RU2189012C1 - Method of cocking gyromotor spring - Google Patents

Abstract

FIELD: gyroscopic instruments with spring gyromotor in outer gimbal which may be used as heading, yawing and pitching angle sensors of military and civil mobile units. SUBSTANCE: proposed method consists in rotating the rotor to fully wound-up state of spring on bush and locking the rotor relative to body after cocking the spring. Prior to rotating the rotor, slide block is moved over spline towards bush overcoming force of compression spring, throwing teeth of bush and slide block in engagement and rotor is rotated in drawn-in state of slide block till self- gripping, approximately by 0.25 to 0.5 revolution. Then, drawing force is removed from slide block and rotor is rotated to fully wound-up state of spring. EFFECT: enhanced operational reliability. 2 dwg

Description

 The invention relates to gyroscopic devices with a spring gyromotor in an external cardan suspension, which can be used as sensors of course angles, yaw and pitch on various moving objects, both military and civilian. In addition, there is a large and important field of application of gyroscopes related to the training of specialists, the study and study of complex dynamic processes in gyroscopes and the development of their mathematical models.

 Known gyroscopic device [US Patent, nat. class 74-5. 41, 2732721 dated January 31, 1956], comprising a combined spring gyromotor, an external cardan suspension, a rotor latch with a cocked spring, made in the form of a lever interacting with an electromagnet, and a rotor arrestor in the form of a plunger that interacts with a screw-nut pair "with a rotor. The information sensor about the angular position of the object is placed along the axis of rotation of the outer frame of the gimbal.

 In this design of the gyroscopic device, the spring cocking sleeve is rigidly connected to the inner frame of the cardan suspension, and a recess is made on the generatrix of the sleeve for engagement with the sleeve of the free inner end of the spring. The other end of the spring is inseparably connected to the rotor in its internal cavity.

 The method of starting this gyroscopic device with a combined spring gyromotor in an external gimbal is to cock the spring by rewinding it from the rotor rim to the sleeve by rotating the rotor. The cocking of the spring is carried out after introducing the free end of the spring into engagement with the sleeve, followed by fixing the rotor and cardan suspension. Removing information from the sensor about the angular position of the object is carried out after sizing.

 The above design is characterized by the presence of a detachable connection of the spring with the sleeve, which is rigidly connected with the inner frame of the cardan suspension. The detachable connection of the inner end of the spring with the sleeve is one of the disadvantages of this gyrometer. Such a device complicates the technology of cocking, since when introducing the end of the spring into engagement with the sleeve before cocking the spring, it is necessary to introduce a special tool into the internal cavity of the rotor, with the help of which the end of the spring is captured and introduced into the recess on the sleeve. Such an operation is complex and can lead to damage and clogging of the spring, sleeve and inner cavity of the rotor. Also in this design is a complex lever electromagnetic mechanism for fixing the rotor and the frames of the cardan suspension and a plunger device with a pair of screw-nut for locking the rotor.

 The closest to the proposed design in its technical essence, the solution is a gyroscopic device [US Patent, nat. class 74-5.12 (inter. class G 01 C, 19/24) 3434354 dated 03.25.1969], comprising a rotor with a combined spring motor, an external cardan suspension, consisting of an internal and an external frame, a rotor shaft, rigidly fastened with an internal frame of the gimbal suspension, a sleeve coaxial with the rotor shaft for winding a spiral tape spring, a cage for fixing the rotor with a gimbal suspension and a sensor for information about the angular position of the object.

 In this design, one end of the spring is rigidly connected to the rim of the rotor, and the other, which interacts with the sleeve, is pressed against it and engages with its protrusion under the action of its own elastic force. When the rotor rotates rapidly under the action of centrifugal force, the elastic end of the spring moves away from the sleeve. This design simplifies the technology of cocking the spring by providing automatic engagement of the spring on the sleeve and, accordingly, multiple winding of the gyromotor by rotating the rotor. However, during repeated checks of the gyroscopic device with a decrease in the rotor speed, the end of the spring is pressed against the sleeve, slides along the protrusion and can damage the end of the spring and the protrusion of the sleeve, which can reduce the reliability of the gyroscopic device. In addition, the described design is applicable when using spiral tape springs of small thickness with weak elasticity of its end, which provides a departure from the sleeve at low rotor speeds characteristic of spring gyromotors. When increasing the energy consumption of the gyromotor by increasing the thickness of the spring, it becomes necessary to complicate the design using composite springs, which also reduces the reliability and complicates the design.

 In the design under consideration, the locking and locking of the rotor are carried out by a spring-loaded lever, which at one end through the grooves in the outer and inner frames of the cardan suspension is tangentially connected to the recess on the rotor. The other supporting end of the lever is mounted abutting in a sector that can rotate from the igniter relative to the axis of the outer frame of the cardan suspension and interacting with a spring-loaded rotary disk. When the sector is turned, the lever slides from it to the disk and disengages from the rotor, after which the gyromotor accelerates under the influence of a spiral belt spring. The delay in sizing the frames of the cardan suspension of the gyroscope is provided by the inertia of the rotational movement of the disk under the action of its own spring. When the disk rotates, its slot is brought under the support end of the lever and the lever leans back, freeing the frame of the cardan suspension of the gyroscope.

 The way to start this gyroscopic device is to cock the spring by rewinding it from the rotor rim to the bushing by rotating the rotor, fixing the rotor and cardan suspension using the locking lever until information about the object’s angular position is taken from the sensor and a force pulse is applied to decoupling from the squib. Impulse of force, acting on the rotary sector, provides freedom of movement of the lever and inertial disk with a slot. The lever, due to sliding from the sector to the disk, releases the rotor, and after approaching the slot of the disk under the lever support, it releases the gimbal. Thus, there is a two-stage resolution: first, the rotor is released, and then the cardan suspension is freed from communication with the housing. At the same time, there is no separation in the sizing of the internal and external frames of the cardan suspension, which limits the functionality of the device.

 The main drawback of the design considered is its complexity and low reliability due to the presence of a two-shouldered lever with a rotation axis in the housing, one end brought through the grooves within the cardan suspension to the rotor, and the other to the rotary sector and inertial disk with large friction planes and unstable friction .

 The present invention is relevant, since the requirements for the design and output characteristics of gyroscopic devices are constantly increasing.

 The objective of the invention is to increase the reliability of a gyroscopic device with a spring gyromotor of the combined type while simplifying the design and expanding functionality. This is achieved by introducing a permanent mechanical connection between the ends of the spiral tape spring with both the rim of the rotor and the sleeve for winding the spring. In addition, fixing the rotor and locking the frames of the cardan suspension of the gyroscope relative to the body is carried out by one rod in the direction of the radius of the rotor, and the locking is performed in three stages: first, the rotor is released, then the inner and outer frames of the cardan suspension are released.

 The method of charging the spring of the gyro motor gyroscope device consists in rotating the rotor to a tightly wound state of the spring on the sleeve and fixing the rotor relative to the housing after cocking the spring, while before the rotation of the rotor is moved, overcoming the force of the compression spring, the slider along the slot on the axis of the rotor to the sleeve is engaged the teeth of the sleeve and the slider and rotate the rotor in the pre-loaded state of the slider to its self-locking, approximately 0.25 ... 0.5 turn, then remove the force of the preload of the slider and rotate the rotor until tight wound up standing with fixation relative to the housing.

A method of starting a gyroscopic device with a combined spring gyromotor in an external gimbal, which implements the inventive method of cocking a spring, consists of cocking a spring by rewinding it from the rotor rim to the bushing by rotating the rotor, fixing the rotor and gimbal, before removing information from the sensor about the angular position of the object and applying a pulse of force to sizing, additionally contains the following operations:
- before cocking the spring free from communication with the rotor and the inner frame of the gimbal suspension, the sleeve is introduced into temporary engagement with the inner frame of the gimbal suspension,
- after cocking carry out arrest by the sequential introduction of mechanical communication from the housing to the outer and inner frames of the cardan suspension and the rotor in the direction of its radius,
- when removing information about the angular position of the object, the gyroscope is opened sequentially in three steps: the rotor, the inner frame of the cardan suspension, the outer frame of the cardan suspension,
- at the time of completion of the acceleration of the rotor, disconnect the sleeve with the inner frame of the cardan suspension.

A gyroscopic device for implementing the inventive method of charging a spring of a gyromotor contains a rotor with a spring motor of a combined type, an external cardan suspension, consisting of an internal and external frame, a rotor shaft rigidly fastened to the internal frame of the cardan suspension, a sleeve for coiling a spring coaxial with the rotor shaft, a spanner for fixing the rotor with a gimbal and a sensor of information about the angular position of the object, further includes the following:
- a spring connected inseparably with the rim of the rotor and the sleeve for winding the spring in the inner cavity of the rotor,
- a sleeve mounted to rotate on a cylindrical central protrusion of the rotor wall, forming a sliding bearing, and together with the spring limited from movement along the rotor axis by a disk closing the rotor cavity at the periphery and allowing the sleeve to exit through the central hole of the disk beyond the end of the rotor,
- on the rotor shaft, a slider with a compression spring is installed in series with the sleeve, which is connected at one end to the inner frame of the cardan suspension by a spline connection and the other end, made in the form of a hollow cylinder at the periphery with tooth cams along the forming slider, is brought into interaction with similar counter tooth cams on the surface of the sleeve
- the ends of the tooth cams of the slider and the sleeve are mated on a helical surface with an angle of elevation on the sleeve in the direction of rotation of the rotor when the spring is cocked,
- the arrestor is made in the form of a spring-loaded rod with a lateral stopper, which is mounted with the possibility of longitudinal movement along the axial hole and along the spline groove in a fixed cylindrical support mounted on the housing through windows in the outer and inner frames of the cardan suspension to the tangential recess on the cylindrical surface of the rotor along direction of its radius
- on the outer surface of the support there is a rotary sleeve with successive stepped recesses on the side surface under the stopper in increments corresponding to the sequential stroke of the rod from the rotor to the inner frame of the cardan suspension, to the outer frame of the cardan suspension and to the body.

 The essence of this proposed invention lies in the fact that in the design of a pulsed gyroscope with a spring gyromotor of the combined type that implements the inventive method of charging the spring, a constant rigid mechanical connection of an accelerating spiral tape spring is used both with the rim of the rotor and with the sleeve for winding the spring. Also used is a single arrester for fixing the rotor and sequential sequential sizing of the rotor, the inner and outer frames of the cardan suspension, which is made in the form of a thin-walled rod. These features determine the simplicity of spring charging, start-up, design and increase the reliability of the gyroscopic device.

 In FIG. 1 shows a General view of the proposed gyroscopic device, figure 2 shows a view of figure 1.

 The gyroscopic device contains a rotor 1 (Fig. 1), which is mounted on a shaft 3 by means of two ball bearings 2 and is fixed rigidly in the inner frame of the cardan suspension 4. The rotor 1 has a rotor mass of 1 in the form of a rim with a belt spring 5 and a sleeve 6 designed for winding the spring 5 and mounted freely on the cylindrical protrusion of the rotor. The inner cavity of the rotor is closed by a washer 7, which holds the spring 5 and the sleeve 6 from axial movement. The spring 5 is rigidly connected by the hooks 8 to the rotor 1 and the sleeve 6.

(если смотреть навстречу вектору, вращение должно быть против часовой стрелки). Также зубообразные кулачки имеют угол захвата β меньше 90^o и направление захвата аналогично углу подъема винтовых поверхностей.A slider 9 is also mounted on the rotor shaft 3, loaded with a compression screw spring 10 and interacting with a spline pin 11 connected through the shaft 3 to the inner frame of the cardan suspension 4. At the end of the slider 9, tooth-like cams 12 are made uniformly around the circumference, between which sections of the screw surface are made 13. The end face of the slider 9 is paired with the end face of the sleeve 6, on which oncoming tooth cams and sections of the helical surface are made. The angle of elevation α of the helical surface of the sleeve 6 is directed in the direction of the cocking vector of the rotor spring

(if you look towards the vector, the rotation should be counterclockwise). Also, tooth-type cams have a gripping angle β of less than 90 ^° and a gripping direction similar to the angle of elevation of helical surfaces.

 The inner 4 and outer 14 frames of the gimbal are mounted in a housing 15 having a protrusion 16, on which optocoupler pairs are arranged in the form of an LED 17 and a photodiode 18, which, interacting with a mirror mask 19 mounted on the inner frame of the gimbal, 4 provide information about drift gyroscope relative to the axes of the inner and outer frames of the cardan suspension.

 The arrestor is made in the form of a rod 20, figure 2, which is mounted with the possibility of longitudinal movement along the central hole of the cylindrical support 21, mounted on the housing 15. The rotation of the rod 20 is eliminated due to its lateral stopper, which can be moved in the slotted groove 23 of the support 21. The rod 20 through the hole in the outer frame of the cardan suspension 14 and the groove in the bracket 24, fastened to the inner frame of the cardan suspension 4, is led to the tangential recess 25 on the rotor 1. In this position, the rotor is locked in the cocked state of the spring from rotation in the direction of arrow B, and a gimbal suspension keeps the rotor from rotating relative to the axis of the suspension.

и перемещении стопора 22 по ступеням выемки 26. Шаг ступенчатых выемок (а, b, с) соответствует последовательному ходу стержня от ротора до внутренней рамки карданова подвеса, до наружной рамки карданова подвеса и до корпуса, т.е. освобождению внутренней и наружной рамок карданова подвеса, что обеспечит свободу вращения ротора по осям карданова подвеса.When pressed against the rotor, the rod 20 is held by a side stop 22, which is engaged with the upper platform of the stepped recess 26, made on a cylindrical rotary sleeve 27 mounted on a support 21. A compression spring 30 is placed between the rim 28 of the sleeve 27 and the nut 29 of the rod 20, capable of dropping the rod in the direction from the rotor during rotation of the sleeve 27 along the vector

and moving the stopper 22 along the steps of the recess 26. The step of the stepped recesses (a, b, c) corresponds to the sequential stroke of the rod from the rotor to the inner frame of the cardan suspension, to the outer frame of the cardan suspension and to the body, i.e. the release of the inner and outer frames of the cardan suspension, which will provide freedom of rotation of the rotor along the axes of the cardan suspension.

и за счет зацепления с ползуном 9 неподвижна относительно ротора. При этом выступ "С" ротора скользит по внутренней поверхности втулки 6 и создает дополнительный момент сопротивления вращению ротора при разгоне. Однако по сравнению с движущим моментом пружины дополнительный вредный момент сопротивления пренебрежимо мал и практически не влияет на разгон.It should be noted that in the process of acceleration under the action of the driving moment of the spring, the sleeve 6 is loaded with a moment along the vector

and due to engagement with the slider 9 is stationary relative to the rotor. In this case, the protrusion "C" of the rotor slides along the inner surface of the sleeve 6 and creates an additional moment of resistance to rotation of the rotor during acceleration. However, in comparison with the driving moment of the spring, the additional harmful moment of resistance is negligible and practically does not affect acceleration.

 After acceleration of the rotor, when the driving moment of the spring is zero, the sleeve 6 begins to rotate with the spring and the rotor. At this moment, the slider 9 under the action of the screw pads 13 and the spring 10 is discarded along the slot 11 and does not interfere with the rotation of the rotor. After accelerating the rotor and sizing the gimbal, the gyroscope provides the ability to obtain information about the angular position of the object using optical elements 17, 18.

до самозахвата зубьев ползуна и втулки ориентировочно на 0,25... 0,5 оборота ротора. После самозахвата снимают усилие поджатия ползуна и вращают ротор до тугозаведенного состояния пружины на втулке 6. При арретировании, преодолевая усилие пружины 30, фиг.2, поджимают стержень 20 к ротору в выемку 25, предварительно пропустив его через отверстие в наружной рамке карданова подвеса и паз в кронштейне 24 внутренней рамки карданова подвеса. После досылания стержня до ротора фиксируют его положение поворотом втулки 27, подводя ступенчатую выемку 26 под стопор 22.Preparation of the rotor for its launch includes cocking and locking. When cocking the spring, first, overcoming the force of the spring 10, bring the slider 9 to the sleeve 6, ensuring engagement of the teeth 12 and the coupling of the screw pads 13, Then rotate the rotor in the pressed state of the slide on the vector

until the teeth of the slide and sleeve are self-locking, approximately 0.25 ... 0.5 of the rotor revolution. After self-locking, the preload of the slide is removed and the rotor is rotated to a taut spring state on the sleeve 6. When arresting, overcoming the force of the spring 30, Fig.2, press the rod 20 against the rotor into the recess 25, after passing it through the hole in the outer frame of the cardan suspension and groove in the bracket 24 of the inner frame of the cardan suspension. After the rod is blown to the rotor, its position is fixed by turning the sleeve 27, bringing the step recess 26 under the stopper 22.

 Thus, the above method of charging the spring of the gyromotor increases the reliability of the gyroscopic device with the spring gyromotor of the combined type while simplifying the design and expanding the functionality. This is achieved by introducing a permanent mechanical connection between the ends of the spiral tape spring with both the rim of the rotor and the sleeve for winding the spring. This approach eliminates the mechanical effect of structural elements and technological tools on the spring during its operation and cocking. In addition, the fixing of the rotor and the arresting of the frames of the cardan suspension of the gyroscope relative to the body are carried out by one rod in the direction of the radius of the rotor, and the caging is performed in three stages: first, the rotor is released, then the inner and outer frames of the cardan suspension are released in series.

Claims (1)

 A method of charging a spring of the gyro motor gyroscope device, which consists in rotating the rotor to a tightly-wound state of the spring on the sleeve and fixing the rotor relative to the housing after cocking the spring, characterized in that before the rotation of the rotor, a slider is moved overcoming the compression spring force on the rotor axis to the sleeve, the gears of the sleeve and the slider are engaged, the rotor is rotated in the pre-loaded state of the slider until it is self-locking approximately by 0.25-0.5 turns, the effort of preloading the slider is removed and the rotor is rotated tightly state with fixation relative to the body.

Images