IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0824334
(2011-09-26)
|
등록번호 |
US-9015952
(2015-04-28)
|
우선권정보 |
JP-2010-259433 (2010-11-19) |
국제출원번호 |
PCT/JP2011/071805
(2011-09-26)
|
§371/§102 date |
20130516
(20130516)
|
국제공개번호 |
WO2012/066852
(2012-05-24)
|
발명자
/ 주소 |
|
출원인 / 주소 |
- Sumitomo Precision Products Co., Ltd.
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
6 인용 특허 :
5 |
초록
▼
The six direction directing device includes a shaft, a rotation member, a driving source, and a guide member. The shaft extends in an X axis direction. The rotation member is rotatable around an inclined axis inclined at α deg with respect to the shaft. The rotation member has an xyz rectangular coo
The six direction directing device includes a shaft, a rotation member, a driving source, and a guide member. The shaft extends in an X axis direction. The rotation member is rotatable around an inclined axis inclined at α deg with respect to the shaft. The rotation member has an xyz rectangular coordinate system. The rotation member further includes a spherical surface and an orbit portion formed around an x axis of the spherical surface. The guide member is fixed to an XYZ rectangular coordinate system. The orbit portion has such a shape that the y axis of the rotation member is sequentially directed in + and − directions on the U, V, and W axes that cross one another at intervals of 60 deg around the X axis when the rotation member is rotated in contact with the guide member by the rotation of the shaft.
대표청구항
▼
1. A six-direction directing device provided in an XYZ rectangular coordinate system, comprising: a shaft extending in an X axis direction,a rotation member rotatable around an axis inclined at α deg with respect to the shaft and coupled to the shaft, said rotation member having an xyz rectangular c
1. A six-direction directing device provided in an XYZ rectangular coordinate system, comprising: a shaft extending in an X axis direction,a rotation member rotatable around an axis inclined at α deg with respect to the shaft and coupled to the shaft, said rotation member having an xyz rectangular coordinate system and including a spherical surface and an orbit portion formed around an x axis of said spherical surface;a driving source that rotates said shaft around the X axis; anda guide member fixed to said XYZ rectangular coordinate system and in contact with said orbit portion,said orbit portion having such a shape that a y axis of said rotation member is directed sequentially in + and − directions on U, V, and W axes that cross one another at intervals of 60 deg around the X axis when said rotation member rotates in contact with said guide member by rotation of said shaft. 2. The six-direction directing device according to claim 1, wherein said orbit portion has a zigzag shape that has four mountain-like portions raised in a + direction on the x axis and four valley-like portions raised in a − direction on the x axis. 3. The six-direction directing device according to claim 1, wherein said orbit portion crosses unit vectors P1 to P6 of xyz rectangular coordinate components represented by Expressions (1) to (6): P1=[xyz]=[sinα-cosα0](1)P2=[xyz]=[-12sinα-12cosα32](2)P3=[xyz]=[-12sinα12cosα32](3)P4=[xyz]=[sinαcosα0](4)P5=[xyz]=[-12sinα12cosα-32](5)P6=[xyz]=[-12sinα-12cosα-32].(6) 4. The six-direction directing device according to claim 3, wherein when a rotation angle of said shaft around said X axis is θ deg, a Z axis component of a unit vector of the x axis is iZ, and a Z axis component of a unit vector of a y axis is jZ, and a Z axis component of a unit vector of a z axis is kZ, said orbit portion has a shape similar to a locus represented by Expressions (7) to (12): if θ is from 0 to 240 deg, [iZjZkZ]=[cosθ3-sinθ+33a12-2(cosθ-1)+sinθ(3cosθ+sinθ)36a12]a12=(3cosθ+sinθ)218+(cosθ-1)29+(sinθ+3)29(7)if θ is from 240 to 480 deg, [iZjZkZ]=[cosθ3sinθ3a232(cosθ+2+sin2θ)33a23]a23=(cosθ+2)29+sin2θ3(8)if θ is from 480 to 720 deg, [iZjZkZ]=[cosθ3-sinθ-33a34-2(cosθ-1)+sinθ(3cosθ-sinθ)36a34]a34=(3cosθ-sinθ)218+(cosθ-1)29+(sinθ-3)29(9)if θ is 720 to 960 deg, [iZjZkZ]=[cosθ3sinθ+33a452(cosθ-1)-sinθ(3cosθ+sinθ)36a45]a45=(3cosθ+sinθ)218+(cosθ-1)29+(sinθ+3)29(10)if θ is from 960 to 1200 deg, [iZjZkZ]=[cosθ3-sinθ3a56-2(cosθ+2+sin2θ)33a56]a56=(cosθ+2)29+sin2θ3(11)and if θ is from 1200 to 1440 deg, [iZjZkZ]61=[cosθ3sinθ-33a612(cosθ-1)+sinθ(3cosθ-sinθ)36a61]a61=(3cosθ-sinθ)218+(cosθ-1)29+(sinθ-3)29.(12) 5. The six-direction directing device according to claim 1, wherein said orbit portion is a groove formed on said spherical surface. 6. The six-direction directing device according to claim 5, wherein said guide member comprises a rotatable ball, and said ball is in contact with said orbit portion. 7. The six-direction directing device according to claim 1, further comprising three of said guide members provided at equal intervals around the X axis on a YZ plane. 8. The six-direction directing device according to claim 1, further comprising: a rotational angular velocity sensor provided at said rotation member to be directed in the y axis direction and detect rotational angular velocity components ωU, ωV, and ωW around the U, V, and W axes;a gravitational acceleration sensor provided at said rotation member to be directed in the y axis direction and detect gravitational acceleration components gU, gV, and gW in the U, V, and W axis directions;measuring means for measuring the rotational angular velocity components ωU, ωV, and ωW detected by said rotational angular velocity sensor and the gravitational acceleration components gU, gV, and gW detected by said gravitational acceleration sensor when said y axis is directed in the + and − directions on the U, V, and W axes by rotation of said rotation member;rotational angular velocity coordinate transforming means for coordinate-transforming said measured rotational angular velocity components ωU, ωV, and cow into rotational angular velocity components ωX, ωY, and ωZ,gravitational acceleration coordinate transforming means for coordinate-transforming said measured gravitational acceleration components gU, gV, and gW into gravitational acceleration components gX, gY, and gZ; andazimuth angle calculating means for calculating an azimuth angle ψ based on the obtained rotational angular velocity components ωX, ωY, and ωZ and gravitational acceleration components gX, gY, and gZ. 9. The six-direction directing device according to claim 8, wherein said rotational angular velocity coordinate-transforming means coordinate-transforms said rotational angular velocity components ωU, ωV, and ωW into said rotational angular velocity components ωX, ωY, and ωZ by Expression (13): [ωXωYωZ]=[13sinα13sinα13sinα013cosα-13cosα-23cosα13cosα13cosα][ωUωVωW](13)said gravitational acceleration coordinate transforming means coordinate-transforms said gravitational acceleration components gU, gV, and gW into gravitational acceleration components gX, gY, and gZ by Expression (14): [gXgYgZ]=[13sinα13sinα13sinα013cosα-13cosα-23cosα13cosα13cosα][gUgVgW](14) and said azimuth angle calculation means calculates an azimuth angle ψ based on said rotational angular velocity components ωX, ωY, and ωZ and said gravitational acceleration components gX, gY, and gZ by Expression (15): ψ=tan-1(-ωYcosφ+ωZsinφωXcosθ-ωYsinφsinθ+ωZcosφsinθ)ϕ=tan-1(gYgZ)θ=-sin-1(gXG)G=gX2+gY2+gZ2.(15) 10. The six-direction directing device according to claim 9, wherein said α is from 30 to 40 deg. 11. The six-direction directing device according to claim 10, wherein said α is 35.26 deg. 12. The six-direction directing device according to claim 8, wherein said rotation member has a storage chamber having an opening at its front part, and said rotational angular velocity sensor and said gravitational acceleration sensor are stored in said storage chamber. 13. The six-direction directing device according to claim 12, wherein the opening of said storage chamber has a rectangular shape, and each corner of said opening is provided corresponding to one of said valley-like portions. 14. The six-direction directing device according to claim 1, further comprising a position sensor that detects a rotation start position for said rotation member.
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