JP2011117916A - Inclination/eccentricity detection device of rotor, and inclination/eccentricity detection method of the rotor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inclination/eccentricity detection device of a rotor and an inclination/eccentricity detection method of the rotor capable of detecting inclination and eccentricity of the rotor simultaneously with a simple constitution. <P>SOLUTION: Three optical sensors 1a-1c are attached to a fixing part 3, and three detection objects 2a-2c are attached to the rotor 4. When inclination is generated in a rotating rotor 4, a clearance between the optical sensor 1a and the detection object 2a is narrowed to heighten a detection signal level of the optical sensor 1a, and a clearance between the optical sensor 1b and the detection object 2b is widened to lower a detection signal level of the optical sensor 1b. When eccentricity is generated in the rotor 4, since the detection object 2 is moved between a rotating shaft 5 and a circumferential direction, a passing time of the optical sensor 1 crossing an edge part formed on the detection object 2 is changed, and a time width of a detection signal is changed. An operation circuit part 7 detects inclination and eccentricity of the rotor 4 simultaneously based on change information of the detection signal level and change information of the detection signal time width. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a rotating body inclination / eccentricity detecting device and a rotating body inclination / eccentricity detecting method for detecting the inclination and eccentricity of a rotating body.

  In general, in order to rotate the rotating body accurately and smoothly, means for suppressing the inclination and eccentricity of the rotating body is required. Usually, in order to suppress the inclination and eccentricity of the rotating body, it is possible to reduce the variation in dimensional accuracy of various mechanical parts, introduce a mechanism that absorbs the variation in dimensional accuracy of mechanical parts, or assemble a rotating structure. It is necessary to improve the assembly accuracy. In particular, when assembling a rotating structure, it is necessary to gradually increase the accuracy while measuring the amount of inclination and the amount of eccentricity by some measuring means. Often leads to high performance. For example, a rotary antenna used in air traffic control is heavy in weight and inertia, and in order to achieve stable rotation performance in the antenna part, while suppressing the tilt and eccentricity of the rotating body constituting the antenna It is necessary to increase the assembly accuracy.

  Commonly used methods for detecting the tilt of a rotating body include a mechanical measurement method that measures the tilt of the rotating body using a level, and the surface of the rotating body that is irradiated with laser light. An optical measurement method that reads an optical path difference (or time difference) from reflected light is the mainstream. In addition, as a method of detecting eccentricity, a gap sensor is arranged around the rotation shaft, and a measurement method for measuring a gap variation between the rotation shaft and the gap sensor, or a plurality of displacement sensors in the lateral direction of the rotating body are used. Measurement methods such as placement are used.

  Moreover, as a prior art for detecting the tilt and eccentricity of a rotating body, for example, a method of detecting the eccentricity of the rotating body using a measurement gear is disclosed (see Patent Document 1). Hereinafter, the eccentricity detection method in Patent Document 1 will be described with reference to FIG. In this technique, position detection means (detection circuit 204) including an electromagnetic pickup 203 for detecting the position of the gear 202 attached to the rotating body 201, and a detection signal and a storage means RAM 205 in the rotation state by the position detection means. Further, the time deviation from the detection signal stored in the ROM 206 is measured, and the eccentric amount of the rotating body 201 is calculated based on the temporal comparison value between the detection signal in the rotation state and the detection signal stored in advance. CPU (arithmetic unit) 207 and the entire eccentricity detection apparatus. Then, the eccentric amount of the rotating body is detected by comparing the time lag between the detection signal in the initial state and the detection signal in the rotation state by the position detection means.

  In addition, as a technique for detecting the eccentricity of the rotating body, a method of measuring the eccentric angle and the eccentric length of the rotating body using a video signal obtained from a line camera is also disclosed (see Patent Document 2). According to this technique, since the amount of eccentricity is measured optically and electrically, the eccentric angle and the eccentric length can be measured with high resolution and high accuracy. Also disclosed is a technique for detecting the tilt amount (eccentric amount) of an optical disk rotating body housed in a cartridge (see Patent Document 3). According to this technique, since the light receiving surface of the tilt sensor is arranged in the radial direction and the tangential direction of the optical disk rotating body, the tilt amount of the optical disk rotating body can be detected simultaneously in the radial direction and the tangential direction. . Therefore, it is possible to detect the eccentricity of the optical disk rotating body with high accuracy.

JP 07-253375 A JP 60-235033 Japanese Patent Laid-Open No. 10-320804

  However, the method of detecting the tilt and eccentricity of the rotating body according to the technique of Patent Document 1 has the following problems. That is, the first problem is that it is impossible to detect the inclination and eccentricity of the rotating body at the same time, and at least two independent detection systems are required. In recent years, there are multi-dimensional laser displacement meters and the like, and it is possible to measure displacements and angles in two or more directions, but such two-direction measurement requires a large preparation. In addition, the second problem is that in an optical measurement method using laser light or a measurement method using a measurement gear in Patent Document 1, precision processing such as an expensive measuring instrument or gear is used for the detection mechanism. A required structure is required, and as a result, it is difficult to construct a detection device at a low cost. Furthermore, the third problem is that it is difficult to reduce the size of the measurement system itself by a measurement method using a laser or the like, and for example, it is extremely difficult to detect the inclination of the rotating body in the actual moving state. Therefore, it is difficult to use as an application for detecting an abnormality in the operating state of the rotating body.

  Moreover, in the technique of the above-mentioned patent document 2, since it is necessary to prepare an optical system such as a camera, it is difficult to detect the tilt and eccentricity of a rotating body on which complicated mechanism elements are mounted at high density. Further, in an atmosphere where oil or the like scatters around the rotating body, the detection method using the optical system cannot accurately detect the inclination and eccentricity of the rotating body. Furthermore, in the technique of the above-mentioned patent document 3, since the inclination and eccentricity of a precise rotation mechanism such as an optical disk rotating body are detected, the detection mechanism becomes extremely expensive. That is, a detection mechanism for detecting the tilt and eccentricity of the rotating body cannot be realized at low cost.

  In summary, in order to rotate the rotating body stably, it is necessary to suppress the inclination and eccentricity of the rotating body. In particular, since the antenna of a rotating body used in an air traffic control radar or the like is required to sufficiently suppress inclination and eccentricity, it is necessary to assemble the rotating body with high accuracy. However, a commonly used method for detecting the tilt of a rotating body is a mechanical detection method using a level or by irradiating the surface of the rotating body with a laser beam to read the optical path difference between incident light and reflected light. Optical detection methods are the mainstream. In addition, as a method for detecting eccentricity, a plurality of gap sensors are arranged around the rotating shaft to measure a gap variation between the rotating shaft and the gap sensor, or a plurality of displacement sensors are arranged in the lateral direction of the rotating body. A measuring method such as arranging the above is used.

  However, these detection methods cannot simultaneously detect the tilt and eccentricity of the rotating body, and at least two independent detection systems are required. On the other hand, in recent years, there have been multi-dimensional laser displacement meters, etc., and it has become possible to measure displacements and angles in two or more directions, but any method can measure (detect) the tilt and eccentricity of a rotating body. ) Requires a large amount of preparation, and also causes a high cost.

  The present invention has been made in view of the above-described circumstances, and can detect the inclination and the eccentricity of the rotating body and the detection of the inclination and the eccentricity of the rotating body that can simultaneously detect the inclination and the eccentricity of the rotating body with a simple configuration. It aims to provide a method.

  In order to achieve the above object, a first configuration of the present invention is a tilt / eccentricity detection device for a rotator that detects an amount of tilt and an amount of eccentricity of a rotator mounted rotatably with respect to a fixed portion. , A plurality of optical sensors and a plurality of detection objects mounted opposite to the fixed portion and the rotating body, and detection when the optical sensor detects the detection object during rotation of the rotating body An estimation means for simultaneously estimating the amount of inclination and the amount of eccentricity of the rotating body based on the signal is provided.

  According to a second configuration of the present invention, a plurality of photosensors mounted so as to oppose the fixed portion and the rotating body are used to determine the amount of inclination and the amount of eccentricity of the rotating body that is rotatably mounted on the fixed portion, and A method of detecting tilt / eccentricity of a rotating body that is detected using a plurality of detected bodies, wherein the optical sensor detects the detected body during rotation of the rotating body, and The present invention is characterized in that it has a method of detecting the inclination / eccentricity of a rotating body, characterized by estimating the amount of inclination and the amount of eccentricity of the rotating body at the same time.

  According to the configuration of the present invention, it is possible to simultaneously estimate the inclination and the eccentricity of the rotating body using only the plurality of optical sensors and the plurality of detected bodies respectively mounted on the fixed portion and the rotating body. Therefore, it is possible to simultaneously detect the inclination and eccentricity of the rotating body with a simple and inexpensive configuration. Further, since a small and general-purpose optical sensor is used, the rotating body inclination / eccentricity detecting device according to the present invention can be easily mounted even on a complicated device such as a rotating structure. .

It is a figure which shows the whole structure of the rotary antenna apparatus which concerns on this invention, (a) is the top view seen from the top, (b) is AA sectional drawing of (a). It is a side view which shows the shape of the to-be-detected body shown in FIG. It is a figure which shows the positional relationship of the optical sensor shown in FIG. 1, and a to-be-detected body, (a) is a figure which shows an example of a structure of an optical sensor, (b) is when a to-be-detected body passes on an optical sensor. FIG. 4C is a side view showing the positional relationship when the detected object passes over the optical sensor. It is a characteristic view which shows the relationship between the clearance and detection sensitivity in the optical sensor shown in FIG. 3, and a to-be-detected body. It is a block diagram which shows the structure of the arithmetic circuit part in the inclination / eccentricity detection apparatus of the rotary body of this invention. In the antenna apparatus shown in FIG. 1, it is explanatory drawing which shows the positional relationship of the relative height direction of a photosensor and a to-be-detected body when a rotary body inclines, (a) is a top view, (b) is a side view The virtual sectional view in is shown. FIG. 7 is a characteristic diagram showing detection signals from the respective optical sensors when the rotating body is tilted as shown in FIG. 6, (a) is a detection signal of the optical sensor 1 a with a narrow clearance, and (b) is a wide clearance. The detection signal of the optical sensor 1b is shown. It is a figure which shows the change of the relative position of an optical sensor and a to-be-detected body when eccentricity arises in a rotary body, (a) is a case where a to-be-detected body is shaken in the outer peripheral direction, (b) is eccentric to a rotary body. (C) shows the positional relationship between the optical sensor and the detected object when the detected object is shaken in the inner circumferential direction. It is a characteristic view showing a detection signal from an optical sensor when eccentricity occurs in the rotating body, (a) when the detected body is shaken in the outer peripheral direction, (b) when there is no eccentricity in the rotating body, (C) shows a characteristic diagram of each detection signal when the detection target is shaken in the inner circumferential direction. It is explanatory drawing which shows the relative position and the eccentric amount of a rotary body in each optical sensor position when a rotary body is eccentric. It is a figure which shows the relationship between the relative position of a photosensor and a to-be-detected body, and each item in the rotary body of this invention. (A) is a virtual sectional view in the side of an antenna device concerning Embodiment 2 of this invention, and (b) is a figure showing the positional relationship of a photosensor and a detected object. It is a conceptual diagram which shows the eccentricity detection method in a prior art.

  An apparatus for detecting tilt and eccentricity of a rotating body according to the present invention is a tilt / eccentricity detecting device for a rotating body that detects the amount of tilt and the amount of eccentricity of a rotating body that is rotatably mounted on a fixed section, A plurality of optical sensors and a plurality of detected objects mounted opposite to the rotating body, and a rotation signal of the rotating body based on a detection signal when the optical sensor detects the detected object during rotation of the rotating body. By providing estimation means for simultaneously estimating the amount of inclination and the amount of eccentricity, the object of simultaneously detecting the inclination and eccentricity of the rotating body with a simple configuration has been realized.

  More specifically, the device for detecting tilt and eccentricity of the rotating body according to the present invention includes a plurality of (for example, three) optical sensors attached to the fixed portion and a plurality of (for example, 3) attached to the rotating body. ) To be detected, and the tilt and eccentricity of the rotating body are simultaneously detected from the detection signal of the detected object detected by the light receiving unit of the optical sensor. At this time, the shape of the detected object has a corner portion and an edge portion extending in a tapered shape from the corner portion, and a region sandwiched between the edge portions is detected by an optical sensor. Yes. Further, the present invention is characterized in that an arithmetic circuit unit that calculates the amount of tilt and the amount of eccentricity of the rotating body based on detection signals detected from a plurality of (for example, three) optical sensors is provided.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following description, as a specific example, a method for detecting the inclination and eccentricity of a rotating mechanism (rotating body) in an antenna device will be described in detail with reference to the overall configuration and functions of the antenna device.

Embodiment 1

  1A and 1B are diagrams showing the overall configuration of a rotary antenna device according to the present invention, wherein FIG. 1A is a plan view seen from above, and FIG. 1B is a cross-sectional view taken along line AA in FIG. As shown in FIG. 1, the three optical sensors 1a, 1b, and 1c including a pair of light emitting units and light receiving units are arranged 120 degrees apart on the same circle with the rotation axis 5 as the center, Each is fixed to the fixing portion 3. On the other hand, three detected bodies 2a, 2b, 2c having edge portions extending in a tapered shape from corner portions are attached to the rotating body 4 at 120 ° intervals on the same circle centering on the rotating shaft 5. It has been.

  The detected bodies 2a, 2b, and 2c can pass through the optical sensors 1a, 1b, and 1c without contacting when the rotating body 4 is rotated, and the distance between them is an optical sensor described later. In the optical detection characteristic of 1, it is arranged at a height that falls within the detection range. Further, an antenna 6 is mounted on the rotating body 4, and the antenna 6 is a mechanism that can rotate around the rotating shaft 5 via a drive motor 8 and a swing bearing 9. Further, when the antenna 6 rotates, a detection signal detected when the detected bodies 2a, 2b, and 2c pass over the optical sensors 1a, 1b, and 1c is input to the arithmetic circuit 7. Note that the optical sensor 1 used in this embodiment is of a reflective type.

  With such a configuration, when the detected objects 2a, 2b, and 2c pass over the optical sensors 1a, 1b, and 1c, the detection signals output from the optical sensors 1a, 1b, and 1c are calculated. When input to the circuit unit 7, the arithmetic circuit unit 7 calculates the inclination and eccentricity of the rotating body 4.

  That is, when the rotator 4 is tilted, the detection signals detected by the optical sensors 1a, 1b, and 1c from the detected bodies 2a, 2b, and 2c are detected as signal components having different amplitude levels. . When the rotating body 4 is decentered, the detection signals detected by the optical sensors 1a, 1b, and 1c from the respective detection bodies 2a, 2b, and 2c are equal to the detection time of the detection signal having a certain amplitude level or more. Detected as a difference. Here, since the inclination and the eccentricity are independent phenomena, when the inclination and the eccentricity exist at the same time, they are detected as the sum of the inclination detection signal and the eccentricity detection signal. That is, the inclination and eccentricity of the rotating body 4 can be calculated independently based on the detection signals obtained from the optical sensors 1a, 1b, and 1c.

  FIG. 2 is a side view showing the shape of the detection object 2 shown in FIG. FIG. 3 is a diagram showing the positional relationship between the optical sensor 1 and the detected object 2 shown in FIG. 1. Hereinafter, the detected object in Embodiment 1 of the present invention will be described with reference to FIGS. 2 and the positional relationship between the detected object 2 and the optical sensor 1 will be described. As shown in FIG. 2, the detected object 2 in this embodiment has a corner portion 21 having a predetermined angle α. Moreover, the edge parts 22 and 23 extended from the corner | angular part 21 in a taper shape have a linear shape symmetrical with respect to the centerline of the said angle (alpha).

  Further, in order to efficiently reflect the light from the light emitting part of the optical sensor 1, the detected object 2 uses a material having a high reflectance such as metal or is emitted from the light emitting part of the optical sensor 1. It is desirable that the entire surface be uniformly coated with a material capable of obtaining sufficient reflection with respect to the wavelength of light.

  Next, the positional relationship between the detected object 2 and the optical sensor 1 for realizing this embodiment will be described with reference to FIG. FIG. 3A is a diagram illustrating an example of the configuration of the optical sensor 1. The optical sensor 1 includes a pair of light emitting units 11 and a light receiving unit 12, and the light emitted from the light emitting unit 11 is illustrated. The light receiving unit 12 receives the light that hits the reflecting object (object to be detected) and returns after being reflected.

  FIG. 3B is a top view showing the positional relationship when the detected object 2 passes over the optical sensor 1, and FIG. 3C shows the detected object 2 passing over the optical sensor 1. It is a side view which shows the positional relationship at the time of doing. The detected body 2 is arranged so that the light from the light emitting unit 11 can reliably capture the edge portions 22 and 23 of the detected body 2 during rotation. Further, the clearance in the height direction between the optical sensor 1 and the detection object 2 is arranged to ensure a certain predetermined range.

  FIG. 4 is a characteristic diagram showing the relationship between the clearance and the detection sensitivity in the optical sensor 1 and the detection object 2 shown in FIG. 3, with the horizontal axis indicating the clearance and the vertical axis indicating the detection sensitivity. That is, as shown in FIG. 4, the clearance amount between the optical sensor 1 and the detection object 2 is a linear detection range L0 in the relationship between the clearance of the optical sensor 1 with respect to the detection object 2 and the detection sensitivity. It is desirable to set the clearance design value so that it is near the center.

  FIG. 5 is a block diagram showing the configuration of the arithmetic circuit unit 7 in the tilt / eccentricity detection device for a rotating body according to the present invention. With reference to FIG. 5, the structure of the arithmetic circuit part 7 in this embodiment is demonstrated. The detection signals 13a, 13b, and 13c obtained from the optical sensors 1a, 1b, and 1c are output to the arithmetic circuit unit 7 as photocurrents proportional to the amount of light reflected from the detection target 2.

  In the arithmetic circuit unit 7, the IV converters 71a, 71b, 71c have a function of converting the detection signals 13a, 13b, 13c output as the photocurrents into voltage signals. The adjusting units 72a, 72b, and 72c adjust the gain and the electrical offset in advance when the output sensitivity of each of the optical sensors 1a, 1b, and 1c and the reflectances of the detection objects 2a, 2b, and 2c vary. It has a function. The A / D converters 73a, 73b, and 73c have a function of converting voltage signals in the detection signals 13a, 13b, and 13c from analog signals to digital signals.

  The amplitude detectors 74a, 74b, and 74c have a function of outputting voltage amplitudes of detection signals from the optical sensors 1a, 1b, and 1c. The time detection units 75a, 75b, and 75c have a function of outputting a detection time of a detection signal having a certain amplitude level or higher. The inclination calculating unit 76 has a function of calculating the inclination of the rotating body 4 based on the amplitude of each optical sensor output obtained from the amplitude detecting units 74a, 74b, and 74c, and the eccentricity calculating unit 77 is a time detecting unit 75a. , 75b, 75c, and the function of calculating the amount of eccentricity of the rotating body 4 based on the detection time of the output signal of each of the optical sensors 1a, 1b, 1c. The storage unit 78 stores the correlation between the clearance between the optical sensor 1 (1a, 1b, 1c) and the detected object 2 (2a, 2b, 2c) and the detection signal level, and the edge position of the optical sensor 1 and the detected object 2. And a function of storing a correlation between detection times of detection signals.

  Next, the mechanism of signal detection by the optical sensor 1 and the detected object 2 when the rotating body 4 is tilted and decentered will be described with reference to the drawings. FIG. 6 is an explanatory view showing a relative height direction positional relationship between the optical sensor 1 and the detected object 2 when the rotating body 4 is tilted in the antenna device shown in FIG. The figure and (b) have shown the virtual sectional drawing in the side.

  In this embodiment, the arrangement intervals of the optical sensors 1a, 1b, and 1c are arranged at 120 ° intervals in FIG. 6A. However, in FIG. The optical sensors 1a and 1b and the detected bodies 2a and 2b are shown in a positional relationship facing each other by 180 °. When the rotating body 4 has an inclination as shown in FIG. 6B, the clearance between the optical sensor 1a and the detected body 2a is narrowed, and the clearance between the optical sensor 1b and the detected body 2b is increased.

  FIG. 7 is a characteristic diagram showing detection signals from the respective optical sensors when the rotating body 4 is tilted as shown in FIG. 6, (a) is a detection signal of the optical sensor 1 a having a narrow clearance, and (b) ) Shows a detection signal of the optical sensor 1b having a wide clearance. 7A and 7B both show time on the horizontal axis and the signal level of the detection signal on the vertical axis. That is, as shown in FIG. 6, the rotating body 4 is inclined, the clearance between the optical sensor 1a and the detected body 2a is narrowed, and the clearance between the optical sensor 1b and the detected body 2b is increased. In relation, the signal characteristics as shown in FIGS. 7A and 7B are obtained from the relationship between the clearance and the detection sensitivity shown in FIG. In other words, since the clearance of the optical sensor 1a is narrower than the clearance of the optical sensor 1b as shown in FIG. 6, the detection signal 13a of the optical sensor 1a shown in FIG. 7A is the optical sensor 1b shown in FIG. The amplitude is larger than that of the detection signal 13b.

  In this embodiment, since the optical sensor 1 and the detected object 2 are present at three positions that are 120 ° apart from each other, based on the positional information of the three positions and the detection signal level information as shown in FIG. A flatness of 4 can be estimated. That is, the inclination of the rotating body 4 can be estimated by detecting the amplitude level of the detection signal of each of the optical sensors 1a, 1b, and 1c separated by 120 ° and calculating by the arithmetic circuit unit 7.

  When the rotating body 4 is decentered, the detected object 2 is displaced relative to the optical sensor 1 in the rotation plane. FIG. 8 is a diagram showing a change in the relative position between the optical sensor 1 and the detected object 2 when the rotating body 4 is decentered. That is, FIGS. 8A, 8B, and 8C show the positional relationship when the optical sensor 1 and the detection target 2 are relatively displaced in the horizontal direction of the drawing.

  FIG. 8A shows the positional relationship between the optical sensor 1 and the detected object 2 when the detected object 2 is shaken in the outer peripheral direction due to the eccentricity of the rotating body 4. FIG. 8B shows the positional relationship when the rotating body 4 has no eccentricity, or the detected object 2 passes the design position even when there is eccentricity. Further, FIG. 8C shows the positional relationship between the optical sensor 1 and the detected object 2 when the detected object 2 is swung in the opposite direction to that of FIG.

  FIG. 9 is a characteristic diagram showing the detection signal from the optical sensor when the rotating body 4 is decentered. The horizontal axis indicates time, and the vertical axis indicates the signal level of the detection signal. That is, the positional relationship between the optical sensor 1 and the detected object 2 in FIGS. 8A, 8B, and 8C is the characteristics of the detection signals in FIGS. 9A, 9B, and 9C, respectively. Corresponds to the figure. In other words, FIG. 9A is a characteristic diagram of a detection signal when the detected object 2 is shaken in the outer peripheral direction as shown in FIG. 8A, and FIG. 9B is a characteristic diagram of FIG. FIG. 9C is a characteristic diagram of the detection signal when the rotating body 4 is not eccentric, and FIG. 9C is a characteristic of the detection signal when the detected object 2 is swung in the inner circumferential direction as shown in FIG. The figure is shown.

  That is, when the rotating body 4 rotates eccentrically, the length of time for which the light emitting portion 11 of the optical sensor 1 is in contact with the detected body 2 is as shown in FIG. 8A> FIG. 8B> FIG. c). Accordingly, when each detection signal is shown, trapezoidal detection signals having different time widths Ta, Tb, and Tc are detected as shown in FIGS. 9A, 9B, and 9C. The time width of each detection signal has a relationship of Ta> Tb> Tc.

  FIG. 10 is an explanatory diagram showing the relative position and the amount of eccentricity of the rotating body 4 at the positions of the optical sensors 1a, 1b, and 1c when the rotating body 4 is eccentric. That is, when the rotating body 4 rotates eccentrically and enters an eccentric state as shown in FIG. 10, the optical sensor 1 and the detected object 2 are as shown in FIGS. 8 (a), 8 (b), and 8 (c). As a result, the detection signals have a time relationship as shown in FIGS. 9A, 9B, and 9C.

  More specifically, as shown in FIG. 10, at the position of the optical sensor 1a when the rotator 4 is eccentric, the rotator 4 is more in the outer peripheral direction than the ideal position 4a (the rotator 4 when there is no eccentricity). (Left direction in the figure). However, at the position of the optical sensor 1c, the rotator 4 swings in the inner circumferential direction (from the diagonally upper right direction to the diagonally lower right direction) than the ideal position 4a. On the other hand, in the optical sensor 1b, the ideal position 4a coincides with the position of the rotating body 4, and no eccentricity occurs. In this embodiment, since there are three optical sensors 1 and three detection objects 2, the actual eccentric circle of the rotating body 4 is determined from the three pieces of position information. That is, as shown in FIG. 9, the eccentricity Δ shown in FIG. 10 is estimated based on the information that the time widths of the detection signals 13a, 13b, and 13c of the optical sensors 1a, 1b, and 1c are Ta> Tb> Tc. can do.

  Next, the operation of the arithmetic circuit 7 for obtaining the inclination and eccentricity of the rotating body 4 will be described with reference to FIG. In order to calculate the inclination of the rotating body 4, A / D conversion signals (that is, digital signals) of the detection signals 13a, 13b, and 13c from the optical sensors 1a, 1b, and 1c to the amplitude detection units 74a, 74b, and 74c. Enter. Then, the amplitude detectors 74 a, 74 b and 74 c detect the trapezoidal wave amplitudes of these three detection signals 13 a, 13 b and 13, and transmit the amplitude data to the inclination calculator 76.

  Here, since the relationship between the amplitude of the trapezoidal wave of the detection signals 13a, 13b, and 13 and the clearance between the optical sensor 1 and the detected object 2 can be understood from the characteristic diagram shown in FIG. By referring to the correlation between the stored clearance and the detection signal level, the amount of clearance fluctuation at the three photosensor positions can be obtained. That is, since an ideal plane of the rotator 4 is determined, the tilt amount of the tilt of the rotator 4 can be uniquely calculated by the tilt calculator 76.

  In addition, in order to calculate the eccentricity of the rotating body 4, the A / D conversion signals (digital signals) of the detection signals 13 a, 13 b, and 13 c from the optical sensors 1 a, 1 b, and 1 c are input to the time detection unit 75. Then, the time detection part 75 detects the time when the trapezoidal wave of these three detection signals exceeds a certain level. In addition, when the edge parts 22 and 23 of the to-be-detected body 2 cross each light emission part 11 of the optical sensor 1 (1a, 1b, 1c), a detection signal is theoretically a square wave instead of a trapezoid wave, Actually, the light of the light emitting unit 11 has a finite luminous flux due to a sudden change in reflectivity, and thus becomes a trapezoidal detection signal as shown in FIG.

  For this reason, the time Ta, Tb, and Tc information equivalent to the half-value A / 2 of the amplitude A of the trapezoidal wave may be used as the time for the detected object 2 to cross the light emitting unit 11 of the optical sensor 1. That is, in the example of FIG. 9, the time widths of the detection signals 13a, 13b, and 13c of the optical sensors 1a, 1b, and 1c are Ta> Tb> Tc. The eccentricity of the body 4 can be estimated.

  FIG. 11 is a diagram illustrating the relationship between the relative positions of the optical sensor 1 and the detection target 2 and the respective specifications. That is, FIG. 11A shows the positional relationship between the optical sensor 1 and the detected object 2 when the rotating body is eccentric, and FIG. 11B shows the optical sensor 1 when the rotating body has no eccentricity. The positional relationship of the to-be-detected body 2 is shown.

  Here, the distance La (m) that the light emitter 11 of the optical sensor 1 crosses the detected object 2 is R (m) from the rotation axis of the detected object 2, and the rotational speed of the rotating body 4 is Z (rpm ) If the time that the detected object 2 crosses the light emitting body 11 of the optical sensor 1 is Ta, the distance La for the light emitting unit of the optical sensor 1 to cross the detected object 2 when the rotating body 4 is eccentric. (M) is obtained by the following formula (1).

  La = 2πZTaR / 60 (1)

On the other hand, if the distance that the light emitting portion of the optical sensor 1 crosses the detected object 2 in a state where the rotating body is not eccentric is L, the shake amount δ of the rotating body at the position where the optical sensor 1 is located is It can be obtained from equation (2).
δ = (La−L) / 2 tan (α / 2) (2)

  The above-mentioned shake amount δ is calculated at each of the positions of the three optical sensors 1a, 1b, and 1c. If the three shake amounts can be estimated in this way, the shape of the circle of the rotating body 4 that is actually rotating eccentrically can be obtained, so that the eccentric amount can be obtained. Note that the distance L that the light emitter 11 of the optical sensor 1 crosses the detection target 2 in a state where there is no eccentricity is stored in the storage unit 75 in the arithmetic circuit 7.

Embodiment 2

  FIG. 12A is a virtual cross-sectional view of the side surface of the antenna device according to Embodiment 2 of the present invention, and FIG. 12B is a diagram showing the positional relationship between the optical sensor 1a and the detected object 2a. That is, in the above-described first embodiment, the optical sensor 1 (1a, 1b, 1c) is mounted on the fixing unit 3, and the detected body 2 (2a, 2b, 2c) is fixed to the rotating body 4. However, in the second embodiment, the detection object 2 is fixed to the fixing unit 3, and the optical sensor 1 is mounted on the rotating body 4. In this way, even if the mounting configuration is such that the optical sensor 1 and the detection object 2 are reversed to those of the first embodiment, the same effects as those of the first embodiment can be obtained.

  That is, FIG. 12A is a virtual cross-sectional view of the rotating structure as viewed from the side surface in the second embodiment, and FIG. 12B shows the positional relationship when the optical sensor 1a and the detection target 2a are viewed from below. FIG. The three optical sensors 1a, 1b, and 1c having a pair of light emitting units and light receiving units are arranged 120 degrees apart on the same circle with the rotation axis 5 as the center, as in the first embodiment, and the rotating body 4 It is fixed to.

  On the other hand, in the fixed portion 3, three detected bodies 2a, 2b, 2c having edge portions 22, 23 extending from the corner portion 21 in a tapered shape are 120 ° in the same circle centered on the rotating shaft 5. They are attached one by one. Further, the detected bodies 2a, 2b, and 2c are arranged in a height relationship that allows them to pass through without contacting the optical sensors 1a, 1b, and 1c during rotation. Further, the rotating body 4 is a mechanism that can rotate via a drive motor 8 and a swivel bearing 9.

  With such a configuration, when the rotating body 4 is rotated, the detection signals 13a, 13b, and 13c detected when the detected bodies 2a, 2b, and 2c pass over the optical sensors 1a, 1b, and 1c are calculated by the arithmetic circuit 7. To enter. Note that the optical sensor 1 used in the second embodiment is of a reflective type.

  Here, compared with Embodiment 1 of FIG.1 (b) and FIG.3 (b), in Embodiment 2, as shown in FIG. 12, the mounting location of the optical sensor 1 and the to-be-detected body 2, and mounting direction However, even if the rotating body 4 is tilted or decentered, the relative positional relationship between the optical sensor 1 and the detected object 2 is the same as in the first embodiment. Accordingly, the subsequent operation principle and operational effects are the same as those of the first embodiment, and thus the description thereof is omitted.

  As described above, according to the rotating body inclination / eccentricity detection device of the present invention, the following various effects can be achieved. That is, the first effect is that the inclination and the eccentricity of the rotating body can be estimated simultaneously with only a plurality (for example, three) of optical sensors and a plurality of (for example, three) detected bodies. The reason is that by using a detected object having an edge at the corner, it is possible to create a difference between the characteristics of the detection signal of the optical sensor due to the tilt of the rotating body and the characteristics of the detection signal of the optical sensor due to eccentricity. This is because it can.

  The second effect is that the inclination and eccentricity of the rotating body can be detected at low cost. The reason is that it is not necessary to use a special sensor or a large measuring instrument as in the prior art, so that a low-priced optical sensor such as a general-purpose photo interrupter can be used as an optical sensor. The third effect is that a general-purpose optical sensor is very small and can always be used while mounted on a rotating structure. This means that the present invention can be applied not only to detection of inclination and eccentricity but also to detection of abnormality or failure in an actual operation state.

  Although the two embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration of the present invention is not limited to these embodiments and does not depart from the spirit of the present invention. Any changes in the design of the range are included in the present invention. For example, if the optical sensor and the detected object are not three, but a larger number are arranged on the circumference of the rotating body, the amount of inclination and the amount of eccentricity of the rotating body can be measured with higher accuracy. . In addition, if the plurality of optical sensors and the detected object are arranged at equal angles on the circumference of the rotating body, the amount of tilt and eccentricity of the rotating body can be measured uniformly along the circumference. In the case of simply detecting the inclination and eccentricity of the body, a plurality of optical sensors and detected bodies may be arranged at unequal angles on the circumference of the rotating body.

  The tilt / eccentricity detection device for a rotating body according to the present invention can be effectively used for a rotating structure that requires stable rotating operation, such as an antenna rotating device (rotating antenna) for air traffic control. In particular, when assembling a rotating structure, it can be used effectively for detecting inclination and eccentricity during precision driving work, or detecting abnormalities in rotational operation during operation.

DESCRIPTION OF SYMBOLS 1, 1a, 1b, 1c Optical sensor 2, 2a, 2b, 2c To-be-detected body 3 Fixed part 4, 4a Rotating body 5 Rotating shaft 6 Antenna 7 Calculation circuit part (estimating means)
8 Drive motor 9 Slewing bearing 11 Light emitter 12 Light receiver 13a, 13b, 13c Detection signal 21 Corner portion 22, 23 Edge portion 71a, 71b, 71c IV converter 72a, 72b, 72c Adjuster 73a, 73b, 73c A / D conversion unit 74a, 74b, 74c Amplitude detection unit 75a, 75b, 75c Time detection unit 76 Inclination calculation unit 77 Eccentric calculation unit 78 Storage unit Δ Eccentric amount

Claims (14)

A rotating body inclination / eccentricity detecting device for detecting the amount of inclination and the amount of eccentricity of a rotating body mounted rotatably with respect to a fixed part,
A plurality of optical sensors and a plurality of detected bodies mounted opposite to the fixed portion and the rotating body;
An estimation means for simultaneously estimating an inclination amount and an eccentricity amount of the rotating body based on a detection signal when the optical sensor detects the detected object during the rotation of the rotating body; Rotating body tilt / eccentricity detector. The detected object includes a corner portion having a predetermined angle at a tip and an edge portion extending in a tapered shape from the corner portion,
2. The tilt / eccentricity of the rotating body according to claim 1, wherein the optical sensor is arranged so as to cross a region surrounded by the edge portion of the detected body during rotation of the rotating body. Detection device. The detected body moves between the axial direction and the circumferential direction of the rotating body according to the amount of eccentricity during the rotation of the rotating body,
The optical sensor changes the clearance with the detected object according to the amount of inclination during rotation of the rotating body, and is sandwiched between the edge portions according to the amount of eccentricity during rotation of the rotating body. The apparatus for detecting inclination / eccentricity of a rotating body according to claim 2, wherein the time for crossing the region is changed. The estimation means includes
Estimating the amount of tilt of the rotating body according to the amplitude level of the detection signal detected by the optical sensor from the detected object;
The tilt / eccentricity detection of the rotating body according to claim 3, wherein the optical sensor estimates an eccentricity amount of the rotating body according to a detection time of a detection signal of a certain amplitude level or more detected from the detected body. apparatus.   5. The tilting / eccentricity detecting device for a rotating body according to claim 1, wherein the optical sensor is mounted on the fixed portion, and the detected body is mounted on the rotating body.   5. The tilt / eccentricity detection device for a rotating body according to claim 1, wherein the optical sensor is mounted on the rotating body, and the detected object is mounted on the fixed portion. 6.   The tilt of the rotating body according to any one of claims 1 to 6, wherein the optical sensor and the detected body are arranged at substantially equal angles on the circumference of the rotating body. Eccentricity detection device.   The tilt of the rotating body according to any one of claims 1 to 7, wherein the optical sensor is a reflective optical sensor that receives and reflects an optical signal emitted by the self from the detected object.・ Eccentricity detection device.   The optical sensor is made of a material having a high reflectance, or the entire surface is coated with a material that provides a sufficient reflectance with respect to the wavelength of the optical signal emitted from the optical sensor. An apparatus for detecting tilt / eccentricity of a rotating body according to claim 8. The amount of inclination and the amount of eccentricity of a rotating body mounted rotatably with respect to a fixed part are detected using a plurality of optical sensors and a plurality of detected objects mounted facing the fixed part and the rotating body. A method for detecting the tilt / eccentricity of a rotating body,
Inclination of the rotating body characterized by simultaneously estimating the amount of inclination and the amount of eccentricity of the rotating body based on a detection signal when the optical sensor detects the detected object during the rotation of the rotating body.・ Eccentricity detection method. The detected object includes a corner portion having a predetermined angle at a tip and an edge portion extending in a tapered shape from the corner portion,
11. The tilt / eccentricity of the rotating body according to claim 10, wherein the optical sensor is disposed so as to cross a region surrounded by the edge portion of the detected body during rotation of the rotating body. Detection method. The detected body moves between the axial direction and the circumferential direction of the rotating body according to the amount of eccentricity during the rotation of the rotating body,
The optical sensor changes the clearance with the detected object according to the amount of inclination during rotation of the rotating body, and is sandwiched between the edge portions according to the amount of eccentricity during rotation of the rotating body. 12. The method of detecting tilt / eccentricity of a rotating body according to claim 11, wherein the time for crossing the region is changed. Estimating the amount of tilt of the rotating body according to the amplitude level of the detection signal detected by the optical sensor from the detected object;
The tilt / eccentricity detection of the rotating body according to claim 12, wherein the optical sensor estimates an eccentricity amount of the rotating body in accordance with a detection time of a detection signal detected from the detected body by a certain amplitude level or more. Method.   The method according to claim 13, wherein the optical sensor and the detected object are arranged at substantially equal angles on the circumference of the rotating body.

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