JP2010190637A

JP2010190637A - Attitude controller

Info

Publication number: JP2010190637A
Application number: JP2009033625A
Authority: JP
Inventors: Takahide Fujii; 敬英藤井; Taigo Senkoshi; 太吾千光士
Original assignee: Mitutoyo Corp; Mitsutoyo Kiko Co Ltd
Current assignee: Mitutoyo Corp; Mitsutoyo Kiko Co Ltd
Priority date: 2009-02-17
Filing date: 2009-02-17
Publication date: 2010-09-02
Anticipated expiration: 2029-02-17
Also published as: JP5295812B2

Abstract

<P>PROBLEM TO BE SOLVED: To make an attitude controller compact and simple, which is used to control an attitude of a detector, and to speed up an operation of the attitude control. <P>SOLUTION: The attitude controller 100 includes: a holding member 2 which is supported swingably through a spindle (supporting point) 2a in a pressure-proof container, and holds a seismometer (detector) 1; a movable member 3 supported movably in a direction in which it gets close to and away from the holding member 2; an elastic member 5 for biasing the movable member 3 toward the holding member 2; and an electromagnet 6 which is disposed on the side opposite to the holding member 2 so as to sandwich the movable member 3. A control unit (attitude control means) 7 brings the movable member 3 to get away from the holding member 2 by an operation of energizing the electromagnet 6 which causes the movable member 3 to be attached to the electromagnet 6 side, and halts the operation of energizing the electromagnet 6 after a prescribed time elapsed, in order to bias the movable member 3 toward the holding member 2 by using a biasing force of the elastic member 5, thereby bringing the movable member 3 to clamp the holding member 2. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、姿勢制御装置に関する。 The present invention relates to an attitude control device.

従来、地中に堀削されたボーリング孔内に設置され、ボーリング孔内で地盤の震動を観測するボアホール型の地震計が広く知られている。こうしたボアホール型の地震計は、地盤の震動が伝達されるように、ボーリング孔内に挿入されたケーシングと呼ばれる保護管内に固定されて設置される。 2. Description of the Related Art Conventionally, a borehole type seismometer that is installed in a borehole drilled in the ground and observes ground vibration in the borehole is widely known. Such a borehole type seismometer is fixed and installed in a protective tube called a casing inserted into the borehole so that ground vibrations can be transmitted.

ところが、ボーリング孔やケーシングの孔芯が傾斜している場合には、その中に設置される地震計自体も傾斜してしまい、地盤の震動を正確に計測できないという問題があった。 However, when the borehole or the core of the casing is inclined, the seismometer installed in the borehole is also inclined, and there is a problem that the ground vibration cannot be measured accurately.

そこで、姿勢制御装置を内蔵し、姿勢制御装置によって自身の傾斜を補正する地震計が知られている。例えば、特許文献１には、地震計等の計測器を搭載するための台部材を有するジンバル装置が開示されている。このジンバル装置は、台部材を固定するためのクランプ機構を有しており、一旦クランプを解除してジンバル機構により台部材を水平状態に調整する。その後、クランプ機構により再び台部材をクランプすることにより、台部材に搭載された地震計の姿勢を水平状態に保持して正確な計測が可能となる。 Therefore, a seismometer that incorporates a posture control device and corrects its inclination by the posture control device is known. For example, Patent Document 1 discloses a gimbal device having a base member for mounting a measuring instrument such as a seismometer. This gimbal device has a clamp mechanism for fixing the base member, and once the clamp is released, the base member is adjusted to a horizontal state by the gimbal mechanism. Thereafter, the base member is clamped again by the clamp mechanism, whereby the posture of the seismometer mounted on the base member is held in a horizontal state, and accurate measurement is possible.

特開平８−３２６７１５号公報JP-A-8-326715

しかしながら、特許文献１のような姿勢制御装置では、台部材を固定するためのクランプを、電動モータにより駆動させるものが主流であり、下記のような様々な問題がある。すなわち、従来の姿勢制御装置は、モータを備えるために装置全体が大型化してしまうこととなり、姿勢制御装置を内蔵可能な地震計が限られてしまう。また、モータ駆動を行うために、装置の構造が複雑化することとなって、台部材等の部品に高い加工精度が求められることとなる。また、モータ駆動時にはセンサの出力を見ながら姿勢を制御するため、姿勢制御に時間がかかることとなる。さらに、モータの故障の影響を受け易いという問題があった。 However, in the attitude control device as in Patent Document 1, a clamp for fixing the base member is driven by an electric motor, and there are various problems as described below. That is, since the conventional attitude control device is provided with a motor, the entire apparatus is enlarged, and seismometers that can incorporate the attitude control device are limited. In addition, since the motor is driven, the structure of the apparatus becomes complicated, and high processing accuracy is required for parts such as the base member. In addition, since the posture is controlled while looking at the output of the sensor when the motor is driven, it takes time to control the posture. Furthermore, there is a problem that it is easily affected by a motor failure.

本発明の課題は、上記課題を解決するためになされたものであり、検出器の姿勢を制御する姿勢制御装置の小型化、簡略化及び姿勢制御の迅速化を図ることである。 An object of the present invention is to solve the above-described problems, and is to downsize and simplify an attitude control device that controls the attitude of a detector and to speed up attitude control.

上記課題を解決するため、請求項１に記載の発明は、姿勢制御装置において、
ケース内に支点を介して揺動自在に支持され、検出器を保持するための保持部材と、
前記保持部材に対して接近及び離間する方向に移動可能に支持された可動部材と、
前記可動部材を前記保持部材側に付勢する弾性部材と、
前記可動部材を挟んで前記保持部材と対向する側に設けられた電磁石と、
前記電磁石に通電することより前記可動部材を当該電磁石側に磁気吸着することで、前記可動部材を前記保持部材から離間させるとともに、所定時間経過後に、前記電磁石への通電を停止して前記弾性部材の付勢力により前記可動部材を前記保持部材側に付勢させることで、前記可動部材により前記保持部材をクランプさせる姿勢制御手段と、
を備えることを特徴とする。 In order to solve the above problem, the invention according to claim 1 is an attitude control device,
A holding member for holding the detector supported in a swingable manner in the case via a fulcrum;
A movable member supported so as to be movable toward and away from the holding member;
An elastic member for urging the movable member toward the holding member;
An electromagnet provided on the side facing the holding member across the movable member;
By energizing the electromagnet to magnetically attract the movable member to the electromagnet side, the movable member is separated from the holding member, and after a predetermined time has elapsed, energization to the electromagnet is stopped and the elastic member is stopped. Posture control means for clamping the holding member by the movable member by biasing the movable member to the holding member side by the biasing force of
It is characterized by providing.

請求項２に記載の発明は、請求項１に記載の姿勢制御装置において、
前記保持部材の底面の断面が凸型円弧状に形成されるとともに、前記可動部材の上面の断面が、当該保持部材の底面の断面と同じ曲率を有する凹型円弧状に形成され、
前記可動部材は上下方向に移動して、前記保持部材を下方向からクランプすることを特徴とする。 The invention according to claim 2 is the attitude control device according to claim 1,
The cross section of the bottom surface of the holding member is formed in a convex arc shape, and the cross section of the top surface of the movable member is formed in a concave arc shape having the same curvature as the cross section of the bottom surface of the holding member,
The movable member moves in the vertical direction and clamps the holding member from below.

請求項３に記載の発明は、請求項１又は２に記載の姿勢制御装置において、前記可動部材による前記保持部材のクランプを検出するクランプ検出手段と、
前記クランプ検出手段による検出結果を報知する報知手段と、
を備えることを特徴とする。 The invention according to claim 3 is the attitude control device according to claim 1 or 2, wherein the clamp detection means detects the clamp of the holding member by the movable member,
Informing means for informing a detection result by the clamp detecting means,
It is characterized by providing.

請求項４に記載の発明は、請求項１〜３の何れか一項に記載の姿勢制御装置において、
前記姿勢制御手段は、前記電磁石に流す電流を徐々に減少させて通電を停止することを特徴とする。 Invention of Claim 4 is an attitude | position control apparatus as described in any one of Claims 1-3,
The posture control means is characterized in that the current flowing through the electromagnet is gradually decreased to stop energization.

請求項５に記載の発明は、請求項１〜４の何れか一項に記載の姿勢制御装置において、
前記可動部材の周囲の少なくとも一部を覆うガイドが設けられ、
前記可動部材は、前記ガイドの内周面に沿って摺動することを特徴とする。 Invention of Claim 5 is an attitude | position control apparatus as described in any one of Claims 1-4,
A guide covering at least a part of the periphery of the movable member is provided;
The movable member slides along the inner peripheral surface of the guide.

請求項６に記載の発明は、請求項１〜５の何れか一項に記載の姿勢制御装置において、
前記保持部材に、当該保持部材を振動させるための圧電素子が設けられ、
前記姿勢制御手段は、所定のタイミングで、前記圧電素子により前記可動部材を振動させることを特徴とする。 Invention of Claim 6 is an attitude | position control apparatus as described in any one of Claims 1-5,
The holding member is provided with a piezoelectric element for vibrating the holding member,
The posture control means vibrates the movable member with the piezoelectric element at a predetermined timing.

請求項７に記載の発明は、請求項１〜６の何れか一項に記載の姿勢制御装置において、
前記可動部材に、当該可動部材を振動させるための第２の圧電素子が設けられ、
前記姿勢制御手段は、前記可動部材を移動させる際に、前記第２の圧電素子により前記可動部材を振動させることを特徴とする。 Invention of Claim 7 is an attitude | position control apparatus as described in any one of Claims 1-6,
The movable member is provided with a second piezoelectric element for vibrating the movable member,
The posture control means vibrates the movable member by the second piezoelectric element when the movable member is moved.

請求項８に記載の発明は、姿勢制御装置において、
ケース内に支軸を介して揺動自在に支持され、検出器を搭載するための保持部材と、
前記保持部材に対して接近及び離間する方向に移動可能に支持された可動部材と、
前記可動部材を振動させるための圧電素子と、
所定時間の間、前記圧電素子により前記可動部材を前記支軸と直交する方向に振動させることで、前記可動部材と前記保持部材とを一時的に離間させ、前記保持部材の姿勢を自重で補正させる姿勢制御手段と、
を備えることを特徴とする。 The invention according to claim 8 is the posture control apparatus,
A holding member for mounting the detector, supported in a swingable manner in the case via a support shaft;
A movable member supported so as to be movable toward and away from the holding member;
A piezoelectric element for vibrating the movable member;
The movable member and the holding member are temporarily separated by vibrating the movable member in a direction perpendicular to the support shaft by the piezoelectric element for a predetermined time, and the posture of the holding member is corrected by its own weight. Attitude control means for causing
It is characterized by providing.

本発明によれば、姿勢制御装置において、ケース内に支点を介して揺動自在に支持され、検出器を保持するための保持部材と、保持部材に対して接近及び離間する方向に移動可能に支持された可動部材と、可動部材を保持部材側に付勢する弾性部材と、可動部材を挟んで保持部材と対向する側に設けられた電磁石と、が備わり、姿勢制御手段により、電磁石に通電することより可動部材を当該電磁石側に磁気吸着することで、可動部材が保持部材から離間されるとともに、所定時間経過後に、電磁石への通電を停止して弾性部材の付勢力により可動部材を保持部材側に付勢させることで、可動部材により保持部材がクランプされる。
すなわち、姿勢制御装置において、モータを設けることなく、電磁石への通電を切り替えることで、保持部材のクランプとクランプの解除を行って、保持部材の姿勢を自重で補正させることができ、簡易な機構で、保持部材に保持された検出器の姿勢を補正することができる。そのため、モータ駆動を行う姿勢制御装置に比べて、装置全体を小型化することができる。また、モータによる姿勢制御を行う場合に比べて機構が簡略化されるため、部品等に高い加工精度が求められることが無く、製造コストを抑えることができ、低価格化を図ることができる。また、機構が簡略であるとともに、部品等の故障が発生し難いため、モータの故障の影響を受けるモータ駆動に比べて、信頼性が向上することとなる。また、モータによる姿勢制御を行う場合と比較して、より短い時間で姿勢制御を行うことができる。したがって、検出器の姿勢を制御する姿勢制御装置の小型化、簡略化及び姿勢制御の迅速化を図ることができる。 According to the present invention, in the attitude control device, the case is supported in a swingable manner via the fulcrum in the case, and is movable in the direction approaching and separating from the holding member for holding the detector. A movable member supported; an elastic member that urges the movable member toward the holding member; and an electromagnet provided on the side facing the holding member with the movable member interposed therebetween. The posture control means energizes the electromagnet. By magnetically attracting the movable member to the electromagnet side, the movable member is separated from the holding member, and after a predetermined time has elapsed, the energization to the electromagnet is stopped and the movable member is held by the urging force of the elastic member. By urging the member side, the holding member is clamped by the movable member.
That is, in the attitude control device, by switching the energization to the electromagnet without providing a motor, the holding member can be clamped and released, and the attitude of the holding member can be corrected by its own weight. Thus, the attitude of the detector held by the holding member can be corrected. Therefore, the entire apparatus can be reduced in size as compared with the attitude control apparatus that drives the motor. In addition, since the mechanism is simplified as compared with the case where attitude control is performed by a motor, high machining accuracy is not required for components and the like, manufacturing costs can be reduced, and cost can be reduced. In addition, since the mechanism is simple and failure of parts or the like is unlikely to occur, reliability is improved as compared with motor driving that is affected by motor failure. In addition, the posture control can be performed in a shorter time compared to the case where the posture control by the motor is performed. Therefore, it is possible to reduce the size and simplification of the attitude control device that controls the attitude of the detector and to speed up the attitude control.

第１の実施形態に係る姿勢制御装置の縦断面図である。It is a longitudinal cross-sectional view of the attitude | position control apparatus which concerns on 1st Embodiment. 第１の実施形態に係る姿勢制御装置の機能的構成を示すブロック図である。It is a block diagram which shows the functional structure of the attitude | position control apparatus which concerns on 1st Embodiment. 第１の実施形態に係る姿勢制御装置における姿勢制御を説明するための説明図であり、姿勢制御前の姿勢制御装置の縦断面図である。It is explanatory drawing for demonstrating attitude | position control in the attitude | position control apparatus which concerns on 1st Embodiment, and is a longitudinal cross-sectional view of the attitude | position control apparatus before attitude control. 第１の実施形態に係る姿勢制御装置における姿勢制御を説明するための説明図である。It is explanatory drawing for demonstrating attitude | position control in the attitude | position control apparatus which concerns on 1st Embodiment. 第１の実施形態に係る姿勢制御装置における姿勢制御を説明するための説明図である。It is explanatory drawing for demonstrating attitude | position control in the attitude | position control apparatus which concerns on 1st Embodiment. 第１の実施形態に係る姿勢制御装置における姿勢制御を説明するための説明図であり、姿勢制御後の姿勢制御装置の縦断面図である。It is explanatory drawing for demonstrating attitude | position control in the attitude | position control apparatus which concerns on 1st Embodiment, and is a longitudinal cross-sectional view of the attitude | position control apparatus after attitude control. 第２の実施形態に係る姿勢制御装置の縦断面図である。It is a longitudinal cross-sectional view of the attitude | position control apparatus which concerns on 2nd Embodiment. 第２の実施形態に係る姿勢制御装置の機能的構成を示すブロック図である。It is a block diagram which shows the functional structure of the attitude | position control apparatus which concerns on 2nd Embodiment. 第２の実施形態に係る姿勢制御装置における姿勢制御を説明するための説明図であり、姿勢制御前の姿勢制御装置の縦断面図である。It is explanatory drawing for demonstrating attitude | position control in the attitude | position control apparatus which concerns on 2nd Embodiment, and is a longitudinal cross-sectional view of the attitude | position control apparatus before attitude control. 第２の実施形態に係る姿勢制御装置における姿勢制御を説明するための説明図であり、姿勢制御後の姿勢制御装置の縦断面図である。It is explanatory drawing for demonstrating attitude | position control in the attitude | position control apparatus which concerns on 2nd Embodiment, and is a longitudinal cross-sectional view of the attitude | position control apparatus after attitude control.

以下、本発明に係る実施の形態を図面に基づいて説明する。なお、発明の範囲は図示例に限定されない。 Embodiments according to the present invention will be described below with reference to the drawings. The scope of the invention is not limited to the illustrated example.

〔第１の実施の形態〕
まず、本発明を適用した第１の実施形態の姿勢制御装置について説明する。
図１は、本発明を適用した第１の実施形態の姿勢制御装置の縦断面図であり、図２は、第１の実施形態の姿勢制御装置の機能的構成を示すブロック図である。 [First Embodiment]
First, a posture control apparatus according to a first embodiment to which the present invention is applied will be described.
FIG. 1 is a longitudinal sectional view of an attitude control apparatus according to a first embodiment to which the present invention is applied, and FIG. 2 is a block diagram showing a functional configuration of the attitude control apparatus according to the first embodiment.

第１の実施形態の姿勢制御装置１００は、図１及び図２に示すように、地震計（検出器）１を保持する保持部材２、可動部材３、ガイド４、弾性部材５、電磁石６、制御部（姿勢制御手段）７、報知部（報知手段）８を備えて構成される。
保持部材２、可動部材３、ガイド４、弾性部材５、電磁石６は、地震計１とともに、図示しない略円柱形状の耐圧容器（ケース）内に収納されて、地中に堀削されたボーリング孔内に設置される。
また、制御部７及び報知部８は、地上に配置されるとともに、ボーリング孔内に設置された姿勢制御装置１００の各部とケーブルを介して接続され、各部との間で各種信号を送受信する。 As shown in FIGS. 1 and 2, the attitude control device 100 of the first embodiment includes a holding member 2 that holds a seismometer (detector) 1, a movable member 3, a guide 4, an elastic member 5, an electromagnet 6, A control unit (posture control unit) 7 and a notification unit (notification unit) 8 are provided.
The holding member 2, the movable member 3, the guide 4, the elastic member 5, and the electromagnet 6 are housed in a substantially cylindrical pressure-resistant container (case) (not shown) together with the seismometer 1 and drilled in the ground. Installed inside.
The control unit 7 and the notification unit 8 are arranged on the ground and connected to each part of the attitude control device 100 installed in the boring hole via a cable, and transmit / receive various signals to / from each part.

地震計１は、地中における地盤の震動を観測するボアホール型の地震計であり、少なくとも１方向の震動を検出する。地震計１は、保持部材２の内部に格納された状態で地盤の震動を検出し、ケーブルを介して震動の検出結果を地上の制御部７に送信する。 The seismometer 1 is a borehole type seismometer that observes ground vibrations in the ground, and detects vibrations in at least one direction. The seismometer 1 detects ground vibrations while being stored inside the holding member 2 and transmits the detection results of the vibrations to the ground control unit 7 via a cable.

保持部材２は、全体が略円柱形状に形成され、耐圧容器内に支軸（支点）２ａを介して支持されている。保持部材２の内部には、地震計１を格納するための格納部２ｂが形成されている。
また、保持部材２は、その底面の断面が凸型円弧状に形成され、後述する可動部材３により下方向からクランプ（固定）されていない場合には、重力作用により支軸２ａ周りに自在に揺動する。一方、保持部材２は、可動部材３により下方向からクランプされている場合には、可動部材３との当接面に働く静止摩擦力によって、その姿勢が保持されるようになっている。 The holding member 2 is formed in a substantially cylindrical shape as a whole, and is supported in a pressure resistant container via a support shaft (fulcrum) 2a. Inside the holding member 2, a storage portion 2b for storing the seismometer 1 is formed.
Further, the holding member 2 is formed in a convex arcuate cross section at the bottom, and can freely move around the support shaft 2a by gravity when it is not clamped (fixed) from below by a movable member 3 described later. Swing. On the other hand, when the holding member 2 is clamped from below by the movable member 3, the posture of the holding member 2 is held by a static friction force acting on a contact surface with the movable member 3.

また、保持部材２は、可動部材３によるクランプ／アンクランプを検出するクランプ検出部（クランプ検出手段）２１を備えている。クランプ検出部２１は、例えば、圧力センサにより構成され、印加圧力により変化する抵抗値に基づいて、可動部材３から印加される圧力を検出して出力する。そして、検出した圧力が予め定められた閾値に達した場合に、保持部材２が正確にクランプされたことを示す検出信号を、図示しないクランプ確認信号線を介して地上に配された制御部７に対して送信するようになっている。 The holding member 2 includes a clamp detection unit (clamp detection means) 21 that detects clamping / unclamping by the movable member 3. The clamp detection unit 21 is configured by, for example, a pressure sensor, and detects and outputs a pressure applied from the movable member 3 based on a resistance value that varies depending on the applied pressure. When the detected pressure reaches a predetermined threshold value, a control signal is sent to the ground via a clamp confirmation signal line (not shown) that indicates that the holding member 2 has been correctly clamped. To send to.

また、保持部材２は、内部に第１の圧電素子（圧電素子）２２を備えている。第１の圧電素子２２は、姿勢制御処理に際して、後述する制御部７からの制御により駆動され、保持部材２に高周波の信号を与えて保持部材２を振動させる。これにより、保持部材２が可動部材３によりクランプされていない場合に、保持部材２が重力作用によって、支軸２ａ周りによりスムーズに揺動することとなる。 The holding member 2 includes a first piezoelectric element (piezoelectric element) 22 inside. The first piezoelectric element 22 is driven by control from the control unit 7 described later during the posture control process, and gives a high frequency signal to the holding member 2 to vibrate the holding member 2. As a result, when the holding member 2 is not clamped by the movable member 3, the holding member 2 swings more smoothly around the support shaft 2a due to the gravitational action.

可動部材３は、磁性体としての金属材料等により構成されるとともに円柱形状をなし、保持部材２の下方側に配置されている。可動部材３は、後述する弾性部材５によって上方向（保持部材２に対して接近する方向）に付勢されるとともに、後述する電磁石６への通電／非通電により上下方向（保持部材２に対して接近及び離間する方向）に移動可能となっている。 The movable member 3 is made of a metal material or the like as a magnetic material, has a cylindrical shape, and is disposed below the holding member 2. The movable member 3 is urged upward (direction approaching the holding member 2) by an elastic member 5 described later, and is moved in the vertical direction (relative to the holding member 2) by energization / non-energization of an electromagnet 6 described later. In the direction of approaching and moving away).

具体的には、可動部材３は、電磁石６が非通電状態にある場合には、弾性部材５の付勢力によって上方向（保持部材２に対して接近する方向）に付勢される。可動部材３の上面の断面は、保持部材２の底面の断面と同じ曲率を有する凹型円弧状に形成されており、弾性部材５の付勢力により上方向に付勢されると、可動部材３の上面の全面が保持部材２の底面に当接するようになっている。すると弾性部材５の付勢力が、可動部材３を介して保持部材２に作用して、保持部材２が上方向に向けて押圧され、保持部材２の支軸２ａ周りの回動が規制される。 Specifically, the movable member 3 is urged upward (in a direction approaching the holding member 2) by the urging force of the elastic member 5 when the electromagnet 6 is in a non-energized state. The cross section of the upper surface of the movable member 3 is formed in a concave arc shape having the same curvature as the cross section of the bottom surface of the holding member 2, and when urged upward by the urging force of the elastic member 5, The entire upper surface is in contact with the bottom surface of the holding member 2. Then, the urging force of the elastic member 5 acts on the holding member 2 via the movable member 3, the holding member 2 is pressed upward, and the rotation of the holding member 2 around the support shaft 2a is restricted. .

また、可動部材３の上面における弧の長さは、保持部材２の底面における弧の長さよりも短く形成されている。そのため、保持部材２の垂直軸と可動部材３の垂直軸とがずれていても、可動部材３の上面の全面を保持部材２の底面に当接させて押圧し、保持部材２をクランプできるようになっている。 Further, the length of the arc on the upper surface of the movable member 3 is shorter than the length of the arc on the bottom surface of the holding member 2. Therefore, even if the vertical axis of the holding member 2 and the vertical axis of the movable member 3 are deviated, the entire upper surface of the movable member 3 is pressed against the bottom surface of the holding member 2 so that the holding member 2 can be clamped. It has become.

一方、可動部材３は、電磁石６が通電状態にある場合には、電磁石６の磁力の作用により、弾性部材５の付勢力に抗して下方向（保持部材２に対して離間する方向）に移動する。すると、可動部材３の上面は保持部材２の底面から離間し、保持部材２は、支軸２ａ周りに回動可能な状態となる。 On the other hand, when the electromagnet 6 is in an energized state, the movable member 3 moves downward (in a direction away from the holding member 2) against the urging force of the elastic member 5 due to the magnetic force of the electromagnet 6. Moving. Then, the upper surface of the movable member 3 is separated from the bottom surface of the holding member 2, and the holding member 2 can be rotated around the support shaft 2 a.

また、可動部材３は、内部に第２の圧電素子３１を備えている。第２の圧電素子３１は、姿勢制御処理において可動部材３が上下方向に移動する際に、後述する制御部７からの制御により駆動され、可動部材３に高周波の信号を与えて可動部材３を振動させる。これにより、可動部材３の上下方向への移動がよりスムーズに行われる。 The movable member 3 includes a second piezoelectric element 31 inside. The second piezoelectric element 31 is driven by control from the control unit 7 described later when the movable member 3 moves in the vertical direction in the posture control process, and gives a high frequency signal to the movable member 3 to cause the movable member 3 to move. Vibrate. Thereby, the movement of the movable member 3 in the vertical direction is performed more smoothly.

ガイド４は、略円環状に形成されており、図示しない耐圧容器の内壁に固着されている。また、ガイド４は、可動部材３の周面部の一部を覆うように、可動部材３の周面部に当接して設けられている。
可動部材３は、上下方向に移動する際に、ガイド４の内周面４１に沿って摺動することとなり、可動部材３が上下方向に移動する際の横方向への振動がガイド４によって抑制されることとなる。したがって、可動部材３は、横揺れの無い安定した状態で保持部材２側に上昇して、保持部材２を正確にクランプすることができる。 The guide 4 is formed in a substantially annular shape, and is fixed to an inner wall of a pressure vessel (not shown). The guide 4 is provided in contact with the peripheral surface portion of the movable member 3 so as to cover a part of the peripheral surface portion of the movable member 3.
When the movable member 3 moves in the vertical direction, the movable member 3 slides along the inner peripheral surface 41 of the guide 4, and the lateral vibration when the movable member 3 moves in the vertical direction is suppressed by the guide 4. Will be. Therefore, the movable member 3 can be raised to the holding member 2 side in a stable state without rolling, and the holding member 2 can be accurately clamped.

弾性部材５は、耐圧容器の底面に設置されるとともに、可動部材３の底面に固着され、可動部材３を保持部材２に対して接近及び離間する方向に移動可能に支持している。
弾性部材５の弾性力は、電磁石６に通電した場合に作用する磁力よりも小さく設定されており、電磁石６への通電を停止した場合には伸長して、可動部材３を保持部材２側に付勢する。
一方、弾性部材５は、電磁石６が通電されている場合には、電磁石６側に磁気吸着される可動部材３により圧縮されて収縮し、可動部材３を保持部材２から離間させる。 The elastic member 5 is installed on the bottom surface of the pressure vessel and is fixed to the bottom surface of the movable member 3 so as to support the movable member 3 so as to be movable toward and away from the holding member 2.
The elastic force of the elastic member 5 is set to be smaller than the magnetic force that acts when the electromagnet 6 is energized. When the electromagnet 6 is deenergized, the elastic member 5 expands to move the movable member 3 toward the holding member 2. Energize.
On the other hand, when the electromagnet 6 is energized, the elastic member 5 is compressed and contracted by the movable member 3 that is magnetically attracted to the electromagnet 6 side, thereby separating the movable member 3 from the holding member 2.

電磁石６は、略円筒状のボビンケース６ａと、このボビンケース６ａの周面に巻回されたコイル６ｂと、を備えて構成され、ボビンケース６ａの内側には弾性部材５が配設されている。
また、電磁石６は、可動部材３を挟んで保持部材２と対向する側に配されている。
電磁石６は、姿勢制御処理において、後述する制御部７からの制御により、所定時間の間、コイル６ｂに通電されて、磁性体である可動部材３を当該電磁石６側に磁気吸着するようになっている。すなわち、電磁石６のコイル６ｂへ通電を行うことで、電磁石６の磁力が可動部材３に作用して、可動部材３が、弾性部材５の付勢力に抗して下方向（保持部材２から離間する方向）に引き下げられることとなる。
一方、電磁石６のコイル６ｂへの通電を停止すると、電磁石６の磁力が作用しない状態となり、可動部材３が弾性部材５の付勢力により上方向（保持部材２に対して接近する方向）に押し上げられることとなる。 The electromagnet 6 includes a substantially cylindrical bobbin case 6a and a coil 6b wound around the peripheral surface of the bobbin case 6a. The elastic member 5 is disposed inside the bobbin case 6a. Yes.
The electromagnet 6 is arranged on the side facing the holding member 2 with the movable member 3 interposed therebetween.
In the attitude control process, the electromagnet 6 is energized to the coil 6b for a predetermined time under the control of the control unit 7 described later, and magnetically moves the movable member 3 that is a magnetic body to the electromagnet 6 side. ing. That is, by energizing the coil 6 b of the electromagnet 6, the magnetic force of the electromagnet 6 acts on the movable member 3, and the movable member 3 moves downward (separated from the holding member 2) against the biasing force of the elastic member 5. Will be pulled down).
On the other hand, when the energization of the electromagnet 6 to the coil 6b is stopped, the magnetic force of the electromagnet 6 does not act, and the movable member 3 is pushed upward by the urging force of the elastic member 5 (direction approaching the holding member 2). Will be.

制御部７は、ＣＰＵ（Central Processing Unit）、ＲＡＭ（Random Access Memory）、ＲＯＭ（Read Only Memory）（いずれも図示せず）等を備えて構成され、姿勢制御手段として、作業者からの指示に従って、電磁石６に対する非通電／通電の制御を行うことで、可動部材３による保持部材２のクランプ／アンクランプを切り替え、保持部材２の姿勢を補正する姿勢制御処理を実行する。 The control unit 7 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory) (none of which are shown), and the like as posture control means in accordance with instructions from an operator. Then, by performing de-energization / energization control on the electromagnet 6, clamping / unclamping of the holding member 2 by the movable member 3 is switched, and posture control processing for correcting the posture of the holding member 2 is executed.

具体的には、制御部７は、所定時間の間電磁石６に通電することで、可動部材３による保持部材２のクランプを一旦解除して、保持部材２を自重で水平状態に補正させる。 Specifically, the control unit 7 energizes the electromagnet 6 for a predetermined time to temporarily release the clamp of the holding member 2 by the movable member 3 and correct the holding member 2 to a horizontal state by its own weight.

ここで、重力方向に対して耐圧容器自体が傾斜している場合、可動部材３が保持部材２から離間すると、保持部材２は、可動部材３による固定から開放されて、重力の作用によって、保持部材２の重心と支軸２ａとを通る垂直軸が重力方向と一致するまで、支軸２ａ周りに回動することとなる。そして、保持部材２の重心と支軸２ａとを通る垂直軸が重力方向と一致し、保持部材２が重力方向に対して水平状態となると、保持部材２の支軸２ａ周りの回動が停止する。
すなわち、電磁石６への通電を行って、可動部材３による保持部材２のクランプを解除すると、重力の作用を受けて、保持部材２が自動的に自身の姿勢を水平に補正することとなる。
そして、制御部７は、クランプの解除から所定時間経過後に、電磁石６への通電を停止して可動部材３により保持部材２を再びクランプさせる。すると、保持部材２の姿勢が水平に保たれた状態のまま、可動部材３によってロックされることとなり、傾斜の補正がなされることとなる。 Here, when the pressure vessel itself is inclined with respect to the direction of gravity, when the movable member 3 is separated from the holding member 2, the holding member 2 is released from being fixed by the movable member 3 and is held by the action of gravity. The vertical axis passing through the center of gravity of the member 2 and the support shaft 2a is rotated around the support shaft 2a until it coincides with the direction of gravity. When the vertical axis passing through the center of gravity of the holding member 2 and the support shaft 2a coincides with the direction of gravity, and the holding member 2 becomes horizontal with respect to the direction of gravity, the rotation of the holding member 2 around the support shaft 2a stops. To do.
That is, when the electromagnet 6 is energized and the clamp of the holding member 2 by the movable member 3 is released, the holding member 2 automatically corrects its posture horizontally under the action of gravity.
Then, the control unit 7 stops energization of the electromagnet 6 after a predetermined time has elapsed from the release of the clamp, and causes the movable member 3 to clamp the holding member 2 again. Then, the holding member 2 is locked by the movable member 3 while the posture of the holding member 2 is kept horizontal, and the inclination is corrected.

また、制御部７は、電磁石６への通電によって保持部材２のクランプを一旦解除した後に、クランプ検出部２１からクランプが完了したことを示すクランプ検出信号が出力されるまで、可変抵抗器等を用いて電磁石６に流す電流を徐々に減少させて通電を停止する。これにより、弾性部材５の付勢力により可動部材３が少しずつ保持部材２側に押し上げられることとなり、可動部材３により保持部材２がクランプされる際の地震計１への衝撃を緩和することができる。 Further, the control unit 7 temporarily releases the clamp of the holding member 2 by energizing the electromagnet 6 and then outputs a variable resistor or the like until a clamp detection signal indicating that the clamp is completed is output from the clamp detection unit 21. The current flowing through the electromagnet 6 is gradually decreased to stop energization. Thereby, the movable member 3 is gradually pushed up to the holding member 2 side by the urging force of the elastic member 5, and the impact on the seismometer 1 when the holding member 2 is clamped by the movable member 3 can be reduced. it can.

報知部８は、報知手段として、保持部材２に設けられたクランプ検出部２１によるクランプの検出結果をユーザに報知する。この報知部８は、例えば、ＬＥＤ(Light Emitting Diode)ランプ等により構成され、姿勢制御処理において、クランプ検出部２１からクランプ状態にあることを示す検出信号を受信しない間は消灯することで、保持部材２がアンクランプ状態にあることを報知する。一方、報知部８は、クランプ検出部２１からクランプ状態にあることを示す検出信号を受信した場合に点灯し、保持部材２が可動部材３によって正確にクランプされたことを報知する。これにより、ユーザは、ボーリング孔内に設置された姿勢制御装置１００において、保持部材２が適切にクランプされたか否かを知ることができる。
そして、保持部材２と可動部材３との間に障害物が入り込む等、何らかの原因によりクランプが正確に行われず、保持部材２の姿勢を確実に固定できなかった場合、作業者は作業のやり直し等を行うことができる。そのため、保持部材２に格納された地震計１の傾斜を確実に補正することが可能となり、姿勢制御装置１００における姿勢制御の信頼性が向上することとなる。 The notification unit 8 notifies the user of the detection result of the clamp by the clamp detection unit 21 provided in the holding member 2 as a notification unit. For example, the notification unit 8 is configured by an LED (Light Emitting Diode) lamp or the like, and is held off by not turning on the detection signal indicating that it is in the clamped state from the clamp detection unit 21 in the posture control process. Informs that the member 2 is in an unclamped state. On the other hand, the notification unit 8 is turned on when a detection signal indicating that it is in the clamped state is received from the clamp detection unit 21, and notifies that the holding member 2 is correctly clamped by the movable member 3. Thereby, the user can know whether or not the holding member 2 is properly clamped in the attitude control device 100 installed in the boring hole.
If the clamping is not accurately performed for some reason, such as an obstacle entering between the holding member 2 and the movable member 3, and the posture of the holding member 2 cannot be reliably fixed, the operator re-executes the work, etc. It can be performed. Therefore, it becomes possible to correct | amend the inclination of the seismometer 1 stored in the holding member 2 reliably, and the attitude | position control reliability in the attitude | position control apparatus 100 will improve.

次に、図３〜図６を参照しながら、本実施形態の姿勢制御装置１００において実行される姿勢制御処理の流れについて、より具体的に説明する。なお、図３〜図６において、軸Ｇは重力方向を示し、軸Ｖは可動部材３の垂直軸である。 Next, the flow of the attitude control process executed in the attitude control device 100 of the present embodiment will be described more specifically with reference to FIGS. 3 to 6, the axis G indicates the direction of gravity, and the axis V is the vertical axis of the movable member 3.

まず、作業者は、地中に堀削されたボーリング孔内にケーシングを挿入し、ケーシングを防錆作用のある水等の液体で満たす。さらに、ボーリングマシンを使用して、地上から、地震計１や姿勢制御装置１００の各部が収納された耐圧容器をケーシング内に下降させ、ケーシング内の設置面に設置する。このとき、保持部材２は、可動部材３によりクランプされた状態で設置される。 First, an operator inserts a casing into a boring hole excavated in the ground, and fills the casing with a liquid such as water having a rust preventive action. Furthermore, using a boring machine, the pressure vessel in which each part of the seismometer 1 and the attitude control device 100 is stored is lowered into the casing from the ground and installed on the installation surface in the casing. At this time, the holding member 2 is installed in a state of being clamped by the movable member 3.

図３は、ボーリング孔内に配置された姿勢制御前の姿勢制御装置１００の縦断面図である。耐圧容器の設置面が傾斜角θ傾斜していると、図３に示すように、ボーリング孔内に設置された耐圧容器も、設置面の傾斜に応じて傾斜角θ分だけ傾斜することとなる。
ボーリング孔内への耐圧容器の設置が完了すると、作業者は、図示しない操作部を操作して、姿勢制御処理を開始する。 FIG. 3 is a longitudinal sectional view of the attitude control device 100 before attitude control arranged in the boring hole. When the installation surface of the pressure vessel is inclined at an inclination angle θ, as shown in FIG. 3, the pressure vessel installed in the boring hole is also inclined by the inclination angle θ according to the inclination of the installation surface. .
When the installation of the pressure vessel in the boring hole is completed, the operator operates an operation unit (not shown) to start the posture control process.

姿勢制御処理において、制御部７は、先ず始めに電磁石６のコイル６ｂに電流を流して電磁石６への通電を行う。すると、電磁石６への通電によって、磁性体である可動部材３が磁化される。そして、電磁石６の磁力の作用により、可動部材３が、弾性部材５の保持部材２側への付勢力に抗して、弾性部材５を圧縮するように、ガイド４の内周面４１に沿って下方向（保持部材２から離間する方向）に摺動し、図４における矢印Ａの方向に下降する。これにより、図４に示すように、可動部材３が保持部材２から離間し、可動部材３による保持部材２のクランプが解除される。 In the attitude control process, the control unit 7 first energizes the electromagnet 6 by passing a current through the coil 6 b of the electromagnet 6. Then, when the electromagnet 6 is energized, the movable member 3 that is a magnetic material is magnetized. Then, due to the action of the magnetic force of the electromagnet 6, the movable member 3 moves along the inner peripheral surface 41 of the guide 4 so as to compress the elastic member 5 against the urging force of the elastic member 5 toward the holding member 2. Then, it slides downward (in the direction away from the holding member 2) and descends in the direction of arrow A in FIG. As a result, as shown in FIG. 4, the movable member 3 is separated from the holding member 2, and the clamping of the holding member 2 by the movable member 3 is released.

すると、可動部材３による固定から開放された保持部材２は、支軸２ａ周りに自在に回動可能となる。そして、図５に示すように、重力の作用を受けて、支軸２ａを中心に、図５における矢印Ｂ方向に傾斜角θ分回動し、水平状態で停止する。 Then, the holding member 2 released from being fixed by the movable member 3 can freely rotate around the support shaft 2a. Then, as shown in FIG. 5, under the action of gravity, it rotates about the support shaft 2a in the direction of arrow B in FIG. 5 by the inclination angle θ and stops in a horizontal state.

また、可動部材３による保持部材２のクランプが解除された状態で、制御部７は、保持部材２に備わる第１の圧電素子２２を駆動して、保持部材２を振動させる。これにより、保持部材２がよりスムーズに支軸２ａ周りに回動し、自身の姿勢を補正することとなる。 In addition, in a state where the clamp of the holding member 2 by the movable member 3 is released, the control unit 7 drives the first piezoelectric element 22 provided in the holding member 2 to vibrate the holding member 2. As a result, the holding member 2 rotates more smoothly around the support shaft 2a and corrects its posture.

次に、制御部７は、クランプの解除から所定時間が経過したか否かを判断し、所定時間が経過したと判断すると、電磁石６への通電を徐々に減少させる。すると、可動部材３を下方向（保持部材２から離間する方向）に引き下げていた電磁石６の磁力が徐々に減少することとなるため、可動部材３が弾性部材５の復元力によって、ガイド４の内周面４１に沿って上方向（保持部材２に接近する方向）に少しずつ摺動し、図６における矢印Ｃの方向に上昇する。そして、電磁石６への通電が停止されると、図６に示すように、可動部材３の上面が保持部材２の底面に当接し、弾性部材５の付勢力によって保持部材２を押圧して、保持部材２を再びクランプすることとなる。したがって、保持部材２は、水平状態のまま、その姿勢がロックされることとなる。 Next, the control unit 7 determines whether or not a predetermined time has elapsed from the release of the clamp, and when it is determined that the predetermined time has elapsed, the energization to the electromagnet 6 is gradually reduced. Then, since the magnetic force of the electromagnet 6 that has lowered the movable member 3 downward (in the direction away from the holding member 2) gradually decreases, the movable member 3 is moved by the restoring force of the elastic member 5. It slides little by little along the inner peripheral surface 41 (in the direction approaching the holding member 2), and rises in the direction of arrow C in FIG. When the energization of the electromagnet 6 is stopped, as shown in FIG. 6, the upper surface of the movable member 3 comes into contact with the bottom surface of the holding member 2, and the holding member 2 is pressed by the urging force of the elastic member 5. The holding member 2 will be clamped again. Therefore, the posture of the holding member 2 is locked in the horizontal state.

また、可動部材３を保持部材２側に押し上げる際、制御部７は、可動部材３に備わる第２の圧電素子３１を駆動して、可動部材３を振動させる。これにより、可動部材３がガイド４の内周面４１に沿ってよりスムーズに上昇することとなる。 Further, when the movable member 3 is pushed up to the holding member 2 side, the control unit 7 drives the second piezoelectric element 31 provided in the movable member 3 to vibrate the movable member 3. Thereby, the movable member 3 rises more smoothly along the inner peripheral surface 41 of the guide 4.

保持部材２が可動部材３によってクランプされると、保持部材２に設けられたクランプ検出部２１から、クランプされたことを示す検出信号が制御部７に送られる。制御部７は、クランプ検出部２１からクランプされたことを示す検出信号を受信すると、報知部８を点灯させ、クランプが正常に完了したことをユーザに報知する。
作業者は、報知部８の報知によってクランプが正常に完了して、保持部材２（すなわち、地震計１）の姿勢がロックされたことを知ると、図示しない操作部を操作して、姿勢制御処理を終了し、地震計１による計測を開始する。 When the holding member 2 is clamped by the movable member 3, a detection signal indicating that the holding member 2 is clamped is sent to the control unit 7 from the clamp detection unit 21 provided on the holding member 2. When receiving the detection signal indicating that the clamp has been clamped from the clamp detection unit 21, the control unit 7 turns on the notification unit 8 and notifies the user that the clamp has been normally completed.
When the operator knows that the clamping has been normally completed by the notification of the notification unit 8 and the posture of the holding member 2 (that is, the seismometer 1) is locked, the operator controls the posture control by operating the operation unit (not shown). The process is terminated and measurement by the seismometer 1 is started.

以上説明した第１の実施形態の姿勢制御装置１００によれば、耐圧容器（ケース）内に支軸（支点）２ａを介して揺動自在に支持され、地震計（検出器）１を保持するための保持部材２と、保持部材２に対して接近及び離間する方向に移動可能に支持された可動部材３と、可動部材３を保持部材２側に付勢する弾性部材５と、可動部材３を挟んで保持部材２と対向する側に設けられた電磁石６と、を備えている。そして、制御部（姿勢制御手段）７により、電磁石６に通電することより可動部材３を当該電磁石６側に磁気吸着することで、可動部材３が保持部材２から離間されるとともに、所定時間経過後に、電磁石６への通電を停止して弾性部材５の付勢力により可動部材３を保持部材２側に付勢させることで、可動部材３により保持部材２がクランプされる。
このように、第１の実施形態の姿勢制御装置１００では、モータを設けることなく、電磁石６への通電を切り替えることで、保持部材２のクランプとクランプの解除を行って、保持部材２の姿勢を自重で補正させることができ、簡易な機構で、保持部材２に保持された地震計１の姿勢を補正することができる。そのため、モータ駆動を行う姿勢制御装置に比べて、装置全体を小型化することができる。また、モータによる姿勢制御を行う場合に比べて機構が簡略化されるため、部品等に高い加工精度が求められることが無く、製造コストを抑えることができ、低価格化を図ることができる。また、機構が簡略であるとともに、部品等の故障が発生し難いため、モータの故障の影響を受けるモータ駆動に比べて、信頼性が向上することとなる。また、モータによる姿勢制御を行う場合と比較して、より短い時間で姿勢制御を行うことができる。さらに、モータを備える姿勢制御装置に比べて、配線の本数を減らすことができる。したがって、地震計１の姿勢を制御する姿勢制御装置１００において、小型化、簡略化及び姿勢制御の迅速化を図ることができる。 According to the attitude control device 100 of the first embodiment described above, the seismometer (detector) 1 is held in a pressure vessel (case) so as to be swingable via a support shaft (fulcrum) 2a. A holding member 2, a movable member 3 supported so as to be movable toward and away from the holding member 2, an elastic member 5 for urging the movable member 3 toward the holding member 2, and the movable member 3. And an electromagnet 6 provided on the side facing the holding member 2. The control unit (attitude control means) 7 energizes the electromagnet 6 to magnetically attract the movable member 3 toward the electromagnet 6 so that the movable member 3 is separated from the holding member 2 and a predetermined time elapses. Later, the energization of the electromagnet 6 is stopped and the movable member 3 is urged toward the holding member 2 by the urging force of the elastic member 5, whereby the holding member 2 is clamped by the movable member 3.
As described above, in the attitude control device 100 of the first embodiment, the holding member 2 is clamped and released by switching the energization to the electromagnet 6 without providing a motor, and the attitude of the holding member 2 is thus changed. The weight of the seismometer 1 held by the holding member 2 can be corrected by a simple mechanism. Therefore, the entire apparatus can be reduced in size as compared with the attitude control apparatus that drives the motor. In addition, since the mechanism is simplified as compared with the case where attitude control is performed by a motor, high machining accuracy is not required for components and the like, manufacturing costs can be reduced, and cost can be reduced. In addition, since the mechanism is simple and failure of parts or the like is unlikely to occur, reliability is improved as compared with motor driving that is affected by motor failure. In addition, the posture control can be performed in a shorter time compared to the case where the posture control by the motor is performed. Furthermore, the number of wirings can be reduced as compared with a posture control device including a motor. Therefore, in the attitude control device 100 that controls the attitude of the seismometer 1, it is possible to reduce the size, simplify, and speed up the attitude control.

また、装置全体が小型化されるため、従来はスペースの問題で姿勢制御装置を備えることが不可能であった検出器に、本実施形態の姿勢制御装置を適用することができる。したがって、従来は姿勢制御が不可能であった検出器においても姿勢の補正が可能となり、検出器における検出精度を高めることが可能となる。 In addition, since the entire apparatus is downsized, the attitude control apparatus according to the present embodiment can be applied to a detector that conventionally cannot be provided with the attitude control apparatus due to space problems. Therefore, even in a detector in which posture control has been impossible conventionally, posture correction can be performed, and detection accuracy in the detector can be increased.

また、保持部材２の底面の断面が凸型円弧状に形成されるとともに、可動部材３の上面の断面が、当該保持部材２の底面の断面と同じ曲率を有する凹型円弧状に形成され、可動部材３は上下方向に移動して、保持部材２を下方向からクランプする。したがって、簡易な構成で、可動部材３により保持部材２を確実にクランプして、保持部材２の姿勢をロックすることができる。 Further, the cross section of the bottom surface of the holding member 2 is formed in a convex arc shape, and the cross section of the top surface of the movable member 3 is formed in a concave arc shape having the same curvature as the cross section of the bottom surface of the holding member 2. The member 3 moves up and down to clamp the holding member 2 from below. Therefore, the holding member 2 can be reliably clamped by the movable member 3 and the posture of the holding member 2 can be locked with a simple configuration.

また、クランプ検出部（クランプ検出手段）２１により、可動部材３による保持部材２のクランプが検出され、報知部（報知手段）８により、クランプ検出部２１による検出結果が報知される。そのため、作業者は、保持部材２が確実にクランプされたか否かを認識することができ、何らかの原因によりクランプが確実に行わなかった場合であっても作業のやり直し等を行うことができ、姿勢制御装置１００における姿勢制御の信頼性が一層向上することとなる。 Further, the clamp detection unit (clamp detection unit) 21 detects the clamp of the holding member 2 by the movable member 3, and the notification unit (notification unit) 8 reports the detection result by the clamp detection unit 21. Therefore, the operator can recognize whether or not the holding member 2 is securely clamped, and can perform the work again even when the clamping is not reliably performed for some reason, The reliability of attitude control in the control device 100 is further improved.

また、制御部（姿勢制御手段）７は、電磁石６に流す電流を徐々に減少させて通電を停止するため、可動部材３が保持部材２に当接する際の衝撃を抑えることができる。そのため、保持部材２に余計な衝撃を与えて揺動させることなく、安定した状態で、可動部材３によるクランプを行うことができる。 Further, since the controller (attitude control means) 7 gradually decreases the current flowing through the electromagnet 6 and stops energization, the impact when the movable member 3 comes into contact with the holding member 2 can be suppressed. For this reason, the movable member 3 can be clamped in a stable state without causing the holding member 2 to swing with an extra impact.

また、可動部材３の周囲の少なくとも一部を覆うガイド４が設けられ、可動部材３は、ガイド４の内周面４１に沿って摺動される。したがって、可動部材３が上下方向に移動する際の横方向への振動がガイド４によって抑制されることとなり、可動部材３は、横揺れの無い安定した状態で保持部材２側に上昇することができ、安定した状態で保持部材２をクランプすることができる。 A guide 4 that covers at least a part of the periphery of the movable member 3 is provided, and the movable member 3 is slid along the inner peripheral surface 41 of the guide 4. Therefore, the vibration in the lateral direction when the movable member 3 moves in the vertical direction is suppressed by the guide 4, and the movable member 3 can rise to the holding member 2 side in a stable state without rolling. The holding member 2 can be clamped in a stable state.

また、保持部材２に、当該保持部材２を振動させるための第１の圧電素子（圧電素子）２２が設けられ、制御部（姿勢制御手段）７により、可動部材３による保持部材２のクランプが解除された状態で（所定のタイミングで）、第１圧電素子の駆動により可動部材３が振動される。そのため、保持部材２は、可動部材３によるクランプから開放されると、重力作用と振動の作用によってよりスムーズに揺動して、自身の姿勢を補正することができる。 Further, the holding member 2 is provided with a first piezoelectric element (piezoelectric element) 22 for vibrating the holding member 2, and the holding member 2 is clamped by the movable member 3 by the control unit (attitude control means) 7. In the released state (at a predetermined timing), the movable member 3 is vibrated by driving the first piezoelectric element. Therefore, when the holding member 2 is released from the clamp by the movable member 3, it can swing more smoothly by the action of gravity and vibration, and correct its posture.

また、可動部材３に、当該可動部材３を振動させるための第２の圧電素子３１が設けられ、制御部（姿勢制御手段）７により、可動部材３を移動させる際に、第２の圧電素子３１の駆動により可動部材３が振動される。そのため、可動部材３は、振動の作用によって、よりスムーズに上下方向に移動することができる。 The movable member 3 is provided with a second piezoelectric element 31 for vibrating the movable member 3. When the movable member 3 is moved by the control unit (attitude control means) 7, the second piezoelectric element 31 is provided. The movable member 3 is vibrated by driving 31. Therefore, the movable member 3 can move more smoothly in the vertical direction by the action of vibration.

なお、上記第１の実施形態では、保持部材２側に、可動部材３によるクランプを検出するためのクランプ検出部２１を設ける場合について説明したが、クランプ検出部２１の配置位置はこれに限られず、可動部材３側にクランプを検出するクランプ検出部を設ける構成としても良い。また、保持部材２と可動部材３との両方にクランプ検出部を設けても良い。
また、クランプ検出部の種類も圧力センサに限られず、可動部材３による保持部材２のクランプを検出するものであれば如何なるセンサを用いても良い。 In the first embodiment, the case where the clamp detection unit 21 for detecting the clamp by the movable member 3 is provided on the holding member 2 side has been described. However, the arrangement position of the clamp detection unit 21 is not limited thereto. A configuration may be adopted in which a clamp detector for detecting a clamp is provided on the movable member 3 side. Moreover, you may provide a clamp detection part in both the holding member 2 and the movable member 3. FIG.
Further, the type of the clamp detection unit is not limited to the pressure sensor, and any sensor may be used as long as it can detect the clamp of the holding member 2 by the movable member 3.

また、第１の圧電素２１子及び第２の圧電素子３１を振動させるタイミングは、上記の例に限られず、例えば、可動部材３を保持部材２側から離間させる際に、第２の圧電素子３１を駆動するように構成しても良い。また、可動部材３により保持部材２がクランプされた後に、第１の圧電素子２２を駆動するように構成しても良い。また、可動部材３の上面が保持部材２の底面に当接するタイミングでは、第２の圧電素子３１の振動を停止することで、可動部材３が保持部材２に与える衝撃を緩和することが好ましい。 The timing for vibrating the first piezoelectric element 21 and the second piezoelectric element 31 is not limited to the above example. For example, when the movable member 3 is separated from the holding member 2 side, the second piezoelectric element is used. 31 may be configured to be driven. Alternatively, the first piezoelectric element 22 may be driven after the holding member 2 is clamped by the movable member 3. In addition, at the timing when the upper surface of the movable member 3 comes into contact with the bottom surface of the holding member 2, it is preferable to reduce the impact of the movable member 3 on the holding member 2 by stopping the vibration of the second piezoelectric element 31.

また、上記第１の実施形態では、報知手段として、クランプ検出部からクランプ状態にあることを示す検出信号を受信した場合に点灯するＬＥＤランプを例示したが、報知手段はこれに限られず、例えば、クランプ検出部による検出結果を文字表示するディスプレイやクランプ状態であることをブザー音により通知するブザーにより構成されていても良い。 Moreover, in the said 1st Embodiment, although the LED lamp lighted when receiving the detection signal which shows that it exists in a clamp state from a clamp detection part was illustrated as an alerting | reporting means, an alerting | reporting means is not restricted to this, For example, In addition, a display that displays the detection result by the clamp detection unit and a buzzer that notifies the clamp state that it is in a clamp state may be used.

また、上記第１の実施形態では、保持部材として、１つの支軸により軸支された保持部材を例示して、水平方向の補正のみを行う場合について説明したが、保持部材はこれに限られない。例えば、保持部材を支軸の軸周りに回動自在となるように構成したが、例えば、自在継手のように支点を中心に３軸方向に自由に移動可能となるように保持部材を支持することで、可動部材によるクランプを解除した場合に、水平及び垂直方向の補正を行うものであっても良い。 In the first embodiment, the holding member that is pivotally supported by one supporting shaft is illustrated as the holding member, and the case of performing only horizontal correction has been described. However, the holding member is not limited to this. Absent. For example, the holding member is configured to be rotatable about the axis of the support shaft, but for example, the holding member is supported so as to be freely movable in three axial directions around a fulcrum as in a universal joint. Thus, when the clamp by the movable member is released, the correction in the horizontal and vertical directions may be performed.

〔第２の実施の形態〕
次に、本発明を適用した第２の実施形態の姿勢制御装置について説明する。なお、上記第１の実施形態の姿勢制御装置１００と同様の構成には、同じ符号を付すとともに説明を省略し、第１の実施形態の姿勢制御装置１００と異なる部分のみ説明する。
図７は、本発明を適用した第２の実施形態の姿勢制御装置の縦断面図であり、図８は、第２の実施形態の姿勢制御装置の機能的構成を示すブロック図である。 [Second Embodiment]
Next, a posture control apparatus according to a second embodiment to which the present invention is applied will be described. Note that the same components as those in the posture control apparatus 100 of the first embodiment are denoted by the same reference numerals and description thereof is omitted, and only different portions from the posture control apparatus 100 of the first embodiment will be described.
FIG. 7 is a longitudinal sectional view of a posture control device according to a second embodiment to which the present invention is applied, and FIG. 8 is a block diagram showing a functional configuration of the posture control device according to the second embodiment.

第２の実施形態の姿勢制御装置２００は、図７及び図８に示すように、地震計（検出器）１を保持する保持部材２、可動部材９、弾性部材１０、制御部（姿勢制御手段）１１を備えて構成される。
保持部材２及び可動部材９は、地震計１とともに、図示しない略円柱形状の耐圧容器（ケース）内に収納されて、地中に堀削されたボーリング孔内に設置される。
また、制御部１１は、地上に配置されるとともに、ボーリング孔内に設置された姿勢制御装置２００の各部とケーブルを介して接続され、各部との間で各種信号を送受信する。 As shown in FIGS. 7 and 8, the posture control device 200 of the second embodiment includes a holding member 2 that holds a seismometer (detector) 1, a movable member 9, an elastic member 10, and a control unit (posture control means). ) 11.
The holding member 2 and the movable member 9 are housed in a substantially cylindrical pressure-resistant container (case) (not shown) together with the seismometer 1 and installed in a bored hole excavated in the ground.
The control unit 11 is arranged on the ground and is connected to each part of the attitude control device 200 installed in the borehole through a cable, and transmits and receives various signals to and from each part.

可動部材９は、耐圧容器内に支軸２ａを介して軸支された保持部材２の下方側に配置されている。可動部材９の上面の断面は、保持部材２の底面の断面と同じ曲率を有する凹型円弧状に形成されており、可動部材９の上面の全面が保持部材２の底面に当接し、保持部材２の支軸２ａ周りの回動を規制して、保持部材２をクランプしている。このように、可動部材９により保持部材２の姿勢がロックされるようになっている。 The movable member 9 is disposed on the lower side of the holding member 2 that is pivotally supported in the pressure-resistant container via the support shaft 2a. The cross section of the upper surface of the movable member 9 is formed in a concave arc shape having the same curvature as the cross section of the bottom surface of the holding member 2, and the entire upper surface of the movable member 9 contacts the bottom surface of the holding member 2. The holding member 2 is clamped by restricting the rotation around the support shaft 2a. Thus, the posture of the holding member 2 is locked by the movable member 9.

また、可動部材９の上面における弧の長さは、保持部材２の底面における弧の長さよりも短く形成されている。そのため、保持部材２の垂直軸と可動部材９の垂直軸とが不一致の状態にあっても、可動部材９の上面の全面を保持部材２の底面に当接させて、保持部材２をクランプできるようになっている。 Further, the length of the arc on the upper surface of the movable member 9 is shorter than the length of the arc on the bottom surface of the holding member 2. Therefore, even when the vertical axis of the holding member 2 and the vertical axis of the movable member 9 do not coincide with each other, the holding member 2 can be clamped by bringing the entire upper surface of the movable member 9 into contact with the bottom surface of the holding member 2. It is like that.

また、可動部材９は、内部に圧電素子９１を備えている。圧電素子９１は、姿勢制御処理において、後述する制御部１１からの制御により駆動され、可動部材９に高周波の信号を与えて可動部材９を支軸２ａと直交する方向に振動させる。この振動によって、可動部材９は保持部材２から一時的に離間し、可動部材９による保持部材２のクランプが解除されることとなる。 The movable member 9 includes a piezoelectric element 91 inside. In the attitude control process, the piezoelectric element 91 is driven by control from the control unit 11 described later, and gives a high frequency signal to the movable member 9 to vibrate the movable member 9 in a direction orthogonal to the support shaft 2a. Due to this vibration, the movable member 9 is temporarily separated from the holding member 2, and the clamp of the holding member 2 by the movable member 9 is released.

弾性部材１０は、耐圧容器の底面に設置されるとともに、可動部材９の底面に固着され、可動部材９を保持部材２に対して接近及び離間する方向に移動可能に支持している。
弾性部材１０は、可動部材９に設けられた圧電素子９１の駆動により可動部材９が支軸２ａと直交する方向に振動すると、可動部材９の振動に応じて伸長及び収縮を繰り返し、可動部材９を一時的に保持部材２から離間させ、可動部材９による保持部材２のクランプを解除させる。 The elastic member 10 is installed on the bottom surface of the pressure-resistant container, and is fixed to the bottom surface of the movable member 9, and supports the movable member 9 so as to be movable toward and away from the holding member 2.
When the movable member 9 vibrates in a direction orthogonal to the support shaft 2a by driving of the piezoelectric element 91 provided on the movable member 9, the elastic member 10 repeats expansion and contraction according to the vibration of the movable member 9, and the movable member 9 Is temporarily separated from the holding member 2, and the clamp of the holding member 2 by the movable member 9 is released.

制御部１１は、ＣＰＵ、ＲＡＭ、ＲＯＭ（いずれも図示せず）等を備えて構成され、姿勢制御手段として、作業者からの指示に従って、可動部材９に設けられた圧電素子９１を駆動することで、可動部材９による保持部材２のクランプを一時的に解除し、保持部材２の姿勢を自重で補正させる姿勢制御処理を実行する。 The control unit 11 includes a CPU, a RAM, a ROM (all not shown) and the like, and drives a piezoelectric element 91 provided on the movable member 9 according to an instruction from an operator as an attitude control unit. Thus, the clamp of the holding member 2 by the movable member 9 is temporarily released, and the attitude control process for correcting the attitude of the holding member 2 with its own weight is executed.

具体的には、制御部１１は、所定時間の間、可動部材９に設けられた圧電素子９１を駆動することで、可動部材９を保持部材２の支軸２ａと直交する方向に振動させ、可動部材９による保持部材２のクランプを一時的に解除する。 Specifically, the control unit 11 drives the piezoelectric element 91 provided on the movable member 9 for a predetermined time to vibrate the movable member 9 in a direction perpendicular to the support shaft 2a of the holding member 2, The clamp of the holding member 2 by the movable member 9 is temporarily released.

ここで、重力方向に対して耐圧容器自体が傾斜している場合、可動部材９が保持部材２から離間すると、保持部材２は、可動部材９による姿勢の固定から開放されて、重力の作用によって、保持部材２の重心と支軸２ａとを通る垂直軸が重力方向と一致するまで、支軸２ａ周りに回動することとなる。そして、保持部材２の重心と支軸２ａとを通る垂直軸が重力方向と一致し、保持部材２が重力方向に対して水平状態となると、保持部材２の支軸２ａ周りの回動が停止する。
すなわち、可動部材９に設けられた圧電素子９１の駆動により可動部材９を支軸２ａと直交する方向に振動させ、可動部材９による保持部材２のクランプを一時的に解除すると、重力作用によって、保持部材２が自身の姿勢を自重で水平に補正することとなる。
そして、制御部１１は、可動部材９によるクランプから一時的に開放された保持部材２が自重で水平状態に補正した後に、圧電素子９１の駆動を停止して可動部材９により保持部材２を再びクランプさせる。すると、保持部材２の姿勢が水平に保たれた状態のまま、可動部材９によってロックされることとなり、傾斜の補正がなされることとなる。 Here, when the pressure vessel itself is inclined with respect to the direction of gravity, when the movable member 9 is separated from the holding member 2, the holding member 2 is released from the fixed posture by the movable member 9, and is caused by the action of gravity. The vertical axis passing through the center of gravity of the holding member 2 and the support shaft 2a rotates around the support shaft 2a until it coincides with the direction of gravity. When the vertical axis passing through the center of gravity of the holding member 2 and the support shaft 2a coincides with the direction of gravity, and the holding member 2 becomes horizontal with respect to the direction of gravity, the rotation of the holding member 2 around the support shaft 2a stops. To do.
That is, when the movable member 9 is vibrated in a direction orthogonal to the support shaft 2a by driving the piezoelectric element 91 provided on the movable member 9, and the clamp of the holding member 2 by the movable member 9 is temporarily released, The holding member 2 corrects its posture horizontally by its own weight.
The control unit 11 corrects the holding member 2 temporarily released from the clamp by the movable member 9 to the horizontal state by its own weight, and then stops the driving of the piezoelectric element 91 and uses the movable member 9 to move the holding member 2 again. Let it clamp. Then, the holding member 2 is locked by the movable member 9 while the posture of the holding member 2 is kept horizontal, and the inclination is corrected.

次に、図９及び図１０を参照しながら、第２の実施形態の姿勢制御装置２００において実行される姿勢制御処理の流れについて、より具体的に説明する。なお、図９及び図１０において、軸Ｇは重力方向を示し、軸Ｖは可動部材９を通る垂直軸である。 Next, the flow of the attitude control process executed in the attitude control apparatus 200 of the second embodiment will be described more specifically with reference to FIGS. 9 and 10. 9 and 10, the axis G indicates the direction of gravity, and the axis V is a vertical axis that passes through the movable member 9.

まず、作業者は、地中に堀削されたボーリング孔内にケーシングを挿入し、ケーシングを防錆作用のある水等の液体で満たす。さらに、ボーリングマシンを使用して、地中から姿勢制御装置２００の各部が収納された耐圧容器をケーシング内に下降させ、設置面に設置する。 First, an operator inserts a casing into a boring hole excavated in the ground, and fills the casing with a liquid such as water having a rust preventive action. Furthermore, using a boring machine, the pressure vessel in which each part of the attitude control device 200 is housed is lowered from the ground into the casing and installed on the installation surface.

図９は、ボーリング孔内に配置された姿勢制御前の姿勢制御装置２００である。耐圧容器の設置面が傾斜角θ傾斜していると、図９に示すように、ボーリング孔内に設置された耐圧容器も、設置面の傾斜に応じて傾斜角θ分だけ傾斜することとなる。
ボーリング孔内への耐圧容器の設置が完了すると、作業者は、図示しない操作部を操作して、姿勢制御処理を開始する。 FIG. 9 shows a posture control device 200 before posture control arranged in the borehole. When the installation surface of the pressure vessel is inclined at an inclination angle θ, as shown in FIG. 9, the pressure vessel installed in the boring hole is also inclined by the inclination angle θ according to the inclination of the installation surface. .
When the installation of the pressure vessel in the boring hole is completed, the operator operates an operation unit (not shown) to start the posture control process.

姿勢制御処理において、制御部１１は、先ず始めに可動部材９に設けられた圧電素子９１を駆動する。すると、圧電素子９１によって、可動部材９が保持部材２の支軸２ａと直交する方向（図９の矢印Ｃ方向）に振動することとなる。そして、可動部材９の振動によって、可動部材９の上面と保持部材２の底面が一時的に離間し、可動部材９による保持部材２のクランプが解除される。 In the attitude control process, the control unit 11 first drives the piezoelectric element 91 provided on the movable member 9. Then, the piezoelectric element 91 causes the movable member 9 to vibrate in the direction orthogonal to the support shaft 2a of the holding member 2 (the direction of arrow C in FIG. 9). Then, due to the vibration of the movable member 9, the upper surface of the movable member 9 and the bottom surface of the holding member 2 are temporarily separated, and the clamp of the holding member 2 by the movable member 9 is released.

すると、保持部材２は、可動部材９による固定から開放されるタイミングでは、支軸２ａ周りに自在に回動可能となる。そして、可動部材９が振動している間、図１０に示すように、重力の作用を受けて、少しずつ、支軸２ａを中心に図１０における矢印Ｄ方向に傾斜角θ分回動し、自身の姿勢を自重で補正する。 Then, the holding member 2 can freely rotate around the support shaft 2a at the timing when it is released from being fixed by the movable member 9. Then, while the movable member 9 is vibrating, as shown in FIG. 10, it receives the action of gravity and gradually rotates around the support shaft 2a in the direction of arrow D in FIG. Correct your posture with your own weight.

次に、制御部１１は、圧電素子９１の駆動開始から所定時間が経過したか否かを判断し、所定時間が経過したと判断すると、圧電素子９１の駆動を停止する。すると、可動部材９の振動が停止し、可動部材９の上面の全面が保持部材２の底面に当接して支軸２ａ周りの回動を規制し、可動部材９によって保持部材２が再びクランプされることとなる。したがって、保持部材２は、水平状態のまま、その姿勢がロックされることとなる。
そして、作業者は、図示しない操作部を操作して、姿勢制御処理を終了し、地震計１による計測を開始する。 Next, the control unit 11 determines whether or not a predetermined time has elapsed from the start of driving of the piezoelectric element 91, and when determining that the predetermined time has elapsed, stops the driving of the piezoelectric element 91. Then, the vibration of the movable member 9 stops, the entire upper surface of the movable member 9 abuts against the bottom surface of the holding member 2 to restrict the rotation around the support shaft 2a, and the holding member 2 is clamped again by the movable member 9. The Rukoto. Therefore, the posture of the holding member 2 is locked in the horizontal state.
Then, the operator operates an operation unit (not shown), ends the posture control process, and starts measurement by the seismometer 1.

以上説明した第２の実施形態における姿勢制御装置２００によれば、耐圧容器（ケース）内に支軸２ａを介して揺動自在に支持され、検出器を搭載するための保持部材２と、保持部材２に対して接近及び離間する方向に移動可能に支持された可動部材９と、可動部材９を振動させるための圧電素子９１とが備わる。また、制御部（姿勢制御手段）１１により、所定時間の間、圧電素子９１により可動部材９が支軸２ａと直交する方向に振動されることで、可動部材９と保持部材２とが一時的に離間され、保持部材２の姿勢が自重で補正される。
このように、第２の実施形態の姿勢制御装置２００では、モータを設けることなく、所定時間の間圧電素子９１を駆動させて、可動部材９を保持部材２の支軸２ａと直交する方向に振動させることで、保持部材２のクランプを一時的に解除して、保持部材２の姿勢を自重で補正させることができ、簡易な機構で、保持部材２に保持された地震計１の姿勢を補正することができる。そのため、モータ駆動を行う姿勢制御装置に比べて、装置全体を小型化することができる。また、モータによる姿勢制御を行う場合に比べて機構が簡略化されるため、部品等に高い加工精度が求められることが無く、製造コストを抑えることができ、低価格化を図ることができる。また、機構が簡略であるとともに、部品等の故障が発生し難いため、モータの故障の影響を受けるモータ駆動に比べて、信頼性が向上することとなる。また、モータによる姿勢制御を行う場合と比較して、より短い時間で姿勢制御を行うことができる。さらに、モータを備える姿勢制御装置に比べて、配線の本数を減らすことができる。したがって、地震計１の姿勢を制御する姿勢制御装置２００において、小型化、簡略化及び姿勢制御の迅速化を図ることができる。 According to the attitude control device 200 in the second embodiment described above, the holding member 2 that is supported in a swingable manner via the support shaft 2a in the pressure vessel (case) and mounts the detector, and the holding A movable member 9 supported so as to be movable toward and away from the member 2 and a piezoelectric element 91 for vibrating the movable member 9 are provided. Further, the movable member 9 and the holding member 2 are temporarily moved by the control unit (attitude control means) 11 being vibrated in a direction orthogonal to the support shaft 2a by the piezoelectric element 91 for a predetermined time. The posture of the holding member 2 is corrected by its own weight.
Thus, in the attitude control device 200 of the second embodiment, the piezoelectric element 91 is driven for a predetermined time without providing a motor, and the movable member 9 is moved in a direction orthogonal to the support shaft 2a of the holding member 2. By vibrating, the clamp of the holding member 2 can be temporarily released, and the posture of the holding member 2 can be corrected by its own weight, and the posture of the seismometer 1 held by the holding member 2 can be changed with a simple mechanism. It can be corrected. Therefore, the entire apparatus can be reduced in size as compared with the attitude control apparatus that drives the motor. In addition, since the mechanism is simplified as compared with the case where attitude control is performed by a motor, high machining accuracy is not required for components and the like, manufacturing costs can be reduced, and cost can be reduced. In addition, since the mechanism is simple and failure of parts or the like is unlikely to occur, reliability is improved as compared with motor driving that is affected by motor failure. In addition, the posture control can be performed in a shorter time compared to the case where the posture control by the motor is performed. Furthermore, the number of wirings can be reduced as compared with a posture control device including a motor. Therefore, in the attitude control device 200 that controls the attitude of the seismometer 1, it is possible to reduce the size, simplify, and speed up the attitude control.

なお、第２の実施形態の姿勢制御装置２００において、可動部材９や保持部材２に、確実にクランプされたか否かを検出するクランプ検出手段を設けることとしても良い。これにより、作業者は、保持部材２が確実にクランプされたか否かを認識することができ、何らかの原因によりクランプが確実に行わなかった場合であっても作業のやり直し等を行うことができる。そのため、姿勢制御装置２００における姿勢制御の信頼性を一層向上させることができる。 In the posture control apparatus 200 of the second embodiment, the movable member 9 and the holding member 2 may be provided with a clamp detection unit that detects whether or not the clamp is reliably performed. As a result, the operator can recognize whether or not the holding member 2 is securely clamped, and can perform the work again even if the clamping is not reliably performed for some reason. Therefore, the reliability of posture control in the posture control device 200 can be further improved.

また、第２の実施形態の姿勢制御装置２００において、保持部材２側に、保持部材２を振動させる圧電素子９１を設け、可動部材９の圧電素子９１を駆動している間に、保持部材２側の圧電素子９１を駆動させることとしても良い。これにより、保持部材２の支軸２ａ周りの回動がスムーズに行われ、より迅速且つ正確に、保持部材２の姿勢を補正することが可能となる。 Further, in the attitude control device 200 of the second embodiment, the holding member 2 is provided on the holding member 2 side while the piezoelectric element 91 that vibrates the holding member 2 is driven and the piezoelectric element 91 of the movable member 9 is driven. The piezoelectric element 91 on the side may be driven. Thereby, the rotation of the holding member 2 around the support shaft 2a is smoothly performed, and the posture of the holding member 2 can be corrected more quickly and accurately.

また、可動部材９において圧電素子を設置する位置は上記実施形態の例に限定されず、例えば、可動部材９の裏面や周面部に設けられていても良い。 Further, the position where the piezoelectric element is installed in the movable member 9 is not limited to the example of the above embodiment, and may be provided on the back surface or the peripheral surface portion of the movable member 9, for example.

なお、本発明の範囲は、上記第１の実施形態及び第２の実施形態に限られることなく、本発明の趣旨を逸脱しない範囲において種々の改良並びに設計の変更を行っても良い。 The scope of the present invention is not limited to the first and second embodiments described above, and various improvements and design changes may be made without departing from the spirit of the present invention.

例えば、上記第１の実施形態及び第２の実施形態では、地中に堀削したボーリング孔内に設置して、地中における地盤の震動を検出するボアホール型の地震計に適用される姿勢制御装置について説明したが、姿勢制御の対象はボアホール型の地震計に限られず、他の検出器に適用しても良い。例えば、地上に設置される地震計や海底に設置される地震計に、本発明の姿勢制御装置を適用することとしても良い。 For example, in the first embodiment and the second embodiment, attitude control applied to a borehole type seismometer that is installed in a borehole drilled in the ground and detects ground vibration in the ground. Although the apparatus has been described, the object of attitude control is not limited to the borehole type seismometer, and may be applied to other detectors. For example, the attitude control device of the present invention may be applied to a seismometer installed on the ground or a seismometer installed on the seabed.

また、保持部材２の底面形状は、断面視凸型円弧状である限り如何なる形状でも良く、例えば、かまぼこ型の曲面形状や球面形状であっても良い。同様に、可動部材３の上面形状は、断面視凹型円弧状である限り如何なる形状でも良く、かまぼこ型の曲面形状や球面形状であっても良い。 Further, the bottom shape of the holding member 2 may be any shape as long as it is a convex circular arc shape in cross section, and may be, for example, a kamaboko-shaped curved surface shape or a spherical shape. Similarly, the upper surface shape of the movable member 3 may be any shape as long as it is a concave arc shape in cross section, and may be a kamaboko-shaped curved surface shape or a spherical shape.

１００姿勢制御装置
１地震計（検出器）
２保持部材
２ａ支軸（支点）
２１クランプ検出部（クランプ検出手段）
２２第１の圧電素子（圧電素子）
３可動部材
４ガイド
４１内周面
５弾性部材
６電磁石
７制御部（姿勢制御手段）
８報知部（報知手段）
２００姿勢制御装置
９可動部材
９１圧電素子
１１制御部（姿勢制御手段） 100 Attitude control device 1 Seismometer (detector)
2 Holding member 2a Support shaft (fulcrum)
21 Clamp detector (clamp detector)
22 First piezoelectric element (piezoelectric element)
3 Movable member 4 Guide 41 Inner peripheral surface 5 Elastic member 6 Electromagnet 7 Control unit (attitude control means)
8 Notification part (notification means)
200 Attitude Control Device 9 Movable Member 91 Piezoelectric Element 11 Control Unit (Attitude Control Unit)

Claims

A holding member for holding the detector supported in a swingable manner in the case via a fulcrum;
A movable member supported so as to be movable toward and away from the holding member;
An elastic member for urging the movable member toward the holding member;
An electromagnet provided on the side facing the holding member across the movable member;
By energizing the electromagnet to magnetically attract the movable member to the electromagnet side, the movable member is separated from the holding member, and after a predetermined time has elapsed, energization to the electromagnet is stopped and the elastic member is stopped. Posture control means for clamping the holding member by the movable member by biasing the movable member to the holding member side by the biasing force of
An attitude control device comprising:

The cross section of the bottom surface of the holding member is formed in a convex arc shape, and the cross section of the top surface of the movable member is formed in a concave arc shape having the same curvature as the cross section of the bottom surface of the holding member,
The posture control apparatus according to claim 1, wherein the movable member moves in a vertical direction and clamps the holding member from below.

A clamp detection means for detecting a clamp of the holding member by the movable member;
Informing means for informing a detection result by the clamp detecting means,
The posture control device according to claim 1, comprising:

The attitude control device according to any one of claims 1 to 3, wherein the attitude control means stops the energization by gradually decreasing a current flowing through the electromagnet.

A guide covering at least a part of the periphery of the movable member is provided;
The attitude control device according to claim 1, wherein the movable member slides along an inner peripheral surface of the guide.

The holding member is provided with a piezoelectric element for vibrating the holding member,
The posture control apparatus according to claim 1, wherein the posture control unit vibrates the movable member with the piezoelectric element at a predetermined timing.

The movable member is provided with a second piezoelectric element for vibrating the movable member,
The posture control device according to claim 1, wherein the posture control unit vibrates the movable member by the second piezoelectric element when the movable member is moved.

A holding member for mounting the detector, supported in a swingable manner in the case via a support shaft;
A movable member supported so as to be movable toward and away from the holding member;
A piezoelectric element for vibrating the movable member;
The movable member and the holding member are temporarily separated by vibrating the movable member in a direction perpendicular to the support shaft by the piezoelectric element for a predetermined time, and the posture of the holding member is corrected by its own weight. Attitude control means for causing
An attitude control device comprising: