JPH0448171B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Field of Industrial Application> The present invention relates to a device for detecting an angle of inclination when a rocking body (such as a ship) is tilted from the horizontal.

<Prior art> For example, when a directional antenna is mounted on a rocking body such as a ship, in order to control the directional antenna so that it always points in the same direction, it is necessary to detect the inclination angle of the rocking body with respect to the horizontal. There is a need to.

FIG. 1 shows the configuration of a conventional tilt angle detection device for this purpose. In the figure, reference numeral 1 denotes a horizontal base fixed to a ship, and a rotating shaft 2 is rotatably supported by a support member 3 parallel to the base 1. A pendulum 5 is fixed to one end of the rotating shaft 2 via a mounting shaft 4. Base 1 has base 1
An angle detector 6 is fixed to detect the rotation angle of the rotation shaft 2 relative to the rotation angle.

Since the pendulum 5 is always located vertically downward from the axis of the rotating shaft 2 due to gravity, if the ship (base 1) is not tilted from the horizontal as shown by the solid line in Fig. 2, The mounting shaft 4 of the pendulum 5 is perpendicular to the base 1, but the ship (base 1)
When the pendulum 5 is tilted by an angle θ from the horizontal as shown by the chain line in the figure, the mounting shaft 4 of the pendulum 5 remains vertical, so it is tilted by the angle θ with respect to a straight line perpendicular to the base 1. That is, the rotation axis 2 is at an angle θ with respect to the base 1.
Rotate only. The rotation angle θ of the rotation shaft 2 is detected by the angle detector 6 as the inclination angle of the ship with respect to the horizontal.

Therefore, if such an inclination angle detection device is installed so as to be able to detect the two orthogonal axes, it is possible to detect the inclination of the ship from the horizontal in any direction.

<Problems to be Solved> However, with the inclination angle detection device having such a configuration, the inclination angle cannot be detected when the ship is subjected to surging or swaying, or at a position far from the center of the ship's sway. When the device is installed, the movement of the vessel in the lateral direction (first
An acceleration α is generated in the direction perpendicular to the plane of the figure. In this case, if the weight of the pendulum 5 is W and the distance between the center of gravity of the pendulum 5 and the axis of the rotating shaft 2 is l, then a rotational torque of αWl will be generated and the rotating shaft 2 will rotate. ,
The angle detector 6 has a drawback in that an incorrect angle is detected.

SUMMARY OF THE INVENTION An object of the present invention is to correct the above-mentioned drawbacks and provide a tilt angle detection device that can detect an accurate tilt angle by eliminating the influence of lateral acceleration.

<Example> Hereinafter, an example of the present invention will be described based on the drawings.

Fig. 3 is a side view showing one embodiment of the present invention;
The figure is its front view.

In these figures, 11 is a base horizontally fixed to a rocking body (not shown) such as a ship;
Reference numeral 2 denotes a rotation shaft supported horizontally and rotatably on the upper surface of the base 11 by a support member 13; 14 is fixed to the upper surface of the base 11, and the rotation shaft 12
This is a detection device that detects a rotation angle with respect to 1.

A sun gear 15 is fixed to one end of the rotation shaft 12 so as to rotate integrally therewith.

In the vicinity of this sun gear 15, the rotation shaft 12
A planetary gear attachment member 16 in the form of an elongated plate is rotatably attached to the holder.

A lower planetary gear 17 is rotatably attached to the lower end of the planetary gear attachment member 16.

The lower planetary gear 17 meshes with the sun gear 15.

A gear 17 is attached to the upper end of the planetary gear mounting member 16 so that its rotation center is located on a straight line passing through the center of the sun gear 15 and the center of the lower planetary gear 17.
An upper planetary gear 18 having the same number of teeth and the same weight is rotatably attached.

A lower planetary gear is attached to the shaft 17a of the lower planetary gear 17 so that one end of the linear lower mounting member 19 extends in the same direction as a straight line passing through the centers of the gears 18, 15, 17 and in the opposite direction to the gear 18. It is fixed so as to rotate integrally with 17. A lower pendulum 20 is fixed to the lower mounting member 19 in a predetermined position by a fastener 21 .

On the other hand, one end of the linear upper mounting member 22 is attached to the shaft 18a of the upper planetary gear 18, and the gears 18, 15,
It is fixed so as to rotate integrally with the upper planetary gear 18 so as to extend in the same direction as a straight line passing through the center of the upper planetary gear 17 and in the opposite direction to the gear 17 . This upper mounting member 22 has an upper pendulum 23 attached to a fastener 24.
It is fixed in place by. The two mounting members 19, 22 have the same length and the same weight.

Here, the weight of the lower pendulum 20 is W ₁ and the weight of the upper pendulum 2 is W 1 .
Letting the weight of 3 be W ₂ , it is set as W ₁ > W ₂ .

Further, the distance between the center of the lower planetary gear 17 and the center of gravity of the lower pendulum 20 is _l1 , the distance between the center of the upper planetary gear 18 and the center of gravity of the upper pendulum 23 is _l2 , and the lower pendulum 2
Assuming that the weight of 0 is W ₁ and the weight of the upper pendulum 23 is W ₂ , it is set as W ₁ l ₁ =W ₂ l ₂ (1).

Next, the operation of the above embodiment will be explained.

While keeping the mounting members 19 and 22 in a straight line as shown in FIG. 4, for example, as shown in FIG.
8, 15, 17, the planetary gear mounting member 16, and the mounting members 19, 22 are all tilted by an angle θ from the vertical line V. Then, the gravity of the lower pendulum 20 generates a counterclockwise rotating torque of l ₁ sinθ×W ₁ around the axis of the lower planetary gear 17, which is transmitted to the sun gear 15 in the center by the lower planetary gear 17. be done.

Similarly, a clockwise rotational torque of l ₂ sinθ×W ₂ is generated around the axial center of the upper planetary gear 18 by the gravity of the upper pendulum 23, and is transmitted to the sun gear 15 in the center by the upper planetary gear 18. Ru.

Here, since W ₁ l ₁ = W ₂ l ₂ , l ₁ sinθ×W ₁ = l ₂ sinθ×W ₂ (2).

Since equal rotational torque in opposite directions is applied to the sun gear 15, the gears 17, 15, 18
No relative motion occurs between them. Therefore, the planetary gear mounting member 16 and the mounting members 19, 22 are maintained in a straight line.

In this state, a lower pendulum 20 is placed around the center of the central sun gear 15, as is clear from FIG.
Due to the _{gravity of}
Due to the gravity of gear 3, a clockwise rotational torque of (l _{2 +} a) sinθ
The distance between the center of gear 5 and the center of gears 17 and 18 is a).

The difference between the two rotational torques is (l ₁ + a) sinθ×W ₁ − (l ₂ + a) sinθ×W ₂ = (l ₁ sinθ×W ₁ − _{l 2} sinθ×W ₂ ) + (W ₁ − W ₂ ) asinθ ...(3) becomes. Since the first term on the right-hand side of equation (2) is 0, the right-hand side of equation (3) becomes (W ₁ −W ₂ )asinθ. Since W ₁ >W ₂ here, (W ₁ −W ₂ )asinθ>0.

Therefore, since the rotational torque caused by the lower pendulum 17 is larger, the mounting shafts 19, 22 and the gear 1
7, 15, 18, the entire rotating body mounting member 16 is
Turn the lower pendulum 17 downward until it aligns with the vertical line V. That is, when the mounting members 19 and 22 are arranged in a straight line, gravity always causes the mounting members 19 and 2 to
2 coincides with the vertical direction.

Therefore, just like the conventional example shown in FIG.
As shown by the solid line in FIG. 4, when the rocking body (base 11) is not tilted from the horizontal, the mounting members 19, 22 and the planetary gear mounting member 16
is vertical, but even if the rocking body (base 11) is tilted by an angle θ from the horizontal as shown by the chain line in FIG. 4, the mounting members 19, 22 and the planetary gear mounting member 16 remain vertical. Therefore, it is inclined by an angle θ with respect to a straight line perpendicular to the base 11.
That is, the rotation shaft 12 rotates by an angle θ with respect to the base 11. The rotation angle θ of the rotation shaft 12 is detected by the angle detector 14 as the inclination angle of the rocking body with respect to the horizontal.

However, as shown in Fig. 4, the rocking body (base 1
1) When acceleration α in the lateral direction (direction perpendicular to the plane of the paper in FIG. _{3 )} acts on At the same time, the upper pendulum 23 generates a rotational torque W ₂ l ₂ about the shaft 18a of the upper planetary gear 18.

These two rotational torques have equal values because W ₁ l ₁ =W ₂ l ₂ , and are produced as rotational torques of the central sun gear 15 in mutually opposite directions.

Therefore, even if the above-mentioned lateral acceleration acts, the rotational torque of the lower pendulum 20 is transferred to the upper pendulum 2.
Since the rotational torque due to 3 will be canceled out,
The correct inclination angle is always detected without being affected by lateral acceleration.

In this way, in the present invention, the upper and lower mounting members 22,
By setting the weights and mounting positions of the upper and lower pendulums 23 and 20, the rotation moments caused by the lateral accelerations of the upper and lower pendulums 23 and 20 are equalized and canceled, thereby reducing errors in tilt angle measurement due to lateral accelerations. We are trying to prevent this from occurring. Moreover, along with this, planetary gears 18 and 17 are placed above and below the sun gear 15.
the distance between the mounting members 22 and 19
By giving the distance a between the gear centers in addition to l ₂ and l ₁ , the gravity around the axis center of the rotating shaft 12 (i.e., the axis center of the sun gear) due to the gravity of the upper and lower pendulums 23 and 20 can be calculated. By making the rotation moment larger on the lower pendulum 20 side, it is guaranteed that the lower pendulum 20 is always positioned in the vertical direction (if If the rotation moments due to the weights of the upper and lower pendulums 23 and 20 are equal, the lower pendulum 20 cannot be positioned vertically downward).

FIG. 6 shows another embodiment of the invention.

In this embodiment, the rotating shaft 12 has two different numbers of teeth.
The two sun gears 15a and 15b are superimposed and fixed, and the lower planetary gear 17 is the gear 15a with a large number of teeth.
The upper planetary gear 18 meshes with the gear 15b, which has a smaller number of teeth, and has the same number of teeth.

A lower pendulum 2 is attached to the upper end of the planetary gear mounting member 16.
A balance weight 25 is fixed to maintain the overall weight balance excluding the 0 and the upper pendulum 23 (the overall weight balance around the rotating shaft 12 when the planetary gear mounting member 16 is horizontal). There is. The rotational torque transmitted to the rotation shaft 12 by the lower gear 17 and the rotation torque transmitted to the rotation shaft 12 by the upper gear 18 are different. For example, the number of teeth of gear 15a (gear 17) is
(gear 18), the rotational torque transmitted by the lower gear 17 is 1/2 of the rotational torque transmitted by the upper gear 18.
Therefore, if we set W ₁ l ₁ = 2W ₂ l ₂ ...(4) so that the rotational torque is the same, then as in the case of the embodiment shown in Fig. 4,
It is possible to avoid the influence of lateral acceleration. Further, in this embodiment, since the distance a ₁ between the center of the lower gear 17 and the centers of the gears 15a and 15b is larger than the distance a ₂ between the center of the upper gear 18 and the center of the gears 15b and 15a, the mounting Shaft 19, 22
The stability of the vertical direction with the lower pendulum 20 facing down is increased. Note that in order to satisfy equation (4), for example, l ₂
Since it is only necessary to reduce the length to 1/2, the length of the upper pendulum 23 can be shortened, and the size of the entire device can be reduced.

<Effects of the Present Invention> As described above, the present invention provides planetary gears 18 and 17 above and below the sun gear fixed to the rotating shaft 12 for detecting the inclination angle, and the center of each axis of each planetary gear 18 and 17 is set. The rotation moment generated by the lateral acceleration of the upper and lower pendulums 23 and 20 is equally applied in opposite directions to the rotation shaft 12 through the sun gear, so that the upper and lower pendulums centering on the axial center of the rotation shaft 12 23,
The rotational moments due to gravity of 20 are not equal,
Since the lower pendulum 20 side is made larger, the influence of lateral acceleration on the tilt angle measurement can be removed while maintaining the function of detecting the tilt angle in which the lower pendulum 20 is always positioned vertically downward.

[Brief explanation of the drawing]

FIG. 1 is a side view showing a conventional inclination angle detection device, FIG. 2 is a front view thereof, FIG. 3 is a side view showing an embodiment of the present invention, FIG. 4 is a front view thereof, and FIG. FIG. 6 is a side view showing another embodiment of the present invention. 11... Base, 12... Rotating shaft, 13... Supporting member,
14...Angle detector, 15...Sun gear, 16...Planetary gear mounting member, 17...Lower planetary gear, 18...Upper planetary gear, 19...Mounting member, 20...Lower pendulum, 2
1... Fastener, 22... Mounting member, 23... Upper pendulum,
24...Tightening tool, 25...Balance weight.

Claims (1)

[Scope of Claims] 1. A rotation shaft 12 rotatably supported with respect to a base 11; an angle detector 14 that detects a rotation angle of the rotation shaft 12 with respect to the base 11; a sun gear fixed to the rotation shaft 12 so as to be coaxial; a planet gear attachment member 16 rotatably attached to the rotation shaft 12; and a rotation center of the planet gear attachment member 16. a lower planetary gear 1 rotatably mounted at a position a certain distance from the lower end side and meshing with the sun gear;
7, which is rotatably mounted at a position on the opposite side of the lower planetary gear 17 in the linear direction from the center of rotation of the planetary gear mounting member 16 with respect to the rotational shaft 12, and meshes with the sun gear. The matched upper planetary gear 18 and the lower mounting member 19 fixed to the shaft 17a of the lower planetary gear 17 so as to rotate integrally with the lower planetary gear 17 are attached to the upper planetary gear 18 and the lower mounting member 19 fixed to the shaft 17a of the lower planetary gear 17 so as to be rotated integrally with the lower planetary gear 17. Therefore, the lower pendulum 20 is fixed so as to be located vertically below the center of rotation of the rotation shaft 12.
and an upper mounting member 22 fixed to the shaft 18a of the upper planetary gear 18 so as to rotate integrally with the upper planetary gear 18, the lower part is attached to the upper mounting member 22 with respect to the rotation axis 12 in a state where the base 11 is not tilted. an upper pendulum 23 fixed on the opposite side of the pendulum 20 in the linear direction; The respective weights of the pendulum 20 and the upper pendulum 23 are set, and the rotational torque due to the lateral acceleration applied to the lower pendulum 20 and the upper pendulum 23 is
The lower planetary gear 17 and the upper planetary gear 1, respectively.
8 through the sun gear, each of the lower mounting members 1 of the lower pendulum 20 and the upper pendulum 23 is applied with the same torque in the opposite direction to the rotation 12.
9 and a fixed position to the upper mounting member 22 are set.