JP7267474B1 - Sensor mounting position identification system and identification method - Google Patents

Abstract

A method for identifying a sensor mounting location is provided.
A first sliding member, a second sliding member, and a corresponding signal characteristic are predefined based on the mounting direction of the sensor to displace the first sliding member and the second sliding member of one feed system. to acquire and analyze the 3-axis signal returned by the sensor. First, the 3-axis signals with responses are screened to determine the axis with the greatest response of the 3-axis signals, thereby identifying the sensor attached to the first slide member. Then, based on the dynamic signal characteristics and the static signal characteristics, identify the corresponding relationship between the redundant three-axis signals and the sensors attached to the second sliding member, thereby automatically identifying each sensor mounting position. have achieved.
[Selection drawing] Fig. 2

Description

The present invention relates to a system for automatically identifying a plurality of sensors mounted on a multi-axis linear transmission and to a method of identification for such systems.

With the trend of Industry 4.0 and smart machines, more and more sensors are embedded in mechanical equipment.

Taiwan Patent Application Publication No. 701101

However, too many sensors of the same type confused the correspondence between sensors and components.
In order to overcome this problem, for example, Patent Document 1 below discloses "Linear transmission device and its identification method", but it is necessary to achieve the purpose of identification by an insertion device built into the linear transmission device. Therefore, it is necessary to pre-store the activation number and the parameter data of the linear transmission in the above-mentioned insertion device. Therefore, if an error occurs when installing the insertion device, the accuracy of the judgment is affected, and there is a need for a system and method that can identify the position of the sensor without adding any insertion device in advance. rice field.

The inventor of the present invention believed that the above drawbacks could be improved, and as a result of earnest studies, the present inventors proposed the present invention, which effectively solves the above problems with a rational design.

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and an object of the present invention is to provide a sensor mounting position identification system that automatically identifies the mounting position of each sensor.

According to one aspect of the present invention, there is provided a sensor mounting location identification system that includes at least one feed system linearly displaced along a drive direction and including a first slide member and a plurality of second slide members; a plurality of sensors respectively mounted on the first sliding member and the second sliding member, each sensor defining a three-dimensional coordinate system and forming three-axis signals; The system comprises three axes each, one of said axes corresponding to the direction of gravity, said three-axis signal having signal characteristics, and three-dimensional coordinates formed by a sensor attached to said first sliding member. The system is a first coordinate system, the three-dimensional coordinate system formed by the sensors attached to these second sliding members is a second coordinate system, and the first coordinate system and the second coordinate system are a plurality of sensors displaying the driving direction on different axes, the second coordinate systems displaying the driving direction in opposite directions on the same axis, or the gravity directions in opposite directions on the same axis; 1 sliding member, the second sliding member, and comparison information including the corresponding relationship of the signal characteristics is stored, the processing device compares the three-axis signals to determine the signal characteristics. and a processing device for acquiring and acquiring the sensor mounting positions based on the comparison information.

Another aspect of the invention is a method of identifying a sensor mounting location. The method includes the step (A) of defining a first sliding member, a plurality of second sliding members, and a correspondence relationship between signal characteristics, the signal characteristics including dynamic signal characteristics and static signal characteristics; (B) driving the sliding members and said second sliding members for linear displacement along the driving direction; and sensors attached to said first sliding members and said second sliding members transmitting Step (C) receiving triaxial signals, said triaxial signals comprising output signals of three axes; identifying said axis having the greatest response in each triaxial signal; The triaxial signals located on the axes correspond to the sensors mounted on these second slide members, and the triaxial signals located on other axes are mounted on the first slide members. (D) corresponding to said sensor attached to said first sliding member and used to identify said sensor attached to said first sliding member; and said three axes of said sensor attached to said first sliding member A signal is defined as a first signal, and the three-axis signal of the sensor attached to each second slide member is defined as a second signal, and the maximum response of the first signal and each of the second signals is defined. a step (E) of comparing the output signals of the shaft that is moving, determining similarities and differences in the vibration directions of the output signals, and using the determination result as the dynamic signal characteristic; comparing the second signal and the output signal of the axis corresponding to the direction of gravity, distinguishing the output signal from the positive second signal, distinguishing the output signal from the negative second signal, and determining the above determination result; is the static signal characteristic; obtaining a correspondence relationship between each of the second signals and the second sliding members based on the dynamic signal characteristic and the static signal characteristic; (G) used to identify the sensor attached to the sliding member.

The present invention predefines the corresponding relationship between the first sliding member, the second sliding member and the signal characteristics mainly according to the mounting direction of the sensor, and displaces the first sliding member and the second sliding member of a feeding system. to acquire and analyze the 3-axis signals returned by the sensor.
First, the 3-axis signals that have responses are filtered to determine the axis that has the maximum response of the 3-axis signals. This identifies the sensor attached to the first sliding member and determines the correspondence between the redundant three-axis signal and the sensor attached to the second sliding member based on the dynamic and static signal characteristics. To achieve the purpose of identifying and automatically identifying each sensor mounting position.

Other features of the present invention will become apparent from the description of the specification and accompanying drawings.

1 is a schematic configuration diagram showing a three-axis vertical processing machine; FIG. It is a schematic block diagram which shows one of the feed systems. Fig. 10 is a schematic view of mounting holes for nuts to mount sensors; FIG. 4 is a schematic diagram of the mounting holes for the slider to mount the sensor; FIG. 10 is a schematic diagram of asymmetrical shapes of the sensor and the receiving hole; Fig. 2 is a schematic view with the front ends of the sensors facing each other; Fig. 3 is a schematic view with the front ends of the sensors facing away from each other; Fig. 2 is a schematic diagram showing the information connection between the sensor and the processor; FIG. 3 is a schematic diagram of three-axis signals generated by a sensor attached to a non-displacement feed system; Fig. 3 is a schematic diagram showing a first signal; Fig. 3 is a schematic diagram showing a second signal; FIG. 4 is a comparative schematic diagram showing the output signal of the shaft having the maximum response of the first signal and the second signal; 4 is a flowchart of an identification method;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited to embodiment described below.

The sensor mounting position identification system according to one embodiment of the present invention will now be described in more detail with reference to FIGS. The sensor mounting location identification system includes the following components:

<Multiple feed systems S>
Acting respectively along a driving direction D, the driving directions D of said feed systems S are perpendicular to each other. As an example, refer to FIG. A typical three-axis vertical processing machine comprises three feeding systems S operating along different driving directions D, respectively a first feeding system S1, a second feeding system S2 and a third feeding system S3. The driving direction D of the first feeding system S1 is the first direction D1, the driving direction D of the second feeding system S2 is the second direction D2, and the driving direction D of the third feeding system S3 is the third direction D3. , the first direction D1, the second direction D2 and the third direction D3 are perpendicular to each other.

Each feeding system S comprises a plurality of transmission units, which are further divided into a main drive unit 10 and a plurality of sub-drive units 20 . The main drive unit 10 has a first longitudinal member 11 and a first sliding member 12, and the first sliding member 12 is overlaid on the first longitudinal member 11 so as to be linearly displaced along the driving direction D. ing. The sub-driving unit 20 has a second longitudinal member 21 and a second sliding member 22, and the second sliding member 22 is overlaid on the second longitudinal member 21 so as to be linearly displaced along the driving direction D. It is
In this embodiment, the quantity of the main drive unit 10 is one set, the main drive unit 10 is a ball screw, the first sliding member 12 is a nut 121, and the first longitudinal member 11 is a screw. . The number of the sub-driving units 20 is two, the sub-driving unit 20 is a linear slide, the second sliding member 22 is a slider 221 and the second longitudinal member 21 is a slide 211 .

In this embodiment, the two sets of sub-driving units 20 described above each have two second sliding members 22 mounted in parallel on one of the second longitudinal members 21 . Therefore, although the total number of the second sliding members 22 is four, it is not limited to this, and in another embodiment, one second sliding member 22 may be combined with one second longitudinal member 21. .

<Sensors 30>
The measurement range of each sensor 30, which is mounted on the first sliding member 12 and the second sliding member 22 of the feed system S, includes at least a frequency band of 1 Hz or higher. Each sensor 30 defines a three-dimensional coordinate system C and forms a three-axis signal L, respectively. Each three-axis signal L has a signal characteristic, and each three-dimensional coordinate system C has three mutually perpendicular axes 90, for example, the X-axis, the Y-axis, and the Z-axis. . One of the axes 90 corresponds to the direction of gravity G, and the three-axis signal L includes the output signals of the three axes 90, the output signals being changes in acceleration produced by each axis 90. FIG.
The arrangement direction of each sensor 30 affects the direction of the three-dimensional coordinate system C. For example, when the Z-axis direction is perpendicular to the ground, and the X-axis direction and the Y-axis direction are parallel to the ground. , the Z-axis corresponds to the direction of gravity G, so that the output in the X-axis direction and Y-axis direction is 0 g of acceleration (gravity), and the Z-axis direction receives 1 g or -1 g of acceleration (gravity). The positive and negative values of the above values are determined by the orientation of the sensor 30. Each axis 90 has two opposite directions, one of which is the positive direction and the other is the negative direction. , the difference between positive and negative directions is 180 degrees. In this embodiment, the sensor 30 is, for example, but not limited to, a 3-axis accelerometer.

A three-dimensional coordinate system C formed by the sensor 30 attached to the first sliding member 12 is defined as a first coordinate system C1, and a three-dimensional coordinate system C formed by the sensor 30 attached to the second sliding member 22 is defined as a first coordinate system C1. The original coordinate system C is defined as a second coordinate system C2. the first coordinate system C1 and the second coordinate system C2 display the driving direction D by different axes 90, the second coordinate system C2 display the driving direction D by different directions of the same axis 90; Alternatively, different directions of the same axis 90 indicate the direction of gravity G (see FIG. 2).
In this embodiment, the first coordinate system C1 displays the driving direction D by the X-axis, and the second coordinate system C2 displays the driving direction D by the Y-axis. Two second coordinate systems C2 display the drive direction D by the negative direction of the Y-axis, and the other two second coordinate systems C2 display the drive direction D by the positive direction of the Y-axis. Two second coordinate systems C2 show the direction of gravity G in the positive direction of the Z-axis and have an acceleration (gravitational force) of 1 g, and the other two second coordinate systems C2 show the direction of gravity G in the negative direction of the Z-axis. and has an acceleration (gravitational force) of -1 g.

<Processing device 40>
having a receiving unit 41, a storing unit 42 and a comparing unit 43 connected, said receiving unit 41 being informationally connected to said sensors 30, said receiving unit 41 receiving said three-axis signals L; receive. Comparison information is pre-stored in the storage unit 42, the comparison information is related to the sliding direction of each sensor 30, and the comparison information is the correspondence relationship between the first sliding member 12, the second sliding member 22, and signal characteristics. including. The comparison unit 43 analyzes and compares the three-axis signals L to obtain signal characteristics of the three-axis signals L, and compares the three-axis signals L with the first sliding member 12 and the second sliding member 12 based on the comparison information. 2 Acquire the correspondence with the sensor 30 attached to the sliding member 22 . In this embodiment, the 3-axis signal L having a response is selected from a plurality of 3-axis signals L. FIG. Please refer to FIGS. 7, 8A and 8B. In the example of FIG. 7, the output signals for each axis 90 are all static, indicating a 3-axis signal L with no response.
8A and 8B show that the output signal of one axis 90 has a definite response, the 3-axis signal L with response, then each 3-axis signal L has the maximum response. Axis 90 is determined. In FIG. 8A the axis 90 with the maximum response is the X-axis and in FIG. 8B the axis 90 with the maximum response is the Y-axis and the A triaxial signal L having multiple maximum responses located and a triaxial signal L having one maximum response located on the other axis 90 are located on the same axis 90. The triaxial signal L having multiple maximum responses is defined as the second signal L2, and the triaxial signal L having the maximum response located on the other axis 90 is defined as the first signal L1. . The second signal L2 corresponds to the second sliding member 22 and the first signal L1 corresponds to the first sliding member 12. As shown in FIG.

The signal characteristics include coordinate characteristics, dynamic signal characteristics, and static signal characteristics. The axis 90 having the maximum response mentioned above is the coordinate characteristic, and the dynamic signal characteristic is the output signal of the axis 90 having the maximum response of the second signal L2 and the maximum response of the first signal L1. There are similarities and differences with the direction of the output signal of axis 90 having. FIG. 9 shows a comparison diagram of the output signals of the shaft 90 having the maximum response of one first signal L1 and two second signals L2, one of which the output signal of the second signal L2 is the output signal of the first signal The output signal of L1 is reversed, and the output signal of the other second signal L2 is the same as the output signal of the first signal L1.

The static signal characteristic is a positive or negative value of the output signal of the shaft 90 corresponding to the gravity direction G of the second signal L2, specifically the static signal characteristic. As shown in FIG. 2, two second coordinate systems C2 represent the driving direction D by the negative direction of the Y-axis, and the other two second coordinate systems C2 represent the driving direction D by the positive direction of the Y-axis. ing.
In the second coordinate system C2 in which the driving direction D is indicated by the positive direction of the Y-axis, one second coordinate system C2 indicates the direction of gravity G by the positive direction of the Z-axis, and an acceleration (gravitational force) of 1 g. , and another second coordinate system C2 displays the direction of gravity G in the negative direction of the Z axis, and has an acceleration (gravitational force) of -1 g. In the second coordinate system C2 in which the driving direction D is indicated by the negative direction of the Y-axis, one second coordinate system C2 indicates the direction of gravity G by the positive direction of the Z-axis, and an acceleration (gravitational force) of 1 g. , and another second coordinate system C2 displays the direction of gravity G in the negative direction of the Z axis, and has an acceleration (gravitational force) of -1 g.

Next, return to FIG. The X-axis of the first coordinate system C1 indicates the direction in which the front and rear ends of the first longitudinal member 11 are extended, and the Y-axis is the direction in which the left and right sides of the first longitudinal member 11 are extended. , and the Z-axis indicates the direction in which the upper and lower ends of the first longitudinal member 11 are extended. Therefore, it receives an acceleration (gravitational force) of 1 g in the positive direction along the Z-axis. The X-axis of the second coordinate system C2 indicates the direction in which the left and right sides of the second longitudinal member 21 are extended, and the Y-axis is the direction in which the front and rear ends of the second longitudinal member 21 are extended. , and the Z-axis indicates the direction in which the upper and lower ends of the second longitudinal member 21 are extended. Therefore, it receives an acceleration (gravitational force) of 1 g or -1 g (gravity force) in the Z-axis direction.

In this example, please refer to FIGS. 2 to 3C. The first sliding member 12 and the second sliding member 22 each have a side surface W, the first sliding member 12 and the second sliding member 22 each have a receiving hole 50, and the receiving hole 50 extends from the side surface W. Located at W. The sensors 30 are installed in the receiving holes 50, and the receiving holes 50 of the first sliding member 12 are positioned on the side surface W perpendicular to the driving direction D, and the second sliding member 22 is received. The hole 50 is located on the side W parallel to said driving direction D. As shown in FIG. For example, when the first sliding member 12 is the nut 121, the side surface W perpendicular to the driving direction D is the end surface of the flange 121A. When the second sliding member 22 is the slider 221 , the side W parallel to the driving direction D is the plane of the slider 221 facing the left and right sides of the slide 211 . Thus, the driving direction D is displayed by the axis 90 on which the first coordinate system C1 and the second coordinate system C2 are different.

The receiving holes 50 of the first slide member 12 of each feed system S should be located on the same side W of each first slide member 12 . For example, if these first sliding members 12 are nuts 121, all of the housing holes 50 in each nut 121 must be positioned on the end face of the flange 121A of the nut 121. As shown in FIG.

In this embodiment, the shapes of the sensor 30 and the receiving hole 50 are asymmetrical, thereby securing the mounting direction of the sensor 30 (see FIG. 3C).

Refer to Figures 3A-3C for the preferred embodiment. The first sliding member 12 and the second sliding member 22 respectively have two keyholes 50A, the two keyholes 50A are located on opposite sides of the receiving hole 50, which the receiving hole 50 has. It defines opposed first and second ends 51 and 52 . The positions of the two keyholes 50A are close to the first end 51 or the second end 52, eliminating the possibility of being aligned with the center of the receiving hole 50. FIG.
The sensor 30 has a body 31 and two protrusions 32 , the two protrusions 32 being located on opposite sides of the body 31 respectively. The body 31 has a front end 311 and a rear end 312 , and the positions of the two protrusions 32 are close to the front end 311 or the rear end 312 , eliminating the aspect of being aligned with the center of the body 31 . Each projection 32 has a through hole 321. The positions of the through holes 321 are aligned with the positions of the key holes 50A. The sensor 30 is locked in the accommodation hole 50 to secure the mounting direction of the sensor 30 .

In a preferred embodiment, the receiving holes 50 are located on different sides W of the second sliding members 22 to modify the mounting orientation of the sensors 30 . For example, when the second sliding member 22 is the slider 221, the sides W of the slider 221 to the left and right sides of the slide 211 are the first side W1 and the second side W2, respectively, as shown in FIGS. 2 and 3B. , the receiving hole 50 is located on the first side W1 or the second side W2.

Refer to FIG. 4 for the preferred embodiment. The sensor 30 has a transmission line 33 connected to the front end 311 of the main body 31 , the sensors 30 on the parallel second sliding member 22 are installed adjacently, and the front ends 311 of the adjacent sensors 30 are arranged adjacent to each other. are facing each other.

Refer to FIG. 5 for the preferred embodiment. The sensors 30 on the side by side second slide members 22 are arranged adjacently, with the front ends 311 of adjacent sensors 30 facing away from each other.

By means of the orientation of the fixed sensor 30 described above, these second coordinate systems C2 display the driving direction D by different directions of the same axis 90, or the gravitational direction G by different directions of the same axis 90. .

The above is the description of the embodiment and each main member and form of the present invention.

Please refer to FIG. 10 for identifying a sensor mounting position according to an embodiment of the present invention. Includes the following steps:

<Predefined Step A1>
The comparison information is defined based on the mounting direction of the sensor 30 . The comparison information is the corresponding relationship between the first sliding member 12, the second sliding member 22 and the signal characteristics, the signal characteristics including coordinate characteristics, dynamic signal characteristics and static signal characteristics.

<Displacement step A2>
The first slide member 12 and the second slide member 22 of one feed system S are driven to displace, preferably the first slide member 12 and the second slide member 22 are driven to reciprocate. For example, if the number of feeding systems S is three, they are the first feeding system S1, the second feeding system S2, and the third feeding system S3, respectively, and the driving direction D of the first feeding system S1 is the third feeding system. one direction D1, the driving direction D of the second feeding system S2 is the second direction D2, and the driving direction D of the third feeding system S3 is the third direction D3. In this embodiment, the first sliding member 12 and the second sliding member 22 of the first feeding system S1 are driven to be displaced along the first direction D1.

<Received signal step A3>
It receives triaxial signals L of each sensor 30 of each feed system S, and these triaxial signals L comprise output signals of three axes 90 respectively.

<Step A4 to analyze the axis>
A triaxial signal L having a response in each triaxial signal L is determined. As shown in FIG. 7, the output signals for each axis 90 are all static, indicating a 3-axis signal L with no response. Also, refer to FIGS. 8A and 8B. The output signal of one axis 90 has a definite response and the output signals of the other two axes 90 have a slight response, indicating a 3-axis signal L having a response.
A sensor 30, to which the responsive three-axis signal L corresponds, is mounted on the displacing first slide member 12 or the second slide member 22, and vice versa, on the stationary feed system S. It is determined that it is the 3-axis signal L generated by the sensor 30 that is in contact. In the present example, a responsive triaxial signal L is determined to have come from a sensor 30 mounted in the first feed system S1, and an unresponsive triaxial signal L is determined to be from the second feed system S2 or the third feed system S2. It is determined that it came from the sensor 30 attached to the feed system S3.

<Step A5 for Determining the First Coordinate System>
The axis 90 having the maximum response of each of the three-axis signals L is selected from among the three-axis signals L having the responses, and a plurality of the three-axis signals L positioned on the same axis 90 are selected. From a triaxial signal L having a maximum response of L and a triaxial signal L having a maximum response located on one other axis 90, a plurality of maximum responses located on the same axis 90 are obtained. Identify the triaxial signal L that has and the triaxial signal L that has the maximum response located on the other axis 90 and has multiple maximum responses located on the same axis 90 The triaxial signal L is defined as the second signal L2 and the triaxial signal L having the maximum response located in the other axis 90 is defined as the first signal L1. These second signals L2 correspond to the sensors 30 attached to these second slides 22 and the first signals L1 correspond to the sensors 30 attached to the first slides 12 .
The axis 90 having the maximum response described above is the coordinate characteristic, the three-dimensional coordinate system C to which the first signal L1 corresponds is the first coordinate system C1, and the three-dimensional coordinate system to which the second signal L2 corresponds. The coordinate system C is the second coordinate system C2.
In this example, please refer to FIGS. 2, 8A and 8B. A triaxial signal L having multiple maximum responses located on the Y axis and a triaxial signal L having one maximum response located on the X axis is located on the Y axis. The three-axis signal L having the maximum response is the second signal L2, and the three-axis signal L having the maximum response located on the X-axis is the first signal L1. It is used to identify the sensor 30 attached to the sliding member 12 .

In this embodiment, the method for determining the axis 90 having the maximum response is to first search for the axis 90 affected by gravity, calculate the output signal of the axis 90 by averaging, and obtain the average value to get Then, the output signal of the axis 90 is subtracted by the average value to obtain an adjusted signal, and after removing the effect of gravity, the root mean square value of the adjusted signal and the root mean square of the output signal of the other axis 90 By calculating the values and comparing the root mean square value to which each axis 90 corresponds, the axis 90 with the maximum response is obtained.

<Step A61 of analyzing the dynamic signal>
Said first signal L1 and said said signals L2 are analyzed and compared with each second signal L2 on the basis of the first signal L1 and the output signal of the axis 90 having the greatest response. As shown in FIG. 9, similarities and differences between the direction of vibration of the first signal L1 and the direction of vibration of each of the second signals L2 are discriminated, and the result of the above determination is used as the dynamic signal characteristic.

<Step A62 of analyzing the static signal>
Analyzing these second signals L2, comparing the output signals of the axis 90 corresponding to each of the gravitational directions G, dividing the output signals into positive second signals L2 and negative second signals L2, and making the above determination. The result is the static signal characteristic. Incidentally, whether the output signal is positive or negative is determined by the average value of the output signal. In this embodiment, the average value of the output signal is 1g or -1g.

<Label step A7>
Based on the dynamic signal characteristics, the static signal characteristics and the comparison information are inter-compared to obtain the corresponding relationship between each of the second signals L2 and the second sliding member 22, and identify them as the second signals L2. and the first signal L1 and the first sliding member 12 and the sensor 30 are combined.
In this embodiment, refer to FIGS. 2 and 9. FIG. First, the dynamic signal characteristics are determined, and the comparison information defines that the second signal L2 having the same vibration direction as the first signal L1 corresponds to the No. 2 slider 221B and the No. 3 slider (not shown). A second signal L2, which is opposite to the vibration direction of the first signal L1, corresponds to the No. 1 slider 221A and the No. 4 slider 221D. After that, the static signal characteristics are determined, and as shown in FIG. 2, according to the comparison information, the positive second signal L2, which is the output signal of the shaft 90 corresponding to the direction of gravity G, is the No. 1 slider 221A and the No. 3 slider 221A. (not shown), and the negative second signal L2, which is the output signal of the shaft 90 corresponding to the direction of gravity G, corresponds to the No. 2 slider 221B and the No. 4 slider 221D. . After that, mutual comparison is performed to obtain the corresponding relationship between each second signal L2 and the slider 221 to identify the sensor 30 attached to each second sliding member 22 . The above example does not restrict the order of dynamic and static signal characteristics, static signal characteristics may be determined first and then dynamic signal characteristics, or may be determined at the same time.

Accordingly, the present invention predefines the corresponding relationship between the first sliding member 12, the second sliding member 22, and the signal characteristics mainly based on the mounting direction of the sensors 30, and the first sliding member 12, the second sliding member 22, and the signal characteristics of one of them. By driving the first sliding member 12 and the second sliding member 22 to displace, the three-axis signals L returned by these sensors 30 are acquired and analyzed. The sensor 30 attached to the first sliding member 12 is detected by determining the axis 90 having the maximum response of the three-axis signal L after sorting out the three-axis signal L having the response first. Identify. Then, based on the dynamic signal characteristics and static signal characteristics, identify the correspondence relationship between the redundant three-axis signal L and the sensor 30 mounted on the second sliding member 22, and automatically identify each sensor mounting position. have achieved.

The invention may be embodied in many other forms without departing from its spirit or essential characteristics. Therefore, the above-described embodiments are merely examples in every respect and should not be construed in a restrictive manner. The scope of the present invention is indicated by the claims and is not restricted by the text of the specification. Furthermore, all modifications and changes within the equivalent scope of claims are within the scope of the present invention.

S feed system S1 first feed system S2 second feed system S3 third feed system D driving direction D1 first direction D2 second direction D3 third direction 10 main drive unit 11 first longitudinal member 12 first sliding member 121 nut 121A Flange 20 Sub-driving unit 21 Second long shaft member 211 Slide 22 Second sliding member 221 Slider 221A No. 1 slider 221B No. 2 slider 221D No. 4 slider 30 Sensor 31 Main body 311 Front end 312 Rear end 32 Projection 321 Through hole 322 Lock member 33 Transmission line 40 Processing device 41 Receiving unit 42 Storage unit 43 Comparison unit 50 Receiving hole 50A Keyhole 51 First end 52 Second end 90 Axis C Three-dimensional coordinate system C1 First coordinate system C2 Second coordinate system G Gravitational direction L 3 Axis signal L1 First signal L2 Second signal W Side W1 First side W2 Second side A1 Predefined step A2 Displacement step A3 Received signal step A4 Axis analysis step A5 First coordinate system determination step A61 Dynamic Analyze the signal A62 Analyze the static signal A7 Label step

Claims (5)

at least one feed system linearly displaced along the drive direction and comprising a first slide member and a plurality of second slide members;
a plurality of sensors respectively mounted on the first sliding member and the second sliding member, each sensor defining a three-dimensional coordinate system and forming three-axis signals; The system comprises three axes each, one of said axes corresponding to the direction of gravity, said three-axis signal having signal characteristics, and three-dimensional coordinates formed by a sensor attached to said first sliding member. The system is a first coordinate system, the three-dimensional coordinate system formed by the sensors attached to these second sliding members is a second coordinate system, and the first coordinate system and the second coordinate system are a plurality of sensors displaying the driving direction on different axes, the second coordinate systems displaying the driving direction on the same axis in opposite directions, or displaying the gravity direction on the same axis in opposite directions;
A processing device storing comparison information including correspondence relationships between the first sliding members, the second sliding members, and the signal characteristics, wherein the processing device compares the three-axis signals to compare the signals A processing device that acquires characteristics and acquires the mounting positions of the sensors based on the comparison information,
Identification system for sensor mounting position. The axes are perpendicular to each other, the signal characteristics include dynamic signal characteristics and static signal characteristics, and the triaxial signal of the sensor mounted on the first sliding member is defined as a first signal. , the three axis signals of the sensors attached to the respective second sliding members are defined as second signals, and the output signal of the axis having the maximum response of the first signal and each of the second signals is defined as and the similarities and differences between the vibration directions of the output signals are defined as the dynamic signal characteristics, and the output signals of the shafts to which the respective second signals and the gravitational directions correspond are compared, and these outputs 2. The sensor mounting position identification system according to claim 1, wherein positive and negative values of the signal are defined as the static signal characteristics. step (A) defining a correspondence between a first slide member, a plurality of second slide members, and a signal characteristic, the signal characteristic including a dynamic signal characteristic and a static signal characteristic;
(B) driving said first sliding member and said second sliding member for linear displacement along a driving direction;
step (C) receiving triaxial signals transmitted by sensors attached to said first sliding member and said second sliding member, said triaxial signals having three axial output signals; and,
identifying the axis having the greatest response in each three-axis signal, the three-axis signals located on the same axis corresponding to the sensors attached to these second slide members; said three-axis signal located at an axis corresponds to said sensor attached to said first slide member and is used to identify said sensor attached to said first slide member; D) and
The three-axis signal of the sensor attached to the first sliding member is defined as a first signal, and the three-axis signal of the sensor attached to each of the second sliding members is defined as a second signal. , comparing the output signals of the shaft having the maximum response of the first signal and each of the second signals, determining similarities and differences in the vibration directions of the output signals, and determining the above determination result; is the dynamic signal characteristic; and
comparing each of the second signals and the output signal of the axis to which the direction of gravity corresponds, dividing the output signal from the positive second signal, dividing the output signal from the negative second signal, and a step (F) of determining the result of the determination as the static signal characteristic;
for obtaining correspondences between said second signals and said second slide members based on said dynamic signal characteristics and said static signal characteristics to identify said sensors attached to said respective second slide members; and a step (G) for
How to identify the sensor mounting position. In step (D), first, an average value is calculated from the output signal of the shaft corresponding to the direction of gravity, the average value is subtracted from the output signal of the shaft to obtain an adjustment signal, and then the square of the adjustment signal is obtained. 4. Identifying the sensor mounting position of claim 3, wherein the root mean square value and the root mean square value of the output signals of other axes are calculated and compared to obtain the axis having the maximum response. Method. In step (E), the positive and negative values of the output signal of the axis having the maximum response of the first signal and the output signal of the axis having the maximum response of one of the second signals are Conversely, the positive and negative values of the output signal of the axis having the maximum response of the first signal and the output signal of the other axis having the maximum response of the second signal are the same. The identification method of the sensor mounting position according to claim 3, characterized in that there is a

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