JPH061287A - Attitude control mechanism - Google Patents
Attitude control mechanismInfo
- Publication number
- JPH061287A JPH061287A JP4162696A JP16269692A JPH061287A JP H061287 A JPH061287 A JP H061287A JP 4162696 A JP4162696 A JP 4162696A JP 16269692 A JP16269692 A JP 16269692A JP H061287 A JPH061287 A JP H061287A
- Authority
- JP
- Japan
- Prior art keywords
- sphere
- flange
- control mechanism
- spherical body
- attitude control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、対象物体を常に水平に
姿勢制御する姿勢制御機構に係わり、特に、対象物体が
重量物であるか、または水密性が要求される場合に好適
な姿勢制御機構に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture control mechanism for always controlling the posture of a target object horizontally, and particularly to a posture control suitable when the target object is a heavy object or watertightness is required. Regarding the mechanism.
【０００２】[0002]
【従来の技術】従来、この種の姿勢制御機構としては、
ジャイロコンパスで採用されているように、揺動部が二
重環で保持され、固定部と外環、および外環と内環を継
ぐ回転軸が直交するように取り付けられた軸の制御によ
って姿勢制御する機構がある。2. Description of the Related Art Conventionally, as this kind of attitude control mechanism,
As the gyro compass adopts, the swing part is held by a double ring, and the posture is controlled by controlling the shaft attached so that the fixed part and the outer ring, and the rotation axis that connects the outer ring and the inner ring are orthogonal to each other. There is a mechanism to control.
【０００３】[0003]
【発明が解決しようとする課題】上記従来技術は、
（１）揺動部が二重環で保持された機構であり、機構が
複雑であること、（２）吊り下げ又は保持する物体とし
ては一般に軽量のものが対象であり、重量物への適用は
困難であること、（３）空気中で使用されるが、水密性
が要求される場合、水密性の確保については未解決であ
ること等の問題があった。DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
(1) The mechanism in which the swinging part is held by a double ring is complicated, and the mechanism is complicated. (2) The object to be hung or held is generally lightweight, and is applied to heavy objects. Is difficult, and (3) it is used in air, but when watertightness is required, there is a problem that watertightness is not yet solved.
【０００４】本発明の目的は、簡素な機構で重量物を水
平に姿勢制御することができ、しかも要求に応じて水密
性を確保できる姿勢制御機構を提供することにある。An object of the present invention is to provide a posture control mechanism capable of horizontally controlling the posture of a heavy object with a simple mechanism and ensuring watertightness according to demand.
【０００５】[0005]
【課題を解決するための手段】本発明は、上記目的を達
成するために、揺動部を球体とし、この球体を内側が凹
面に形成されたリング状のフランジで自由に回転可能に
支持し、球体とフランジとを連結する複数の連結リンク
の支点距離をフランジの傾きに応じて補正することによ
って、球体に取り付けた対象物体を常に水平に姿勢制御
するようにしたものである。SUMMARY OF THE INVENTION In order to achieve the above object, the present invention uses a swinging part as a sphere, and the sphere is rotatably supported by a ring-shaped flange whose inside is concave. By correcting the fulcrum distances of a plurality of connecting links connecting the sphere and the flange according to the inclination of the flange, the posture of the target object attached to the sphere is always horizontally controlled.
【０００６】[0006]
【作用】上記構成において、連結リンクを例えばモータ
を組み込んだボールねじとし、このボールねじ２個の一
端をそれぞれ球体のある箇所に球体の中心軸に対して互
いに直交する形で取り付け、フランジの傾きに応じて前
記モータを駆動させて連結リンクの支点距離を補正する
ことにより、球体の姿勢修正ができる。また、水密性に
関しては、球体のフランジと対向するある箇所全周をシ
ールすることによって、水密性も確保できる。以上のこ
とから、例えば船に搭載の場合、球体とこれに取り付け
た物体を船の動揺に対して常に水平に姿勢制御を行うこ
とができ、さらに水密性も確保できる。In the above structure, the connection link is a ball screw incorporating a motor, for example, and one end of each of the two ball screws is attached to a location on the sphere so as to be orthogonal to the central axis of the sphere, and the flange is tilted. According to the above, the posture of the sphere can be corrected by driving the motor to correct the fulcrum distance of the connecting link. Regarding the watertightness, the watertightness can also be secured by sealing the entire circumference of a certain portion facing the flange of the spherical body. From the above, for example, in the case of being mounted on a ship, the sphere and the object attached to the sphere can be always attitude-controlled with respect to the motion of the ship, and the watertightness can be secured.
【０００７】[0007]
【実施例】以下、本発明の一実施例を図１及び２により
説明する。図１は、船底部に設置される水中音響機器の
送受波器に本発明の姿勢制御機構を適用した実施例を示
す断面図、図２は同じく上面図である。図１及び２に示
すように、本姿勢制御機構は、球体２を保持する、内側
が凹面に形成されたリング状のフランジ１、モータ４に
よって発生させた力の伝達を行うボールねじ３、ボール
ねじ３の一端を支持し、フランジ１と連結するユニバー
サルジョイント５、フランジ１と球体２の間に設けられ
た漏水防止用のパッキン６、水平を維持する必要のある
送受波器８を旋回させ保持するための球体２に設けられ
た旋回軸７、旋回軸７を回転させるための旋回モータ
９、及びモータ４を支持する軸１０から構成されてい
る。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a sectional view showing an embodiment in which the attitude control mechanism of the present invention is applied to a transducer of an underwater acoustic device installed on the bottom of a ship, and FIG. 2 is a top view of the same. As shown in FIGS. 1 and 2, the present attitude control mechanism includes a ring-shaped flange 1 having a concave inner surface for holding a sphere 2, a ball screw 3 for transmitting a force generated by a motor 4, and a ball. A universal joint 5 that supports one end of the screw 3 and connects with the flange 1, a packing 6 for preventing water leakage provided between the flange 1 and the sphere 2, and a transducer 8 that needs to be kept horizontal are swung and held. The rotating shaft 7 is provided on the sphere 2 for rotating the rotating shaft 7, a rotating motor 9 for rotating the rotating shaft 7, and a shaft 10 for supporting the motor 4.
【０００８】次に、動作について説明する。船底１１に
取り付けられた姿勢制御機構は、船が任意の方向に傾斜
すると、それに伴って傾斜し、水平に維持する必要のあ
る送受波器８も同様に傾斜することになる。そこで、軸
１０で保持されているモータ４を傾斜量に対応した補正
作動をさせる。ボールねじ３の一端はユニバーサルジョ
イント５を介してフランジ１に連結されているので、モ
ータ４の補正作動によりボールねじ３の支点距離が変化
し、結果としてフランジ１と連結されている球体２が動
いて傾斜量だけ補正されることになり、球体２は水平に
保たれ、球体２と旋回軸７を介して連結されている送受
波器８も水平に姿勢制御される。Next, the operation will be described. The attitude control mechanism attached to the ship bottom 11 tilts when the ship tilts in an arbitrary direction, and the transducer 8 that needs to be kept horizontal also tilts. Therefore, the motor 4 held by the shaft 10 is corrected so as to correspond to the tilt amount. Since one end of the ball screw 3 is connected to the flange 1 via the universal joint 5, the correction operation of the motor 4 changes the fulcrum distance of the ball screw 3, and as a result, the sphere 2 connected to the flange 1 moves. As a result, the amount of tilt is corrected, and the sphere 2 is kept horizontal, and the transducer 8 connected to the sphere 2 via the turning shaft 7 is also horizontally controlled.
【０００９】図３は本姿勢制御機構の装備状態を示す部
分断面図である。図において、姿勢制御機構１３は船底
１１に取り付けられ、姿勢制御の対象となる送受波器８
は真水又は海水の中に位置している。なお、整流カバー
１２は、船の航行時の送受波器８の保護と、波の抵抗を
少なくする目的で取り付けられたものである。さらに、
送受波器８が真水又は海水中で、しかも水圧の加わった
状態でも使用可能ならしめるために、姿勢制御機構１３
を船底１１に取り付ける接合部にはシール材を用いてお
り、特に、球体２とフランジ１の隙間からの漏水につい
ては、摩擦抵抗の少ないパッキン６を使用して対処して
いる。FIG. 3 is a partial cross-sectional view showing an installed state of the attitude control mechanism. In the figure, an attitude control mechanism 13 is attached to the bottom 11 of the ship, and the transducer 8 to be subjected to attitude control is shown.
Is located in fresh water or seawater. The rectifying cover 12 is attached for the purpose of protecting the wave transmitter / receiver 8 during navigation of the ship and reducing the wave resistance. further,
The posture control mechanism 13 is provided so that the transmitter / receiver 8 can be used in fresh water or seawater, and even in a state where water pressure is applied.
A seal material is used for the joint portion that attaches to the ship bottom 11, and in particular, water leakage from the gap between the spherical body 2 and the flange 1 is dealt with by using the packing 6 having a small frictional resistance.
【００１０】[0010]
【発明の効果】本発明によれば、揺動部となる球体と支
点距離が可変の連結リンクとを用いて姿勢制御機構を構
成することにより、様々な動揺に対して対象物体を常に
水平に維持することができるとともに、真水又は海水中
に一部が浸漬しても機能を保持でき、また、球体の使用
によって小型軽量化と機構の簡素化が図れる。According to the present invention, by constructing the attitude control mechanism using the spherical body which is the swinging portion and the connecting link whose fulcrum distance is variable, the target object is always horizontal with respect to various fluctuations. The function can be maintained, and the function can be maintained even if a part of the structure is immersed in fresh water or seawater. Further, the use of the sphere can reduce the size and weight and the mechanism.
【図１】本発明による姿勢制御機構の一実施例を示す断
面図である。FIG. 1 is a sectional view showing an embodiment of an attitude control mechanism according to the present invention.
【図２】上記実施例を示す上面図である。FIG. 2 is a top view showing the above embodiment.
【図３】上記実施例の装備状態を示す部分断面図であ
る。FIG. 3 is a partial cross-sectional view showing a mounted state of the above embodiment.
１…フランジ ２…球体 ３…ボールねじ ４…モータ ５…ユニバーサルジョイント ６…パッキン ７…旋回軸 ８…送受波器 ９…旋回モータ １０…軸 １１…船底 １２…整流カバー １３…姿勢制御機構 1 ... Flange 2 ... Sphere 3 ... Ball screw 4 ... Motor 5 ... Universal joint 6 ... Packing 7 ... Slewing shaft 8 ... Transducer 9 ... Slewing motor 10 ... Shaft 11 ... Ship bottom 12 ... Commutation cover 13 ... Attitude control mechanism
───────────────────────────────────────────────────── フロントページの続き (72)発明者 白窪 清隆 神奈川県横浜市戸塚区戸塚町216番地 株 式会社日立製作所情報通信事業部内 (72)発明者 平松 征郎 神奈川県横浜市戸塚区戸塚町393番地 日 立湘南電子株式会社内 (72)発明者 鳥毛 桂 神奈川県横浜市戸塚区戸塚町393番地 日 立湘南電子株式会社内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kiyotaka Shirakubo 216 Totsuka-cho, Totsuka-ku, Yokohama-shi, Kanagawa Hitachi, Ltd. Information & Communication Division (72) Inventor Seiro Hiramatsu Totsuka-cho, Totsuka-ku, Yokohama-shi, Kanagawa Address 393, inside Hitate Shonan Electronics Co., Ltd. (72) Inventor Katsura Toge Address: 393, Totsuka-cho, Totsuka-ku, Yokohama-shi, Kanagawa Prefecture Inside Hitate Shonan Electronics Co., Ltd.
Claims (1)
由に回転可能な状態に支持するための内側が凹面に形成
されたリング状のフランジと、該フランジと前記球体と
を連結する複数の連結リンクと、該連結リンクの支点距
離をそれぞれ変化させる手段とを有し、前記フランジの
傾きに応じて前記連結リンクの支点距離を補正すること
により、前記球体に取り付けられた前記対象物体を常に
水平に保持することを特徴とする姿勢制御機構。1. A sphere to which a target object is attached, a ring-shaped flange having a concave inner surface for supporting the sphere in a freely rotatable state, and a plurality of connecting the flange and the sphere. Connecting link and means for changing the fulcrum distance of the connecting link respectively, by correcting the fulcrum distance of the connecting link according to the inclination of the flange, the target object attached to the sphere An attitude control mechanism that is always held horizontally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16269692A JP3200168B2 (en) | 1992-06-22 | 1992-06-22 | Attitude control mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16269692A JP3200168B2 (en) | 1992-06-22 | 1992-06-22 | Attitude control mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH061287A true JPH061287A (en) | 1994-01-11 |
| JP3200168B2 JP3200168B2 (en) | 2001-08-20 |
Family
ID=15759564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16269692A Expired - Lifetime JP3200168B2 (en) | 1992-06-22 | 1992-06-22 | Attitude control mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3200168B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003302383A (en) * | 2002-04-10 | 2003-10-24 | Ngk Spark Plug Co Ltd | Sensor and its manufacturing method |
| JP2004144528A (en) * | 2002-10-23 | 2004-05-20 | Hitachi Ltd | Underwater sonar device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5584582U (en) * | 1978-12-07 | 1980-06-11 | ||
| JPS63298184A (en) * | 1987-05-29 | 1988-12-05 | Japan Radio Co Ltd | Ultrasonic transceiver device |
-
1992
- 1992-06-22 JP JP16269692A patent/JP3200168B2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5584582U (en) * | 1978-12-07 | 1980-06-11 | ||
| JPS63298184A (en) * | 1987-05-29 | 1988-12-05 | Japan Radio Co Ltd | Ultrasonic transceiver device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003302383A (en) * | 2002-04-10 | 2003-10-24 | Ngk Spark Plug Co Ltd | Sensor and its manufacturing method |
| JP2004144528A (en) * | 2002-10-23 | 2004-05-20 | Hitachi Ltd | Underwater sonar device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3200168B2 (en) | 2001-08-20 |
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