JP5035180B2 - Tilt adjustment control method and control apparatus therefor - Google Patents

Description

  The present invention relates to a tilt adjustment control method for an object screwed at three points, and a control apparatus therefor.

  Conventionally, as an example of a method for adjusting the inclination of an object screwed at three points, there is a radar axis adjustment method for a vehicular radar apparatus disclosed in Patent Document 1.

  In the radar axis adjustment method of the vehicle radar device disclosed in Patent Document 1, the radar that is the object of inclination adjustment is attached to the vehicle by the radar axis direction adjustment mechanism. The radar is fixed to the stay by a mounting nut. The stay is attached to the vehicle-side mounting stay by a reference mounting bolt, a vertical adjustment bolt, and a horizontal adjustment bolt.

When adjusting the radar axis direction, loosen all lock nuts of the reference mounting bolts, vertical adjustment bolts and horizontal adjustment bolts. The adjustment bolt is turned to tilt the radar upward or downward, thereby adjusting the angle of the radar axis in the vertical direction. When adjusting the angle of the radar axis in the left-right direction, the horizontal adjustment bolt is turned to tilt the radar to the left or right, thereby adjusting the direction of the radar axis in the left-right direction. After adjusting the radar axis direction, tighten all lock nuts to prevent the bolts from turning.
JP 2000-258527 A

  When adjusting the radar axis direction by turning the vertical adjustment bolt and horizontal adjustment bolt as in the radar axis adjustment method disclosed in Patent Document 1, it corresponds to the head (hexagonal part) of the vertical adjustment bolt and horizontal adjustment bolt. In some cases, a screw fastening device including a bit having a concave portion having the shape described above is used. When such a screw tightening device is used, the vertical adjustment bolt and the horizontal adjustment bolt are turned in a state in which the heads of the vertical adjustment bolt and the horizontal adjustment bolt are arranged in the concave portion of the bit.

  By the way, although the shape of the recess of the bit corresponds to the shape of the head of the vertical adjustment bolt and the horizontal adjustment bolt, the head of the vertical adjustment bolt and the horizontal adjustment bolt is arranged in the recess of the bit. It is necessary to rotate the bit while moving the bit in the direction of the thread of the vertical adjustment bolt and the horizontal adjustment bolt using, for example, a spring. At this time, the bit may be in a state where the object and the mounting stay are pressed in the direction of the thread of the vertical adjustment bolt and the horizontal adjustment bolt. However, the mounting stay may be bent (distorted) by the load from the bit. Even if the tilt is adjusted by turning the vertical adjustment bolt and the horizontal adjustment bolt in such a state, it cannot be adjusted with high accuracy.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a tilt adjustment control method and a control device for the tilt adjustment control method that can adjust with high accuracy.

  In order to achieve the above object, the tilt adjustment control method according to claim 1 is a recess having a shape corresponding to the head of the screw member when adjusting the tilt of the object attached to the mounted body with three screw members. An inclination adjustment control method for adjusting by rotating a screw member with a screw tightening device having a bit having a bit, wherein the bit is rotated by moving the bit in a direction along the screw portion of the screw member, A seating step in which the head is disposed in the concave portion of the body, and a position adjustment for adjusting the position of the bit to a position where a load in a direction along the screw portion of the screw member is not applied to the object and the attached body after the seating step. And a screw tightening step of rotating the bit member by rotating the bit in a state adjusted in the position adjusting step.

  In this way, by adjusting the position of the bit to a position where the head is disposed in the recess of the bit and no load in the direction along the screw portion of the screw member is applied from the bit to the object and the attached body. Application of a load from the bit to the object and the attached body can be suppressed. That is, the mounted body is not bent (distorted) by the load from the bit. Therefore, when the inclination is adjusted by turning the screw member in this state, the adjustment can be made with high accuracy.

  Further, after the screw tightening process, the head and the bit (recess) are bitten. In such a state, when the bit is pulled out from the head of the screw member, the object and the mounted body are pulled by friction between the head and the bit (recess), and the mounted body that has been adjusted is deformed. there is a possibility. Therefore, as shown in claim 2, the step is performed after the adjustment of the inclination of the object is completed, and the bit is rotated in a direction opposite to the rotation in the screw tightening step, so that the gap between the concave portion of the bit and the screw member is set. A gap forming step for forming a gap and a drawing step for pulling out the bit after the gap forming step may be provided.

  In this way, after forming a gap between the head that is bitten after the screw tightening step and the bit (recessed part), it is possible to prevent the attached body from being pulled and deformed by pulling out the bit. can do.

  Moreover, when adjusting the inclination, the position corresponding to the other screw member is shifted due to the rotation of one screw member, and the adjustment may not be completed at one time.

  Therefore, as shown in claim 3, the three screw members are arranged on a reference bolt and a line that forms a substantially right angle with the reference bolt as a base point, and for adjusting the inclination of the object in the vertical direction. It includes a vertical adjustment bolt and a horizontal adjustment bolt for adjusting the inclination of the object in the horizontal direction. When one screw member of three screw members is turned during screw tightening by turning the screw member The correlation formula of the influence degree of the displacement value of the other screw members is acquired as shown in the formula 1Y = aX, and the screw tightening target value Z with respect to the initial displacement difference ΔZ of the vertical adjustment bolt, the horizontal adjustment bolt and the reference bolt is expressed by the formula 2Z = ΔZ / (1−a) = K × ΔZ may be acquired, and a correction step of correcting the screw tightening amount using K = 1 / (1−a) as a correction coefficient may be provided.

  By doing in this way, since the influence on the position corresponding to the other screw member by the tightening (rotation) of a certain screw member can be considered, it is preferable because the inclination can be adjusted at a time.

  In order to achieve the above object, the tilt adjustment control device according to claim 4 has a shape corresponding to the head of the screw member when adjusting the tilt of the object attached to the mounted body with three screw members. An inclination adjustment control device that adjusts by rotating a screw member with a screw tightening device including a bit having a concave portion, wherein the screw tightening device includes a pressing unit that presses the bit in a direction along the screw portion of the screw member. While rotating the bit while pressing the bit with the pressing means, while rotating the bit and moving the bit in the direction opposite to the pressing direction by the pressing means, the rotating means for placing the head in the recess of the bit A position adjusting means for adjusting the position of the bit to a position where a head is disposed in the concave portion of the bit and a load in a direction along the screw portion of the screw member is not applied from the bit to the object and the attached body. The bits of the state adjusted by the position adjusting means is rotated and is characterized in further comprising a screw fastening means for turning the screw member.

  Thus, the position where the head is arranged in the recess of the bit and the position of the bit is adjusted to the position where the load in the direction along the screw portion of the screw member is not applied from the bit to the object and the attached body. By providing the adjusting means, it is possible to suppress application of a load from the bit to the object and the attached body. That is, the mounted body is not distorted by the load from the bit. Therefore, when the inclination is adjusted by turning the screw member in this state, the adjustment can be made with high accuracy.

  According to a fifth aspect of the present invention, the pressing means presses the bit by the elastic force of the spring, the screw tightening device includes expansion / contraction detecting means for detecting expansion / contraction of the spring, and the position adjusting means is expanded / contracted. When the detection means detects that the spring is fully extended, the bit is stopped by assuming that a load in the direction along the screw portion of the screw member is not applied from the bit to the object and the attached body. You may do it.

  As described above, when the bit is pressed by the spring, a position in which the load in the direction along the screw portion of the screw member is not applied from the bit to the object and the mounted body because the spring that presses the bit is fully extended. Can be considered.

  According to a sixth aspect of the present invention, the screw tightening device is connected to the base and the bit, is movable in a direction along the screw portion of the screw member, and is rotatable about the rotation axis of the screw member. And a positioning portion that is fixed to the shaft portion and forms a slit for position adjustment between the bit portion and the spring, and one end of the spring is fixed to the shaft portion and the other end is fixed to the base portion. The expansion / contraction detection means is fixed to the base and is disposed at a position facing the positioning portion with the spring fully extended, and is detected at a position facing the slit and a position facing the positioning portion. Detects that the spring is fully extended by including a photoelectric sensor with different signals, and outputting a detection signal indicating the position facing the positioning portion after the detection signal indicating the position facing the slit is output from the photoelectric sensor. Like Good. By doing so, the expansion and contraction of the spring can be detected.

  According to a seventh aspect of the present invention, the expansion / contraction detecting means includes a displacement sensor that detects a displacement in a direction along the screw portion of the screw member in the object and the attached body, and the displacement is no longer detected by the displacement sensor. Thus, it may be detected that the spring is fully extended. By doing in this way, the expansion and contraction of the spring can be detected.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a perspective view of a millimeter wave radar device attached to a bracket. FIG. 2 is an enlarged perspective view of a tilt adjustment portion of the millimeter wave radar device. FIG. 3 is a side view showing a schematic configuration of the screw fastening device. 4A to 4D are drawings for explaining a screw tightening process in the tilt adjustment control method. 5 is a cross-sectional view taken along the line VV in FIG. 6 is a cross-sectional view taken along the line VI-VI in FIG. 7 is a cross-sectional view taken along the line VV in FIG. 3 when the screw fastening device is rotated. 8 is a cross-sectional view taken along the line VIII-VIII in FIG. FIG. 9 is a side view of the millimeter wave radar apparatus before correction tightening, illustrating correction tightening. FIG. 9 is a side view of the millimeter wave radar apparatus after tightening, illustrating correction tightening.

  In the tilt adjustment control method and tilt adjustment control device of the present embodiment, an example in which the tilt of the millimeter wave radar device 10 (object) attached to the bracket 40 (attachment body) is adjusted will be described. However, the tilt adjustment control method and tilt adjustment control device of the present invention are not limited to this, and when adjusting the tilt of the object attached to the mounted body with three screw members, the head of the screw member is adjusted. The object of the present invention can be achieved as long as the screw member is adjusted by turning the screw member with a screw tightening device including a bit having a concave portion having a corresponding shape.

  As shown in FIG. 1, a millimeter wave radar device 10 corresponding to an object of the present invention is arranged on a reference bolt 21 and a line that is substantially perpendicular to the reference bolt 21 as a base point, and in the vertical direction of the object. A vertical adjustment bolt 22 for adjusting the inclination of the object and a horizontal adjustment bolt 23 for adjusting the inclination of the object in the horizontal direction are attached to the bracket 40.

  The millimeter wave radar device 10 is mounted on a vehicle, transmits millimeter wave band radio waves (so-called CW waves or frequency-modulated FMCW waves, hereinafter referred to as radar waves) from a transmission antenna, and targets (for example, guardrails). It is a well-known technique for acquiring target information by receiving radar waves reflected by roadside objects such as obstacles such as other vehicles traveling on the road via a plurality of receiving antennas.

  As shown in FIGS. 1 and 2, the millimeter wave radar device 10 includes a substantially rectangular parallelepiped case 11 in which a light emitting element, a light receiving element, an arithmetic device, and the like are incorporated. At the three corners of the case 11, holding portions 121, 122, and 123 are provided to hold the reference bolt 21, the vertical adjustment bolt 22, and the horizontal adjustment bolt 23 inserted therein. The holding parts 121, 122, 123 hold the reference bolt 21, the vertical adjustment bolt 22, and the horizontal adjustment bolt 23 through the holders 31, 32, 33. Specifically, the holding bolt 121 holds the reference bolt 21 via the holder 31, the holding portion 122 holds the vertical adjustment bolt 22 via the holder 32, and the holding portion 123 holds the holder 33. The horizontal adjustment bolt 23 is held via Further, the reference bolt 21, the vertical adjustment bolt 22, and the horizontal adjustment bolt 23 are well-known bolts including a screw portion and a hexagonal head. For example, the horizontal adjustment bolt 23 includes a screw portion 232 and a head 231. Is. The reference bolt 21 and the vertical adjustment bolt 22 have the same configuration as the horizontal adjustment bolt 23.

  Then, by turning the vertical adjustment bolt 22, the millimeter wave radar apparatus 10 can be tilted in the vertical direction (up and down direction) to adjust the inclination, and by turning the horizontal adjustment bolt 23, the millimeter wave radar apparatus 10 can be adjusted. The tilt can be adjusted by tilting in the horizontal direction (left-right direction). In other words, the inclination of the millimeter wave radar device 10 is adjusted by the tightening amounts of the reference bolt 21, the vertical adjustment bolt 22, and the horizontal adjustment bolt 23. Since the mechanism and method related to the tilt adjustment of the millimeter wave radar device 10 using three screw members in this manner are well-known techniques, detailed description thereof will be omitted.

  The tilt adjustment control device includes a screw tightening device 60 that tightens the reference bolt 21, the vertical adjustment bolt 22, and the horizontal adjustment bolt 23. FIG. 3 is a side view showing a schematic configuration of the screw fastening device 60. The screw tightening device 60 has the same configuration with respect to the reference bolt 21, the vertical adjustment bolt 22, and the horizontal adjustment bolt 23. Therefore, in the present embodiment, in order to simplify the description, description will be made using only the case where the horizontal adjustment bolt 23 is a target for screw tightening.

  As shown in FIG. 3, the screw tightening device 60 includes a bit 66 having a recess 661 having a shape corresponding to the shape of the head 231 of the horizontal adjustment bolt 23 and a bit 66 connected to one end. A shaft portion 62 that is movable in a direction along the screw portion 232 (screw portion) of the member) and that is arranged on the base portion 61 so as to be rotatable around the rotation axis of the horizontal adjustment bolt 23 (screw member); A positioning portion 63 that is fixed to the shaft portion 62 and forms a slit 64 for position adjustment with the bit 66, and one end is fixed to the shaft portion 62 and the other end is fixed to the base portion 61, and the bit 66 is connected to the horizontal adjustment bolt 23. A spring 65 (pressing means) that presses in the direction along the screw portion 232 (screw portion) of the (screw member), a rotation driving portion (rotating means, screw tightening means) that rotates the shaft portion 62, a bit 66, and a base portion 61. Level adjustment Belt 23 is intended and a drive unit 69 comprising a vertical driving unit to move in a direction along the threaded portion 232 (screw portion) of the (screw member) and a (position adjusting means). The screw tightening device 60 includes a photoelectric sensor 68 (expansion / contraction detection means) for detecting the extension of the spring 65 and a displacement sensor 50 (extension / contraction detection means).

  The photoelectric sensor 68 is fixed to the base portion 61 and is disposed at a position facing the positioning portion 63 with the spring 65 fully extended. In addition, the bit 66, the positioning portion 63, and the slit 64 are set to face each other by the expansion and contraction of the spring 65. Also, it is turned off when the bit 66 or the positioning portion 63 comes to the opposite position, and turned on when the slit 64 comes. Therefore, the expansion and contraction of the spring 65 can be detected by turning the photoelectric sensor 68 on and off.

  That is, since the photoelectric sensor 68 is always in a fixed arrangement with the base 61, the photoelectric sensor 68 can move in the direction along the screw portion 232 (screw portion) of the horizontal adjustment bolt 23 (screw member) by the spring 65 with respect to the base 61. The expansion and contraction of the spring 65 can be detected by turning the bit 66 fixed to the shaft portion 62, the positioning portion 63, and the slit 64 on and off. Further, it can be seen that the bit 66 is not in a position to press the bracket 40 in a state where the spring 65 to be pressed is fully extended. Therefore, in other words, the photoelectric sensor 68 can detect the position of the bit 66 by detecting the expansion and contraction of the spring 65.

  The displacement sensor 50 detects the displacement of the horizontal adjustment bolt 23 (screw member) in the millimeter wave radar device 10 and the bracket 40 in the direction along the screw portion 232 (screw portion). In a state where the spring 65 that presses the bit 66 is fully extended, there is almost no pressing force from the bit 66 to the millimeter wave radar device 10 and the bracket 40. Therefore, the millimeter wave radar device 10 and the bracket 40 are hardly displaced in the direction along the screw portion 232 (screw portion) of the horizontal adjustment bolt 23 (screw member).

  That is, the displacement sensor 50 can detect the expansion and contraction of the spring 65 based on the displacement of the millimeter wave radar device 10 and the bracket 40. Then, it is possible to detect that the spring 65 has been fully extended because the displacement sensor 50 no longer detects the displacement. Further, it can be seen that the bit 66 is not in a position to press the bracket 40 in a state where the spring 65 to be pressed is fully extended. Therefore, in other words, the displacement sensor 50 can detect the position of the bit 66 by detecting the expansion and contraction of the spring 65.

  Note that it is not necessary to provide both the photoelectric sensor 68 and the displacement sensor 50, and the object of the present invention can be achieved by providing either one.

  When the vertical drive unit detects that the spring 65 is fully extended by the photoelectric sensor 68 and the displacement sensor 50 while moving the bit 66 in a direction opposite to the pressing direction by the spring 65, the vertical drive unit moves into the recess 661 of the bit 66. A position where the head 231 is disposed and a load is not applied from the bit 66 to the millimeter wave radar device 10 and the bracket 40 in a direction along the screw portion 232 (screw portion) of the horizontal adjustment bolt 23 (screw member). The position of the bit 66 is adjusted to (position adjusting means). That is, the vertical drive unit stops the bit 66 when it is considered that the load is not applied from the bit 66 to the millimeter wave radar device 10 and the bracket 40.

  Next, an inclination adjustment control method (screw tightening method) using the screw tightening device 60 will be described with reference to FIGS.

  First, the reference bolt 21, the vertical adjustment bolt 22, and the horizontal adjustment bolt 23 are inserted into the holding portions 121, 122, and 123 of the millimeter wave radar device 10 through the bracket 40. And in order to arrange | position the head 231 of the horizontal adjustment volt | bolt 23 in the recessed part 661 of the bit 66, the seating process shown to Fig.4 (a), (b) is performed.

  As shown in FIG. 4A, the screw fastening device 60 is moved toward the horizontal adjustment bolt 23 (in this case, it is raised). At this time, the concave portion 661 of the bit 66 and the head portion 231 of the horizontal adjustment bolt 23 are not engaged with each other, and the bit 66 presses the bracket 40 via the head portion 231 due to the stress from the spring 65. Therefore, the bracket 40 may be bent. Further, the photoelectric sensor 68 is turned off at a position facing the bit 66. The spring 65 is in a contracted state.

  Then, as shown in FIG. 4B, the bit 66 is rotated in the state as described above. Thereby, the bit 66 can arrange | position the head 231 of the horizontal adjustment volt | bolt 23 in the recessed part 661 by the rotation by a rotation drive part, and the stress from the spring 65, as shown in FIG. 5, FIG. At this time, the head 231 of the horizontal adjustment bolt 23 is disposed in the recess 661 of the bit 66, but the bit 66 presses the bracket 40 by the stress from the spring 65. Therefore, the bracket 40 may be bent. Further, the photoelectric sensor 68 is turned on at a position facing the slit 64. The spring 65 is in a contracted state.

  Next, in order to adjust the position of the bit 66 to a position where the load in the direction along the screw part 232 (screw part) of the horizontal adjustment bolt 23 (screw member) is not applied from the bit 66, FIGS. The position adjustment process shown in FIG.

  As shown in FIG. 4C, the vertical drive unit moves the bit 66 and the base 61 away from the horizontal adjustment bolt 23 (down in this case), and searches for a position where the photoelectric sensor 68 is turned off. The photoelectric sensor 68 is turned off when the photoelectric sensor 68 is at a position facing the positioning portion 63. Here, the vertical driving unit stops the bit 66 and the base 61.

  Thus, at the moment when the photoelectric sensor 68 is turned off, the spring 65 is fully extended, and the load from the bit 66 to the bracket 40 is almost eliminated. Therefore, the bracket 40 can be prevented from being bent by the load from the bit 66.

  Then, as shown in FIG. 4 (d), the vertical drive unit moves the bit 66 and the base 61 away from the horizontal adjustment bolt 23 at a predetermined interval (below the thickness of the head 231) from the moment when the photoelectric sensor 68 is turned off. ) Move (down in this case) and stop. By doing so, a gap can be formed between the tip of the bit 66 and the bracket 40. Therefore, the possibility that the bracket 40 bends due to the load from the bit 66 can be further reduced.

  And in the state adjusted by this position adjustment process, in order to adjust the inclination of the millimeter wave radar apparatus 10, the bit 66 is rotated and the screw fastening process of turning the horizontal adjustment bolt 23 is performed. In addition, you may perform a screwing process after FIG.4 (c).

  In the case where the displacement sensor 50 is employed, when the displacement is not detected by the displacement sensor 50, the vertical drive unit applies the horizontal adjustment bolt 23 (screw member) from the bit 66 to the millimeter wave radar device 10 and the bracket 40. The bit 66 and the base 61 are stopped by assuming that the load is not applied in the direction along the screw portion 232 (screw portion).

  As described above, the millimeter wave radar device 10 is to grasp the relationship between the target and the own vehicle and determine the possibility of a collision. In order to perform this with high accuracy, it is necessary to align the radio wave axis of the millimeter wave radar device 10 with respect to the vehicle axis with high accuracy using the reference bolt 21, the vertical adjustment bolt 22, and the horizontal adjustment bolt 23. . If an error occurs in this adjustment, an error in the distance and azimuth of the reflector occurs, which may cause erroneous detection.

  However, in the present embodiment, the head 231 is disposed in the recess 661 of the bit 66 as described above, and the screw portion of the horizontal adjustment bolt 23 from the bit 66 to the millimeter wave radar device 10 and the bracket 40. By adjusting the position of the bit 66 at a position where a load in the direction along the direction 232 is not applied, the application of the load from the bit 66 to the millimeter wave radar device 10 and the bracket 40 can be suppressed. That is, the millimeter wave radar device 10 and the bracket 40 are not distorted (bent) by the load from the bit 66. Therefore, if the inclination is adjusted by turning the horizontal adjustment bolt 23 in this state, it can be adjusted with high accuracy. Similarly, the reference bolt 21 and the vertical adjustment bolt 22 can be adjusted with high accuracy. Therefore, the detection accuracy of the millimeter wave radar device 10 can be improved.

  Further, the bit 66 and the head 231 have a slight gap B as shown in FIGS. In the screw tightening step, the horizontal adjustment bolt 23 is tightened by rotating the bit 66 in the R1 direction. At this time, as shown in FIGS. 7 and 8, the horizontal adjustment bolt 23 can be tightened by engaging the bit 66 and the head 231 at the part C.

  However, after the screw tightening step, the head 231 and the bit 66 (recess 661) are in a state of biting. When the bit 66 is pulled out from the head 231 of the horizontal adjustment bolt 23 in such a state, the millimeter wave radar device 10 and the bracket 40 are pulled by friction between the head 231 and the bit 66 (recess 661), and the adjustment is performed. There is a possibility that the completed millimeter wave radar device 10 and the bracket 40 may be deformed. Therefore, this process is performed after the adjustment of the inclination of the millimeter wave radar apparatus 10 is completed, and the bit 66 is rotated in the direction R2 opposite to the rotation R1 in the screw tightening process, and the recess 661 of the bit 66 and the horizontal adjustment bolt 23 are rotated. It is preferable to perform a pulling process for pulling out the bit 66 after performing a gap forming process for forming a gap B between them.

  Thus, after forming the gap B between the head portion 231 and the bit 66 (recessed portion 661) which are in a state of being bitten after the screw tightening step, the bracket 40 is pulled by the bit 66 by pulling out the bit 66. Deformation can be suppressed.

  Further, when adjusting the inclination, the reference bolt 21, the vertical adjustment bolt 22, and the horizontal adjustment bolt 23 are started to be tightened at the same time, and stopped when each bolt reaches a target value. However, since the initial start position differs depending on the difference in the screw cutting position of each bolt, the stop timing of each bolt is different. Further, in order to examine the influence on other bolts, the behavior of the millimeter wave radar device 10 when the vertical adjustment bolt 22 was rotated (tightened) was confirmed using a three-dimensional measuring machine. Then, it turned out that it will become the shape twisted as a whole by rotating one certain volt | bolt. That is, by rotating one bolt (reference bolt 21, vertical adjustment bolt 22, horizontal adjustment bolt 23), the position corresponding to the other bolts (reference bolt 21, vertical adjustment bolt 22, horizontal adjustment bolt 23). In some cases, the adjustment may not be completed at one time.

  Therefore, when the reference bolt 21, the vertical adjustment bolt 22, and the horizontal adjustment bolt 23 are turned and tightened, another reference when the one of the three reference bolts 21, the vertical adjustment bolt 22, and the horizontal adjustment bolt 23 is turned is used. The correlation formula of the influence values of the displacement values of the bolt 21, the vertical adjustment bolt 22, and the horizontal adjustment bolt 23 is acquired as shown in Expression 1Y = aX, and the initial displacement of the vertical adjustment bolt 22, the horizontal adjustment bolt 23, and the reference bolt 21 is obtained. A screw tightening target value Z with respect to the difference ΔZ is obtained by the equation 2Z = ΔZ / (1−a) = K × ΔZ, and a correction step of correcting the screw tightening amount using K = 1 / (1−a) as a correction coefficient is provided. You may do it. As shown in FIG. 9, the target value is measured, and the above correction process is performed to perform tightening. Then, as shown in FIG. 10, when the tightening is completed, the inclination of the millimeter wave radar device 10 can be appropriately adjusted.

  By doing in this way, since the influence on the position corresponding to the other screw member by the tightening (rotation) of a certain screw member can be considered, it is preferable because the inclination can be adjusted at a time.

It is a perspective view at the time of attaching a millimeter wave radar apparatus to a bracket. It is an expansion perspective view of the inclination adjustment part of a millimeter wave radar apparatus. It is a side view which shows schematic structure of a screw fastening apparatus. (A)-(d) is drawing explaining the screw fastening process in the inclination adjustment control method. FIG. 5 is a VV cross-sectional view of FIG. 3. It is VI-VI sectional drawing of FIG. FIG. 5 is a VV cross-sectional view of FIG. 3 when the screw tightening device is rotated. It is VIII-VIII sectional drawing of FIG. It is drawing explaining correction tightening, and is a side view of the millimeter wave radar device before tightening. It is drawing explaining correction tightening, and is a side view of the millimeter wave radar apparatus after tightening.

Explanation of symbols

10 mm-wave radar device, 11 case, 121, 122, 123 holding portion, 21 reference bolt, 22 vertical adjustment bolt, 23 horizontal adjustment bolt, 231 head, 212, 222, 232 screw portion, 31, 32, 33 holder, 40 bracket, 50 displacement sensor, 60 screw tightening device, 61 base, 62 shaft, 63 positioning part, 64 slit, 65 spring, 66 bit, 661 recess, 67 arm, 68 photoelectric sensor

Claims (7)

When adjusting the inclination of the object attached to the attachment body with three screw members, by turning the screw member with a screw tightening device having a bit having a recess corresponding to the head of the screw member. An inclination adjustment control method for adjusting,
A seating step of disposing the head in the recess of the bit by rotating the bit while moving the bit in a direction along the screw portion of the screw member;
A position adjusting step of adjusting the position of the bit at a position where a load from the bit in the direction along the screw portion of the screw member is not applied to the object and the attached body after the sitting step;
A screw tightening step of rotating the bit member by rotating the bit in a state adjusted in the position adjusting step;
A tilt adjustment control method comprising:   The step is performed after the adjustment of the inclination of the object is completed, and the bit is rotated in a direction opposite to the rotation in the screw tightening step to form a gap between the concave portion of the bit and the screw member. The inclination adjustment control method according to claim 1, further comprising a gap forming step and a drawing step of drawing the bit after the gap forming step. The three screw members are arranged on a reference bolt and a line that is substantially perpendicular to the reference bolt as a base point, and a vertical adjustment bolt for adjusting the inclination of the object in the vertical direction and the object. Including a horizontal adjustment bolt for adjusting the inclination in the horizontal direction,
The correlation equation of the degree of influence of the displacement value of the other screw member when one screw member of the three screw members is rotated while the screw member is turned is obtained by the equation 1 correlation equation Y = aX And
A screw tightening target value Z with respect to an initial displacement difference ΔZ between the vertical adjustment bolt, the horizontal adjustment bolt, and the reference bolt is obtained by Formula 2 screw tightening target value Z = ΔZ / (1-a) = K × ΔZ, The tilt adjustment control method according to claim 1, further comprising a correction step of correcting the screw tightening amount using = 1 / (1−a) as a correction coefficient. When adjusting the inclination of the object attached to the attachment body with three screw members, by turning the screw member with a screw tightening device having a bit having a recess corresponding to the head of the screw member. An inclination adjustment control device for adjusting,
The screw tightening device is:
Pressing means for pressing the bit in a direction along the threaded portion of the screw member;
Rotating means for disposing the head in the recess of the bit by rotating the bit while pressing the bit with the pressing means;
While moving the bit in a direction opposite to the pressing direction by the pressing means, the head is disposed in the recess of the bit, and the screw member is moved from the bit to the object and the attached body. Position adjusting means for adjusting the position of the bit to a position where a load in a direction along the thread portion is not applied;
A screw tightening means that rotates the screw member by rotating the bit adjusted by the position adjusting means;
An inclination adjustment control device comprising: The pressing means presses the bit by the elastic force of a spring,
The screw tightening device includes expansion / contraction detection means for detecting expansion / contraction of the spring,
When the expansion / contraction detecting means detects that the spring is fully extended, the position adjusting means moves from the bit to the object and the attached body in a direction along the screw portion of the screw member. The inclination adjustment control device according to claim 4, wherein the bit is stopped on the assumption that a load is not applied. The screw tightening device is:
The base,
A shaft portion that is connected to the bit, is movable in a direction along the screw portion of the screw member, and is arranged on the base portion in a state of being rotatable around a rotation axis of the screw member;
A positioning part that is fixed to the shaft part and forms a slit for position adjustment with the bit;
The spring has one end fixed to the shaft portion and the other end fixed to the base portion.
The expansion / contraction detecting means is fixed to the base, and is disposed at a position facing the positioning portion with the spring fully extended, and is detected at a position facing the slit and a position facing the positioning portion. The spring is fully extended by including a photoelectric sensor having a different signal and outputting a detection signal indicating a position facing the positioning portion after a detection signal indicating the position facing the slit is output from the photoelectric sensor. The inclination adjustment control device according to claim 5, wherein the inclination adjustment control device is detected.   The expansion / contraction detection means includes a displacement sensor that detects a displacement of the object and the attached body in a direction along a screw portion of the screw member, and the displacement is not detected by the displacement sensor. 6. The tilt adjustment control device according to claim 5, wherein it is detected that it has been fully extended.

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