CN103388730A - Gyroscope and gravity bistable cradle head - Google Patents

Abstract

The invention discloses a gyroscope and gravity bistable cradle head, which is used on a rocking carrier. The gyroscope and gravity bistable cradle head has the greatest characteristics that a single-axis gyroscope and a moment motor on a vertical axis and a horizontal axis in the cradle head can be used for carrying out precise gyroscope stabilization at ordinary times, and the error is within +/-0.5degree; during power loss or gyroscope system faults, the cradle head can be automatically changed into a gravity stabilizing mode, and the error does not exceed +/-5 degrees by a sea trial; especially when the 5-degree oscillation is acted on the left and right directions of a mirror axis, almost no influence is caused on observation and display. A saddle weight is respectively arranged on the vertical axis direction and the horizontal axis direction in the gyroscope and gravity bistable cradle head, the pitching motion of the cradle head and the front and back oscillation of a bearing plate are combined, only the top of the whole machine is swung, the appearance is attractive, the top is provided with a water-proof cover, and the water resistance is especially good. The gyroscope and gravity bistable cradle head is suitable for installing and using all rocking carriers, especially suitable to use on a rocking ship.

Description

Gyro and gravity bistable The Cloud Terrace

Technical field:

Background technique:

The Cloud Terrace is a kind of can horizontally rotating with upper, lower pitching is for the mechanical device of the devices such as carrying visualizer, commercially available a lot, such as 301 common The Cloud Terraces etc., if but this The Cloud Terrace is placed on the ship that rocks or on aircraft and automobile, because of carrier, constantly rocking, just can't work, for this reason need to be below The Cloud Terrace stabilized platform of interpolation, interference with isolation external force, present stabilized platform can divide two kinds, a kind of is to adopt the gravity antihunt means, my patent of application several years ago for example: night peculiar to vessel the instrument stabilized platform (patent No.: ZL2000520117451X) it is to utilize two horizontal loops that mutually with axle, connect, the axle of outer shroud is through on support, the axle of interior ring is vertical with outer shroud, a platform is set on interior ring, below hang a ballast, utilize gravity to reach platform stable, it is simple in structure, cheap, do not need electricity, but test at sea, discovery has the existence of inertial force during because of sallying, therefore lasting accuracy can only reach ± 5 ° in, if these 5 ° act on visualizer at left and right directions, impact is little, but act on the mirror axle direction, impact is just larger, often make object break away from the upper of display device, lower frame, but no matter how, it rock when not having gravity to stablize 20-30 ° good, so magnetic compass on present ship etc., all adopt this antihunt means.Another kind is gyrostabilization, its precision is high, stability can reach in 0.5 °, but structure is more complicated, it is difficult to calculate, expensive, when all power failures or generation fault, just losing stabilization, make and stablize The Cloud Terrace, is to do stabilized platform and The Cloud Terrace together, the GR-163 biax gyrostabilized platform peculiar to vessel that middle smart instrument scientific ﹠ technical corporation produces is passed through in present domestic Beijing, the TN10 type ship that the boat oceangoing ship accessory Co., Ltd of Guangzhou China produces with Self-stabilization holder is namely, but they to be all twin shafts adopt gyrostabilization, in case dead electricity or fault just cannot use.I, through development for many years, have made and a kind ofly both can carry out gyrostabilization by twin shaft,, when having a power failure or gyro while breaking down, can automatically change the stable The Cloud Terrace of gravity over to, and this is just more satisfactory, and this is as after being equipped with advanced gyro compass on all ships at present, rigid need

Be equipped with a magnetic compass the same, but order is for dual fail-safe.

Summary of the invention:

the objective of the invention is to make common The Cloud Terrace to have the function of gyro and gravity Dual Stabilization, when power failure or gyrostabilization generation fault, can change automatically that gravity is stable to work on over to, for achieving the above object, its structure is such, first make a base, the base top arranges a pallet, it penetrates in the axis hole of base with a main shaft, can horizontally rotate, on pallet, fix an azimuth motor, on its downward axle, fix an orientation small gear, Azimuth main drive gear engagement on small gear and base, like this during pinion rotation, by relativity principle just can force pallet and on all bearing materials can do to horizontally rotate.for making The Cloud Terrace can obtain gyrostabilization, stable with gravity, its method is to fix one " U " font support on pallet, on a side mainboard of support, be fixed wtih the torque motor of a separate loading, the rotor of this torque motor is hollow, its hollow space is arranging a pitching decelerator, motor is fixed on a vertical link plate, link plate is fixed on the rotor of torque motor, the bottom of plate is arranging a saddle weight, top is arranging a vertical single shaft gyro, after the axle of motor passes the riser of U-shaped support, be connected with a horizontal square frame, because of square frame, side direction is also being arranged a hollow rotating shaft, therefore square frame can be vertically on, lower rotation, therefore after vertical gyro obtains unbalanced signal, send signal voltage and just can make the longitudinal moment electric machine rotation, axle by the pitching decelerator, can make horizontal square frame remain level, when dead electricity or gyro system fault,, because vertically ballast is arranged at the link plate bottom, due to Action of Gravity Field, horizontal square frame is up to the standard.stablized for making laterally, method is to fix an athwartship moment motor on the antetheca of horizontal square frame or rear wall, it stretches out on the axle of square frame, be fixed wtih front and back to vertical square frame (also with movable axis, supporting locating), this vertical square frame bottom is fixed wtih a ballast, a horizontal single shaft gyro is being set on ballast, another upper center place at square frame, weld a vertical hollow vertical rod, masthead is fixed wtih a carrier board, left and right (namely horizontal) occurs while waving in The Cloud Terrace like this, laterally gyro sends unbalanced signal voltage, make the athwartship moment electric machine rotation, thereby being rotated, vertical square frame keeps vertical, by hollow vertical rod, make the carrier board on top remain level, it is same when horizontal gyro system breaks down, because vertical square frame bottom is provided with saddle weight, utilize Action of Gravity Field, can make equally carrier board maintenance level.Because the carrier board on The Cloud Terrace is can do pitching before and after needing, the method that solves is direct pitching decelerator current input signal in sleeve rotor, motor rotates separately, make carrier board do the pitching movement of front and back by the rotation before and after horizontal square frame, vertical square frame, hollow vertical rod, the moment of reaction that the pitching decelerator produces, coordinate longitudinal moment motor or vertical saddle weight to produce gravitational moment by vertical gyro, constantly offset.

The present invention compared with prior art, has following outstanding feature and good effect

1, have gyro and gravity Dual Stabilization function, when dead electricity or gyratory stabilizing system generation fault, can automatically change gravity over to stable.

2, vertical steady in the sleeve rotor of gyro, a pitching decelerator is set, played the connection function when stable, the pitching of The Cloud Terrace is superposed on original steady state, carrier board need not the independent elevation mount that arranges.

3, compact structure, beautiful shape, the carrier board at a whole The Cloud Terrace top are all around swinging, with maintenance level (making an exception during pitching).

4, the water proofing property spy is good, and full machine is water inlet, particularly top nowhere almost.

Description of drawings

Accompanying drawing 1: be the whole front views of integral body of the present invention

Accompanying drawing 2: be whole partial right side view of the present invention

Accompanying drawing 3: for B-B of the present invention to plan view

Accompanying drawing 4: be gyrostabilized platform correlative principle figure of the present invention

Embodiment:

as Fig. 1, 2, shown in 3, the present invention is totally by base (1), casing (27), pallet (6), U-shaped support (7), the holder device that hollow bar (19) and carrier board (20) form, by vertical gyro (15), longitudinal moment motor (11) and horizontal square frame (16) and horizontal gyro (24), gyratory stabilizing system and longitudinal axis saddle weight (9) that athwartship moment motor (17) and vertical square frame (18) form, the gravity stabilization system that transverse axis saddle weight (25) forms reaches by big or small azimuth gear (4) and (28) and azimuth motor (5), the cradle head device that pitching decelerator (14) forms totally four parts forms.concrete constructive method is: first establish a base (1), fixed party position gearwheel (4) on it, establishing a pallet (6) penetrates in the axis hole of base (1) with main shaft (2) again, free to rotate, the upper fixed party position motor (5) of pallet (6), one orientation small gear (28) is arranged on downward axle, it and Azimuth main drive gear (4) mesh, also be fixed wtih one " U " type support (7) on pallet (6), be fixed wtih a vertical separate loading torque motor (11) on one side wall of this support, in its sleeve rotor (12), be provided with a deceleration pitch motor (14), it is fixed on a vertical suspension plate (10), this plate be fixed on torque motor sleeve rotor on (12), the bottom of plate (10) is provided with vertical saddle weight (9), top is provided with the single shaft gyro (15) that a longitudinal stability is used, after the shaft extension of decelerator (14) goes out the wall of U-shaped support (7), be connected with the horizontal square frame (16) in U-shaped support (7), offside is held with hollow shaft (28), fix an integrated type athwartship moment motor (17) on front (or rear) side of horizontal square frame (16), it stretches out the axle of side, be connected with the vertical square frame (18) in front and back (opposite position is also established a rotating shaft), the bottom of square frame (18) is fixed wtih a horizontal saddle weight (25), establish a horizontal single shaft gyro (24) on piece, the center upper portion place of frame (18), welding a vertical hollow bar (19), the top of vertical rod (19) is connecting the carrier board (20) of a level, another side wall of U-shaped support is fixed wtih two moment electrical equipment drivers (22) and necessary circuit board (26) outward.working procedure is such, when external force makes the The Cloud Terrace oscillation in the pitch mode, vertically gyro (15) sends unbalanced signal voltage, the sleeve rotor (12) of longitudinal moment is rotated, it drives pitching decelerator (14) and suspension plate (10) and horizontal square frame (16), vertical square frame (18), hollow bar (19) and carrier board (20) together front and back rotate, can make carrier board (20) maintenance level, when dead electricity or vertical gyratory stabilizing system generation fault, Action of Gravity Field due to vertical saddle weight (9), still can make carrier board (20) substantially keep level, reached the stable purpose of vertical gravity, in like manner, when external force makes the The Cloud Terrace lateral oscillation, laterally gyro (24) sends unbalanced signal voltage, athwartship moment motor (17) is rotated, drive together left-right rotation of vertical square frame (18), hollow bar (19) and carrier board (20), thereby make carrier board (20) maintenance level, when dead electricity or horizontal gyro system generation fault, the Action of Gravity Field of horizontal saddle weight (24), still can make carrier board (20) maintenance level, reach the stable purpose of transverse gravity.

Claims (3)

1. a gravity and gyro bistable The Cloud Terrace, is characterized in that it by bottom (1), the stand arrangement that the hollow vertical rod of casing (27) pallet (6) U-shaped support (7) (19) and carrier board (20) form; By the horizontal gyratory stabilizing system that forms of gyro (24) athwartship moment motor (17) and vertical square frame (18) of the horizontal square frame of vertical gyro (15) longitudinal moment motor (11) (16); The gravity stabilizer that is comprised of the horizontal saddle weight of end compression pouring weight (9) (25) and above-mentioned horizontal square frame (16) and vertical square frame (18) reaches the cradle head device that is comprised of large azimuth gear (4) and little azimuth gear (28) and azimuth-drive motor (5) pitching decelerator (14) totally four parts

Close fit forms.

2. gyro according to claim 1 and gravity are stablized The Cloud Terrace, it is characterized in that in the sleeve rotor (12) of longitudinal moment motor (11), a pitching decelerator of the person of setting (14), it and sleeve rotor (12) together are fixed on vertical suspension plate (10), the bottom of this plate is provided with a vertical saddle weight (9), top is provided with vertical single shaft gyro (15), only has the axle of pitching decelerator (14) to be connected with the horizontal square frame (16) of U-shaped support (7).

3. its spiral shell according to claim 1 and gravity bistable platform, is characterized in that horizontal square frame (16) front (or rear).Fix an integrated type athwartship moment motor (17) on side, the axle that it stretches out, be connected with a sagittal vertical square frame (18), the bottom of square frame (18), be fixed wtih a horizontal saddle weight (25), establish horizontal single shaft gyro (24) on piece, the welding of frame (18) center upper portion place subtracts a vertical hollow vertical rod (19), the top of vertical rod (19) is connecting the bottom of carrying (20) plate of a level, is provided with

Line lid (21).

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