JP2502165Y2 - Surveying instrument - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention is a surveying method in which a horizontal axis supporting a telescope and a vertical axis supporting a surveying instrument body (hereinafter collectively referred to as a rotary axis) are driven by a motor. Regarding the machine.

[Conventional technology]

In the surveying instrument, a collimating telescope is rotatably supported around a horizontal axis, and the surveying instrument main body is rotatably supported around a vertical axis. Then, in order to orient the surveying instrument in a predetermined direction, first the operator manually turns the surveying instrument body or telescope so that the surveying instrument faces the collimation point position,
Next, the fine adjustment screw is operated to collimate. However, in the case where the surveying instrument is pointed to a predetermined measuring point by remote operation, or when the lightwave rangefinder is automatically tracked by the reflecting prism to position the platform, the rotating shaft is driven to rotate by the drive motor. ing. FIG. 6 is a sectional view of the surveying instrument when the horizontal axis is driven by a motor. Reference numeral 2 is a horizontal axis connected to a telescope 1 (hereinafter referred to as a telescope) for automatic collimation and lightwave distance measurement. The rotational force of the output shaft 5a of the drive motor 5 fixedly supported by the casing 4 is transmitted to the horizontal shaft 2 by the gear mechanism 6 (spur gears 7, 8).

[Issues to be solved]

However, in the conventional surveying instrument, since the gear mechanism 6 is provided between the drive motor 5 and the rotary shaft, an extra space in the body casing of the surveying instrument is required.
Further, in such a transmission mechanism, there is a problem that the rotary shaft cannot be accurately rotationally positioned due to backlash between the gears 7 and 8. As shown in FIG. 6 (a), the spring member 9 biases the support shaft portion of the gear 7 upward to strengthen the meshing between the gears 7 and 8 and eliminate backlash. It is possible to provide means, but this is not preferable because the structure becomes complicated accordingly.

The present invention has been made in view of the above-mentioned problems of the prior art, and an object thereof is to provide a motor-driven surveying instrument that does not occupy space for a rotary shaft drive mechanism, has excellent positioning accuracy, and has a simple structure. is there.

[Means for solving the problem]

In order to achieve the above-mentioned object, in a surveying instrument according to the present invention, a vertical shaft fixed to a body casing is rotatably supported by a shaft cylinder erected on a leveling table, and the shaft cylinder and the vertical shaft are vertically supported. A flange facing each other is formed at the upper end of the shaft, and a ring-shaped horizontal angle detecting rotary encoder is interposed between these flanges, and a shaft cylinder side flange is provided inside the horizontal angle detecting rotary encoder. A contact force is applied between the rotor part and the stator part by a disc spring provided between the formed stator part and the rotor part fixed to the vertical shaft side flange and interposed between the lower end part of the vertical shaft and the lower end part of the shaft cylinder. An annular vertical axis rotating ultrasonic motor configured as described above is provided, and a horizontal shaft fixed to the telescope is rotatably supported between a pair of columnar portions formed in the body casing, and one columnar Side of department Between the wall and the end of the horizontal axis, an annular rotary angle encoder for height angle detection is installed, and between the side wall of the other column and the flange formed at the other end of the horizontal axis, the side wall of the column It is constructed such that a stator portion fixed to the rotor and a rotor portion formed by a flange are provided in opposition to each other, and a contact force is applied between the rotor portion and the stator portion by a disc spring interposed between the horizontal shaft and the side wall of the columnar portion. A circular ultrasonic motor for rotating the horizontal axis is provided.

Further, in the surveying instrument according to claim (2), a vertical shaft fixed to the body casing is rotatably supported by a shaft cylinder erected on the leveling table, and the upper ends of the shaft cylinder and the vertical shaft. Flanges facing each other are formed, and an annular horizontal angle detecting rotary encoder is interposed between these flanges, and a stator portion formed by a shaft side flange is provided inside the horizontal angle detecting rotary encoder. And a rotor portion fixed to the vertical shaft side flange, and a disc spring interposed between the lower end portion of the vertical shaft and the lower end portion of the shaft cylinder is configured to exert a contact pressure force between the rotor portion and the stator portion. An annular vertical-axis rotating ultrasonic motor is provided, and a horizontal shaft fixed to the telescope is rotatably supported between a pair of columnar portions formed in the body casing, and the side wall of one of the columnar portions. And the edge of the horizontal axis An annular rotary angle encoder for height angle detection is installed between the parts, and a fixed cylinder is rotatably attached to the other end of the horizontal shaft. A fixed ring with an arm extending laterally is attached to this fixed cylinder. It has a rotating output shaft connected to the horizontal shaft in the fixed cylinder via a bellows coupling at the tip of the fixed cylinder, and is fitted to the outer end of the fixed cylinder so as to prevent it from slipping off. An ultrasonic motor configured such that contact pressure is applied between the rotor portion and the stator portion by a disc spring interposed therebetween is fixed, and the columnar portion is provided between the fixed ring and the side wall of the columnar portion. A spring that is screwed to the side wall of the arm and is disposed between the fine movement screw arranged in the direction orthogonal to the arm extension direction and the side wall of the arm column, and biases and holds the arm in contact with the tip of the fine movement screw. A fine movement operation mechanism consisting of The stationary ring is disposed through the holes formed in the columnar portion formation walls is obtained by such screwing fixing knob to release the fixed and fixed between the stationary ring and the fixed barrel.

[Action]

According to claims (1) and (2), a rotating force transmitting mechanism such as a gear mechanism having backlash is not provided, and the ultrasonic motor has a large holding torque of the output shaft when stationary, so that the rotating shaft is backed up. It can be held in a fixed state without backlash such as lash, and high-precision positioning of the vertical and horizontal axes becomes possible. Further, since the output shaft of the motor is directly connected to the vertical shaft and the horizontal shaft, the rotational force transmission mechanism is unnecessary, and the space in the body casing can be effectively used accordingly.

Further, since the vertical axis rotating ultrasonic motor is provided inside the annular horizontal angle detecting rotary encoder interposed between the shaft cylinder and the vertical shaft, the space inside the body casing can be effectively used.

Further, in claim (2), if the fixing screw is tightened and the fixing ring and the fixing cylinder are fixed, the horizontal shaft can be rotated by the ultrasonic motor or the horizontal shaft can be rotated by the fine adjustment screw. You can also On the other hand, loosen the fixing screw,
If the fixed ring and the fixed tube are not fixed, the horizontal shaft can be directly rotated (coarsely) by hand.

〔Example〕

Next, an embodiment of the present invention will be described with reference to the drawings. 1 and 2 show a surveying instrument according to an embodiment of the present invention. FIG. 1 is a vertical sectional view of the surveying instrument, and FIG. 2 is a position of a rotary shaft (vertical axis or horizontal axis). FIG. 3 is a block diagram of a control circuit for controlling the.

In these figures, reference numeral 10 is a leveling platform, and this leveling platform
The surveying instrument main body 20 is rotatably mounted on the leveling table 10
Is integrated into. The leveling table 10 is provided with a shaft cylinder 12 extending vertically, and the surveying machine main body 20 is provided in the shaft cylinder 12.
A vertical shaft 22 on the side is inserted and arranged, and is rotatably supported via a bearing 14. Flange portions 13 and 23 facing each other are formed at the upper end of the barrel 12 and the upper end of the vertical shaft 22, respectively, and an annular disc scale 24 and a mask scale 26 are attached to these flanges 13 and 23. Has been done. Both scales 24,26
Are opposed to each other with a minute gap therebetween, and the mask scale 26 is rotated with respect to the disk scale 24 by the rotation of the vertical shaft 22. Further, a light emitting element 27 and a light receiving element 28 are arranged so as to face each other across both the scales 24 and 26. Reference numeral 29 is a bracket that extends from the flange portion 23 of the vertical shaft 22 and supports both elements 27 and 28. That is, the light emitting element 27, the light receiving element 28, and the scales 24, 26 constitute an optical rotary encoder E ₁ which is a horizontal angle sensor, and the light receiving signal at the light receiving element 28 is as shown in FIG. Control circuit
The arithmetic and control unit 70 detects the amount of rotation of the surveying instrument main body 20 about the vertical axis. The code 16,1
Reference numeral 7 is a lower plate constituting the leveling table, and a surface plate, reference numeral 18 is a leveling screw, and reference numeral 19 is an optical centering optical path formed in the vertical axis 22.

Further, between the flange portion 13 of the shaft cylinder and the flange portion 23 of the vertical shaft, a stator portion 42, a rotor portion 44, and a disc spring 47 that applies a pressing force to the contact surface between the stator portion 42 and the rotor portion 44. The ultrasonic motor 40 configured by
The vertical shaft 22 constitutes an output shaft 41 of the ultrasonic motor. In the stator 42 part, an elastic body 42a made of metal and two piezoelectric ceramics 42b, 42c attached to the elastic body 42a with a phase difference of 1/4 wavelength for generating a traveling wave are integrated. It has a ring shape and is fixedly arranged on the upper surface of the flange portion 13 of the barrel. On the other hand, the rotor portion 44 has a structure in which a ring-shaped lining material 44a that changes the vibration of the stator portion 42 into a rotational force is attached to the lower side of the disk-shaped rotating plate 45, and is integrated into the flange of the vertical shaft 22. The part 23 forms a rotary plate 45. A disc spring 47 supported by a nut 46 is interposed in a downward projecting portion of the vertical shaft 22 from the barrel 12, and the disc spring 47 causes an appropriate pressing force on the contact surface between the rotor portion 44 and the stator portion 42. Given the vertical axis 22 which is the output axis
Is the starting torque of 1.5 when the ultrasonic motor 40 is not energized.
~ About twice as much holding power is working. For this reason, in the non-energized state, the disc spring 47 reliably holds and holds the vertical shaft 22, that is, the surveying instrument main body 20, at a predetermined rotation position. Therefore, after the telescope 34 is rotated to the predetermined rotation position, it is held in that position without play. The nut 46 can adjust the spring force of the disc spring 47.

The surveying instrument main body 20 is formed with columnar portions 30, 30 facing each other, and a telescope 34 fixedly supported by a horizontal shaft 32 is provided between the columnar portions 30, 30. The horizontal shaft 32 is supported by a metal bearing 32a that is screwed and fixed to the inner vertical wall 30a of the columnar part 30, and extends horizontally from the inner side of the inner vertical wall 30a of the columnar part 30 to the outer periphery of one end side of the horizontal shaft 32. Cylindrical rib 35 surrounding the shaft 32
Are formed, and flange portions 33 and 36 are formed at the tip of the horizontal shaft 32 and the tip of the tubular rib 35, respectively. The flange 33 has an annular disc scale 24 and the flange 36
An annular mask scale 26 is attached to each of the two scales.
24 and 26 are arranged to face each other with a minute gap. Further, a light emitting element 27 and a light receiving element 28 are supported by a bracket 29 so as to be opposed to each other with both scales 24 and 26 interposed therebetween.
The light emitting element 27 and the light receiving element 28 form an optical rotary encoder E ₂ which is an altitude angle sensor. By the rotation of the disk scale 24 with respect to the mask scale 26, the light reception signal of the light receiving element 28 is detected as the rotation amount of the telescope 34 around the horizontal axis in the arithmetic control unit of the control circuit 70, as shown in FIG. It has become so.

An ultrasonic motor 50 is provided between the other end of the horizontal shaft 32 and the inner vertical wall 30a of the casing. Ie column
The stator 52 is mounted inside the inner vertical wall 30a of the unit 30 and the rotor 54 is mounted and fixed to the end of the horizontal shaft 32 so as to face each other. The ultrasonic motor 50 rotates the rotor 54 when energized.
Is configured. The stator part 52 is an elastic body 52a and ceramics 52b, 52c integrated in a ring shape, the rotor part 54 is a rotary plate 55 and a lining material 54a are integrated, and the rotary plate 55 is a motor output. Horizontal axis forming axis 51
It is screwed to 32 ends. A flange portion 56 is formed at a position facing the outside of the vertical wall 30a of the support portion 51 of the horizontal shaft 32 that is also the output shaft of the ultrasonic motor 50 and is supported by the bearing 32a, and between the flange portion 56 and the vertical wall 30a. The rotor part 5
4 Belleville spring 57 that applies pressure to the contact surface between the stator 4 and the stator 52.
Is intervening. Therefore, when the ultrasonic motor 50 is not energized, the output shaft 51 is fixed and held by the action of the disc spring 57, and the horizontal shaft 32, that is, the telescope 34 is securely fixed and held at the predetermined rotation position. Further, the motor output shaft 51 and the horizontal shaft 32 are integrated, and no torque transmission mechanism is provided between the output shaft 51 and the horizontal shaft 32 of the motor 50.
The rotation position of the axis immediately becomes the rotation position of the horizontal shaft 32, and there is no backlash due to the gear mechanism or the like unlike the prior art.

Next, a case where a rotary shaft (vertical shaft, horizontal shaft) is rotated by a predetermined amount by an ultrasonic motor will be described with reference to FIG.

First, as shown in FIG. 2, when a rotation signal S ₁ for rotating the rotation shaft by a predetermined amount is output, a current is supplied to the ultrasonic motor 40 (50) for a predetermined time via the control circuit 70. Is
As a result, the ultrasonic motor 40 (50) is driven and the rotary shaft is rotated. The rotation amount of the rotary shaft is the rotary encoder E ₁
It is detected at (E ₂ ) and is output to the control circuit 70. In the control circuit 70, the signal S ₂ from the encoder E ₁ (E ₂ ) is compared with the rotation signal S _1, and if they do not match, the motor is stopped and the rotation is stopped because the rotation position is proper. The shaft is held in this position. On the other hand, when the signals S ₁ and S ₂ do not match, the rotation signal corresponding to the error is sent to the ultrasonic motor.
Output to 40 (50) and rotate the rotary shaft to the target position. Then again, the encoder E ₁ (E ₂ ) controls the rotation amount by the control unit 70.
And the control is repeated until the rotation shaft reaches the desired rotation position.

FIG. 3 shows a surveying instrument which is a second embodiment of the present invention, and is a front view showing a cross section around the horizontal axis.

In the first embodiment, the ultrasonic motors 40 and 50 are configured by mounting and fixing the rotor portion on the rotary shaft and the stator portion on the machine casing, respectively, but in this embodiment, they are configured as independent parts. The motor casing of the ultrasonic motor 60 is fixed to the inner vertical wall 30a of the columnar portion 30, and the motor output shaft 61 is connected to the horizontal shaft 32 via the bellows coupling 62. Torque can be transmitted even if the horizontal shaft 32 and the motor output shaft 61 are slightly deviated from each other in the axial direction, and the bellows coupling 62 has no rattling in the torque transmission direction, causing backlash problems like the gear mechanism. Since it does not exist, the horizontal shaft 32 can be accurately rotated.

FIGS. 4 and 5 show a surveying instrument which is a third embodiment of the present invention. FIG. 4 is a front view showing a cross section around the horizontal axis of the surveying instrument, and FIG. 5 is shown in FIG. It is sectional drawing which follows the line VV shown.

The third embodiment is characterized in that the horizontal shaft 32 can be rotated by either an electric method or a manual method.

A fixed cylinder 70 is rotatably attached to the horizontal shaft 32, and a fixed ring 72 is rotatably attached to the outside of the fixed cylinder 70. A fixing screw 74 is threaded through the fixing ring 72 in the radial direction. The tip of the fixing screw 74 presses the fixing cylinder 70 via a metal plate 75, and the fixing ring 72 and the fixing cylinder via the fixing screw 74. 70
It is designed to be integrated with. The fixing screw 74 penetrates the long hole 30b formed in the upper wall of the columnar portion and projects upward,
The fixed knob 74a is pivotally attached here. The motor casing of the ultrasonic motor 60 is fixed to the outer open end of the fixed cylinder 70, and the output shaft 61 of the motor 60 and the horizontal shaft 32 are connected to each other in the fixed cylinder 70 via a bellows coupling 62. . The horizontal shaft 32 is provided with a nut for preventing the horizontal shaft 32 from coming off in the thrust direction, and a disc spring (not shown) is provided between the nut and the fixed cylinder 70 to prevent the ultrasonic wave from passing through the ultrasonic wave. Contact pressure is applied to the piezoelectric element of the motor. The fixed cylinder 70 is provided with a pair of annular slip rings 76, 76 to which a power supply cord 75 for the motor 60 is connected. The slip rings 76, 76 have leaf spring-shaped contact brushes 78, 78 on the power supply side. Are held in contact with each other and the motor 6
The current is supplied to 0. Reference numeral 79 is a bracket that supports the contact brush 78.

An arm 80 extends downward from the fixed ring 72 in the radial direction, and the arm 80 has a structure in which both sides are clamped by a fine movement screw 82 and a spring member 86. That is, the fine adjustment screw 82 is the fine adjustment female screw 83 fitted in the columnar casing.
The distal end of the arm 80 is screwed into the columnar casing so as to project into the casing, and is in contact with one side surface of the distal end of the arm 80 via the pin 84. Reference numeral 83a is a fine movement operation knob axially attached to the fine movement screw 82. The spring member 86 has a structure in which the tip of a slider 88 biased by a built-in compression coil spring 87 is in contact with the other side surface of the arm 80. In this way, the arm 80, the spring member 86 and the fine movement screw 82 constitute the fine movement operation mechanism 90 for manually finely rotating the horizontal shaft 32.

Next, a case where the horizontal shaft 32 is electrically operated and a case where the horizontal shaft 32 is manually operated will be described.

First, in the case of electric operation, the fixed knob 74a is tightened to integrate the fixed ring 72 and the fixed cylinder 70. Then, if the ultrasonic motor 60 is driven, the fixed ring 72 will move to the manual operation mechanism 90.
Since it is fixed to the casing by the casing, the rotor portion, the output shaft 61, and the horizontal shaft 32 rotate integrally, and the telescope 34 rotates about the horizontal axis.

On the other hand, also in the case of manual operation, the fixed knob 74a is tightened to integrate the fixed ring 72 and the fixed cylinder 70. When the motor is not energized, the rotor portion and the stator portion are held in a fixed state by a disc spring (not shown), so that the horizontal shaft 32 is integrated with the fixed barrel 70 and the fixed ring 72 via the ultrasonic motor 60. Therefore, if the fine movement operation knob 83a is rotated, the arm 8
0 is displaced in the left-right direction in FIG. 5, and the fixed ring 72, the fixed cylinder 70, the ultrasonic motor 60, the output shaft 61, the coupling 62, and the horizontal shaft 32.
Rotate together. At this time, the fixing screw 74 also swings,
The fixing screw 74 moves along the elongated hole 30b formed in the upper surface wall of the columnar section 30 and therefore does not interfere with the columnar section casing.

Further, when it is desired to manually rotate the telescope 34 by a predetermined amount, the fixing screw 74 is loosened so that the fixed ring 72 and the fixed barrel 70 are relatively rotatable. Then the horizontal axis with respect to the fixed ring 72
32, the ultrasonic motor 60, and the fixed barrel 70 can be integrally rotated, and the telescope 34 can be freely rotated by hand.

[Effect of device]

As is clear from the above description, in the surveying instrument according to the present invention, without interposing the torque transmission mechanism such as the gear mechanism,
Since the vertical shaft and horizontal shaft are rotated by the ultrasonic motor that has the output shaft directly connected to the vertical shaft and horizontal shaft, a simple rotary drive mechanism is constructed and the rotary shaft is fixed without backlash such as backlash. It can be maintained in the state, and high precision positioning of the vertical axis and horizontal axis can be performed when automatic collimation is performed. Further, since the output shaft of the motor is directly connected to the vertical shaft and the horizontal shaft, the rotational force transmission mechanism is unnecessary, and the space in the casing can be effectively used accordingly.

Also, because the vertical axis rotation ultrasonic motor is installed inside the annular horizontal angle detection rotary encoder that is interposed between the axial cylinder and the vertical axis, the soot inside the machine is sufficiently wide and The degree of freedom in the layout of other members disposed in the can be increased.

Further, according to claim (2), the motor drive of the telescope, the fine movement by the fine movement screw and the coarse movement by the hand can be freely used only by tightening or loosening the fixing screw, which is very convenient. A good surveying instrument can be obtained.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional view of a theodolite according to an embodiment of the present invention, FIG. 2 is a control block diagram for rotationally operating a rotary shaft (vertical shaft or horizontal shaft), and FIG. 3 is a second embodiment of the present invention. The front view which shows in cross section the horizontal axis periphery of the theodolite which is an example,
The drawing is a front view showing a cross section of the periphery of the horizontal axis of the theodolite according to the third embodiment of the present invention, and FIG. 5 is a line V- shown in FIG.
FIG. 6 is a vertical sectional view of a conventional surveying instrument, and FIG. 6 (a) is a diagram showing an example of conventional backlash removing means. 20 …… Surveying instrument main body, 22 …… Vertical axis, 32 …… Horizontal axis, 34…
… Telescope, 40, 50, 60… Ultrasonic motor, 41, 51, 61 …… Motor output shaft, 62… Bellows coupling.

Claims (2)

(57) [Scope of utility model registration request] 1. A vertical shaft fixed to a body casing is rotatably supported by a shaft cylinder erected on a leveling table, and flanges facing each other are formed at upper ends of the shaft cylinder and the vertical shaft. An annular rotary angle detecting rotary encoder is interposed between these flanges, and inside the horizontal angle detecting rotary encoder, a stator portion formed by a shaft side flange and a vertical shaft side flange are provided. A ring-shaped ring which is formed so as to oppose the fixed rotor part and to exert a contact pressure between the rotor part and the stator part by a disc spring interposed between the lower end part of the vertical shaft and the lower end part of the shaft cylinder. An ultrasonic motor for vertical axis rotation is provided, and between a pair of columnar parts formed in the body casing, a horizontal shaft fixed to the telescope is rotatably supported,
A ring-shaped rotary encoder for height angle detection is interposed between the side wall of one column and the end of the horizontal axis, and a flange formed on the side wall of the other column and the other end of the horizontal axis. A rotor part formed by a flange and a stator part fixed to the side wall of the columnar part are provided between the rotor part and the stator part by a disc spring interposed between the horizontal shaft and the side wall of the columnar part. A surveying instrument, characterized in that an annular horizontal-axis rotating ultrasonic motor configured so that a contact pressure is applied therebetween is provided. 2. A vertical shaft fixed to the body casing is rotatably supported by a shaft cylinder erected on the leveling table, and flanges facing each other are formed at upper ends of the shaft cylinder and the vertical shaft. An annular rotary angle detecting rotary encoder is interposed between these flanges, and inside the horizontal angle detecting rotary encoder, a stator portion formed by a shaft side flange and a vertical shaft side flange are provided. A ring-shaped ring which is formed so as to oppose the fixed rotor part and to exert a contact pressure between the rotor part and the stator part by a disc spring interposed between the lower end part of the vertical shaft and the lower end part of the shaft cylinder. An ultrasonic motor for vertical axis rotation is provided, and between a pair of columnar parts formed in the body casing, a horizontal shaft fixed to the telescope is rotatably supported,
A ring-shaped rotary encoder for height angle detection is interposed between the side wall of one of the pillars and the end of the horizontal shaft, and a fixed cylinder is rotatably attached to the other end of the horizontal shaft. A fixed ring having an arm extending to the side is rotatably fitted to the fixed barrel, and a rotary output shaft connected to a horizontal shaft in the fixed barrel via a bellows coupling is attached to the tip of the fixed barrel. An ultrasonic motor constructed so that contact pressure is applied between the rotor part and the stator part by a retaining nut provided on the horizontal shaft and a disc spring interposed between the fixed cylinders is fixedly installed. Between the fixed ring and the side wall of the columnar section, there is an interposition between the side wall of the columnar section of the arm and a fine adjustment screw that is screwed to the side wall of the columnar section and arranged in a direction orthogonal to the arm extension direction. The arm is urged and held in contact with the tip of the fine adjustment screw. A fine movement operation mechanism including a spring member is provided, and the fixing ring is provided so as to pass through a hole formed in the columnar portion forming wall, and fixes the fixing ring and the fixing tube to be fixed and to release the fixation. A surveying instrument characterized in that the knob is screwed on.