet, which is pushed into the case 12a by a spring 13 in a projecting direction, is oriented in a direction orthogonal to the pin holder 10a made of a magnetic body of the inner gimbal 3a which arrives as shown in the figure. Adsorb the side part to. In this embodiment, since the pin holder 10a and the cage pin 11a are brought into contact with and separated from the magnetic force lines in a direction facing each other, the cage force is stronger than those in the second and third embodiments in which the magnetic force lines are sheared. There is an advantage. The spring 13 has a function of relieving a shock when the pin holder 10a collides due to the cage.

Next, a fifth embodiment of the present invention will be described with reference to FIG. The structure is the same as that shown in FIGS. 1 to 3 and 6 except for the structure shown in FIG. In the figure, cage pins 11b made of permanent magnets are planted in a case 12b. Compared to the fourth embodiment, the pin holder 10a has a smaller effect of alleviating the impact shock, and has the advantages of a smaller number of parts and a simple structure.

As described above, in the first embodiment, the permanent magnet (or the soft magnetic material) is implanted in the structure portion 6 in contrast to the soft magnetic material (or the permanent magnet) implanted in the end portion of the inner gimbal 3a. The permanent magnet may be used on the side and the soft magnetic material may be used on the side of the structure portion 6, or both may be permanent magnets. Further, the permanent magnet is not necessarily made of metal, and may be plastic as long as the surrounding conditions are loose. A magnet or the like may be used. Further, although the present embodiment has described the example of the gimbal mechanism of the flight guiding device, the mounting target is not limited to the flying object. Also, in the second to fifth embodiments, the pin holder 1
Although the magnetic substance is used for 0 and 10a and the permanent magnets are used for the cage pins 11, 11a and 11b, of course, the reverse may be used, or the permanent magnets may be made to have different polarities. In short, magnetic attraction is enough.

[Effect of device]

Since the present invention is configured as described above, it has the following effects.

(1) No complicated fixing mechanism or switching circuit is required.

(2) Since the configuration is simple, the number of trouble elements is reduced and the reliability is improved.

(3) Since it is lightweight and small, the payload as a flying object is improved.

(4) Since the gimbal cage is caged by the magnetic force of only the soft magnetic body or the permanent magnet, no operating device or electric power for generating and eliminating the restraining force is required, and accordingly, the design is correspondingly easy,
And the device can be obtained at low cost.

[Brief description of drawings]

FIG. 1 is a front view of the gimbal mechanism of the first embodiment of the present invention, and the breakage part shows a partial breakage in a plane as viewed along the II line in FIG. FIG. 2 is a right side view of FIG. 1 (partially cut away), FIG. 3 is an explanatory view of the range of the normal operating angle of the gimbal mechanism and the holding area of the first embodiment, and FIG. In the second embodiment, FIG. 5 is the same as that of the third embodiment, FIG. 6 is the same as that of the fourth embodiment, and FIG. 7 is the same as that of the fifth embodiment. FIG. 8 is a detailed cross-sectional view showing a state in which they meet each other, and FIG. 8 is an explanatory view of a conventional example. 1 ... Soft magnetic material (or permanent magnet), 2 ... Permanent magnet (or soft magnetic material), 3 ... Gimbal, 3a ... Inner gimbal, 3b ... Outer gimbal, 4 ... Gimbal control circuit, 5 ... … Driving mechanism, 6 …… Structure part, 7 …… Infrared sensor, 10,10a …… Pin holder, 11,11a, 11b …… Cage pin, 12,12a, 12b …… Case, 13 …… Spring, 14,14a
...... Flange.

Claims (1)

[Scope of utility model registration request] 1. A guidance device having a gimbal mechanism, comprising:
Only the magnetic body or permanent magnet fixed to an outer end of the inner gimbal and the magnetic body or permanent magnet can be attracted to a portion of the structure supporting the gimbal facing the magnetic body or permanent magnet. A gimbal holding mechanism in an induction device, further comprising: a magnetic body or a magnet body provided so that the sucked gimbal is out of an operating region of the gimbal.