JPH03130609A - Vertical-degree detection and detector therefor - Google Patents

Abstract

PURPOSE:To made it possible to detect the direction and the degree off the inclination of a tubular main body by detecting the oscillating state of a suspended weight with detecting means which are provided in the swaying directions, and analyzing the detected signals. CONSTITUTION:The output of a detecting means 8 indicates the right inclination of a tubular main body 1 which is a reference member. The output of a detecting means 9 indicates the forward inclination of the main body 1. The output of a detecting means 10 indicates the left inclination of the main body 1. The output of a detecting means 11 indicates the backward inclination of the main body 1. The simultaneous output of the means 8 and 9, 9 and 10, or 11 and 8 indicates the fact that the main body 1 is inclined obliquely at the front and back sides or the right and left sides. As a result, when from which of means 8 - 11 the first output is obtained is detected, it is found that in which direction the main body 1 is inclined with respect to a vertical axis. Thus, the vertical degree of the object can be detected quickly and accurately.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is concerned with the verticality of vertically erected supports, etc., especially when the erected supports move or swing. The present invention relates to a verticality detector that is capable of quickly and accurately detecting the verticality of the pillar, etc.

[Conventional technology]

There are various structures of so-called verticality detection power methods and detectors therefor.

For example, if the detection target is fixed and static,
Simply suspending a weight from a string or the like is enough to detect verticality.

However, if the detection target is a dynamic object, such as a moving object, the verticality should be approximately the same as when it is stationary, and
Quantitative detection involves considerable technical difficulties. Therefore, there are problems in that a verticality detector that can be applied to dynamic objects has a complicated structure and is extremely expensive.

[Problem to be solved by the invention]

The present invention can be installed on a dynamic object such as an erected support that moves or swings.

A detection power method that can statically and quantitatively detect the verticality quickly and accurately, and a verticality that has this detection performance but can be manufactured at a low cost with a very simple structure. The objective is to develop a degree detector.

[Means to solve RIIi]

In the present invention, which has been made to solve the above problems, the structure of the method is such that a weight is placed on a reference member oriented along a vertical axis in a state where it can freely swing in the front-back, left-right, or cross-directions on a plane. When a weight is suspended and the weight swings freely, this swinging state is electrically and magnetically controlled in the direction of the swing.

The main feature is that the inclination of the reference member with respect to the vertical axis is detected by detecting it with an appropriate detection means such as optical and analyzing the detection signal in the swing direction. The structure is such that a vertically oriented cylindrical body is used as a reference member, and a weight that can be freely swung in the front and back, left and right, or cross directions on a plane is attached via a suspended support. The main feature is that the weight is suspended, and a detection means is provided for electrically, magnetically, or optically detecting the swinging of the weight in the swinging direction of the weight.

[For production]

A weight suspended from a reference member such as a cylindrical body so as to be able to freely swing at least in the cross direction on a plane is
When the main body is tilted in either direction with respect to the vertical axis, it begins to swing freely, and this free swinging continues, resulting in a vibration state.

This vibration state is detected as an electric signal, for example, by a detection means arranged in the direction of the suspended weight swinging, and by analyzing this detection signal, the direction and degree of inclination of the cylindrical body can be detected. do.

〔Example〕 Next, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a longitudinal sectional view of a detector main body in an example of the detector of the present invention, and FIG. 2 is a plan view showing an example of the arrangement of the detection means.
FIG. 3(a) is a schematic diagram showing an example of the relationship between the two hanging rod weights and the detection means in a vertical state, and FIG.
FIG. 4(a) is a waveform diagram showing an example of the output waveform of the detection means in the state shown in FIG. is the fourth
FIG. 3 is a waveform diagram showing an example of the output waveform of the detection means in the state shown in FIG.

FIG. 5 is a functional block diagram of an example of a detection output processing section, FIG. 6 is a perspective view of an example in which the detector of the present invention is incorporated into a mechanism for correcting the inclination of the vertical axis, and FIG. FIG. 3 is a block diagram showing the relationship between each detection means of the detector of the present invention and the motor in the mechanism of FIG.

In FIG. 1, 1 is a cylindrical body serving as a reference member in the detector of the present invention, 2 is a canopy member of this body 1, and a tapered hole is formed as a seat 3 in the center. The seat 3 may have a shape other than a tapered hole, for example, a hole having a concave spherical surface.

4 is a spherical portion 4a whose lower half is mounted and supported on the catch seat 3;
This is a support member for the hanging rod 5 formed in the figure. Therefore, hanging rod 5
is a suspension support for a weight 6, the upper part of which is loosely passed through a hole 4b formed in the center of the support member 4, and a coil spring 5a and a spring fixing nut 5b are attached to the penetrating portion. . The spring 5a is provided to reduce the friction caused by the weight 6.

The lower half of the hanging rod 5 is adjusted to such a length that it protrudes from the lower end of the cylindrical main body 1, and a weight 6 is attached above the middle.
is installed so that the upper and lower positions can be adjusted.

The upper and lower positions can be adjusted, for example, by cutting male and female threads on the hanging rod 5 and the weight 6, or by attaching the single weight 6 to the hanging rod 5 so that it can slide and fixing it with a set screw, etc. done by,
Here, the position of the single weight 6 is.

Once the oscillation or vibration frequency is adjusted, it is fixed.

It should be noted that if the weight 6 is positioned above the hanging rod 5, that is, near the support point, the vibration frequency will become higher, so that the accuracy of detecting the inclination will be increased.

With the configuration of each of the members 1 to 6 described above, the weight 6 is suspended within the cylindrical body 1 so as to be able to swing in any direction on a plane due to the action of the contact surface of the seat 3 and the support member 4. Rod 5
It is suspended and supported.

In the present invention, the mechanism for freely swinging or vibrating the weight 6 within a plane is not limited to the structure of the above example, but can take any other structure.

Since the weight 6 is supported so as to be freely swingable, when the cylindrical body 1 as a reference member is slightly tilted, a swing occurs and continues, that is, it vibrates. Here, if the start of rocking is detected, the occurrence of tilt can be detected and specified.

However, for example, if the weight 6 begins to swing back and forth and continues to vibrate, this vibration will be detected by the front and rear detection means, causing the cylindrical body 1 to tilt to either side. It becomes difficult to determine whether the image is tilted or the degree of inclination.

In the present invention, even in such a state, the presence or absence of a tilt, the direction of the tilt, or the degree of the tilt can be detected quickly and accurately with a simple structure. below.

The structure of this section will be explained.

7 is a flat light shielding plate attached to the lower end of the suspension rod 5;
Here, it is formed into a rectangular plane. 8°9, 10.1
Reference numeral 1 denotes a detection means, for example, a photointerrupter, which is attached to the lower end of the cylindrical body l, which is a reference member, on each side of the shielding plate 7 so as to sandwich the plate from above and below. It is desirable that the light shielding plate 7 and the detection means 8 to 11 be provided as close to the lower end of the hanging rod 5 as possible, in order to detect even a small inclination with good sensitivity.

Therefore, when the cylindrical body 1 is vertical, that is, when the body 1 and the suspension rod 5 are both in a vertical posture, each of the detection means 8 to 11 described above does not transmit a signal. - For example, if the cylindrical body 1 is tilted to the left, the detection means 1
A signal is generated on the light receiving side of the photointerrupter 0. Further, when the cylindrical main body 1 is tilted to the intermediate side of each of the detection means 8 to 11, that is, when it is tilted, a signal is generated in the two detection means on the corresponding side.

Therefore, if we assume that the relationship between the shielding plate 7 and each of the detection means 8 to 11 is positioned as shown in FIG. 2 when viewed from above,
The output of the detection means 8 indicates the rightward inclination of the cylindrical body 1 serving as the reference member.
The output of the detection means 9 indicates the forward inclination of the main body 1 (tilt to the opposite side), the output of the detection means 1o indicates the left inclination of the main body 1, and the output of the detection means 11 indicates the backward inclination of the main body 1 (toward the near side). slope)
will be shown respectively. Further, the detection means 8, 9.
Alternatively, the simultaneous outputs of numbers 9 and 10 or numbers 11 and 8 indicate that the cylindrical main body 1 is tilted obliquely in the front and rear, or in the left and right directions.

As a result, if it is detected from which of the detection means 8 to 11 the first output is obtained, the cylindrical body 1
Since it is possible to know in which direction the object is initially tilted with respect to the vertical axis, the detector of the present invention can be used as a verticality detector based on this function alone.

In the above example, the detecting means 9 and 11 are at the same 10 degrees with respect to the shielding plate 7, except when the cylindrical body 1 is tilted even slightly. If the cylindrical body 1 is tilted to some extent, for example, at a small angle of about 1 degree, it will not be detected.
In other words, it is desirable to set the position so that it has a dead zone. This is because if the sensitivity to the tilt is too high, the output of the detection means will cause so-called chattering, which will actually make it difficult to detect the tilt. .

However, the present invention aims to quickly and accurately detect the verticality of the object by attaching it to an object that is moving or tilting from a static state. I will explain about it.

Therefore, in the above-described verticality detector, when the object to which it is attached moves or tilts, the hanging rod 5 to which the weight 6 is attached is able to swing freely, so that the mounting member 4 returns to the seat. Since the suspension is supported on the suspension rod 5 due to the movement of the object, etc.
The oscillation becomes a vibration state and continues.

Here, if the cylindrical body 1 of the reference member is not tilted with respect to the vertical axis (see FIG. 3(a)), the signals detected by the detection means 8 and 10 due to the vibration of the weight, for example, figure(
As is clear from b), the output values are approximately the same.

However, if the swinging of the hanging rod 5 continues in a state where the cylindrical body 1 of the reference member is tilted with respect to the vertical axis (see FIG. 4(a)), the position will be shifted in the direction along the swinging. The detection output obtained from the detection means, for example, detection means 8 and 10, is
As is clear from FIG. 4(b), the results are different.

Therefore, in the present invention, as an example, the detection means 8 or 1
In the case of the above example, by measuring the time it takes for an output to be obtained from 0 and comparing them, or by extracting the detection output of the detection means 8.10 as a pulse signal and comparing the two outputs. , although the object is more inclined with respect to which detection means 8,10.

That is, in addition to detecting the direction of inclination, the degree of inclination is detected by measuring and calculating the output (waveform area and number of pulses) of the detection means 8 per unit time.

Next, in the present invention, even when the weight is in a vibrating state, the dead zone for tilt detection can be set as follows.

That is, even if the cylindrical body 1 is not tilted with respect to the vertical axis, the weight 6 may swing freely depending on the behavior of the object to which the cylindrical body 1 is attached. The detection means 8, 10, or 9, 11 arranged in the same direction provide substantially uniform detection outputs.

Therefore, the pair of detection means 8, 10 or 9.11
The difference between the detection outputs of the pair of detection means is constantly monitored, and when the deviation is zero (or within a preset predetermined deviation), the cylindrical body 1 is assumed to have no inclination, which is considered a neutral zone or dead zone, and a deviation is detected in the output of the paired detection means. When this happens, it is determined that there is a tilt in that direction. Incidentally, if the photointerrupter provided as an example of the detection means 8 to 11 is of a type in which the light emitting part emits pulsed light to the light receiving side, the detection output is obtained as a pulse output. In such a detection means, detection sensitivity or
Detection accuracy can be adjusted arbitrarily.

The detection means for obtaining the above output may have a structure such as a magnetic encoder.

FIG. 5 is a functional block diagram showing an example of the output signal processing section of the detection means 8 to 11.

In FIG. 5, 12 to 15 are detection circuits connected to each detection means 8 to 11. For example, each detection means has an output 8.
It is formed by a circuit that measures a certain period of time from 8 to lls using clock pulses, or a counter circuit that counts the number of pulses output from the detection means. , 16-19 are addition detection circuits that add the outputs of the detection circuits 12-15 of the rain detection means when two detection means output simultaneously in each of the detection means 8-11.

It is equipped with a gate (not shown) that does not operate unless there is input from the two detection means.

20 to 23 are each of the above detection circuits 12 to 15, 16 to 1
9, a comparison circuit for comparing the detection outputs of the corresponding detection means 8 to 11 is used, for example, each detection circuit 12.
15 or the difference between the detected numerical values of the addition detection circuits 16 to 19 is calculated. This calculated value is applied to the next output circuit 24.
~27, it is converted into a signal indicating the angle and then output.

In the present invention, the method of processing the output of each of the detection means 8 to 11 is not limited to the above example.

Whichever method is used, the output circuit 24 in the processing section
-27 outputs are the same.

A verticality detector (VS
) is coaxially attached to a vertically oriented pivot shaft 29 formed at the upper end of a support column 28 so as to be able to swing freely in the plane X and Y axis directions, as shown in FIG. 28 is applied to a mechanism for always holding it vertically regardless of its inclination. Explain the relationship between

In FIG. 6, a bearing-shaped first mounting base 30 is provided at the upper end of the support column 28, and this mounting base 3
A second mounting base 31 in the form of a bearing is installed on the horizontal shaft 30a.

The second mounting base 31 has a horizontal axis 3 perpendicular to the axis 30a.
1a, and a pivot base 29a having a pivot shaft 29 erected thereon is attached to the shaft 31a. The shaft 30a.

Geared motors 30b and 31b are connected to each of geared motors 31a, and by rotating these motors 30b and 31b in forward and reverse directions, the pivot table 29a can be rotated in any direction on the X and Y planes, including front and rear, left and right, and any direction in between. They are allowed to swing their heads freely.

Now, when the normal position of the mounting base 30 and 31 is when the support 28 and the pivot shaft 29 are on the same vertical axis, the support 28 and the pivot shaft 29 are on the same vertical axis.
If 8 is tilted for some reason, the axis 29 will also be tilted at the same angle.

This inclination is determined by the detector ■S of the present invention installed in the rotation shaft 29.
The drive control circuit for the motor 30 or 31 ( (see FIG. 7), the motors 30 and 31 are rotated forward or reverse, and the pivot shaft 29 is corrected vertically. Here, for convenience of explanation, motor 30.31
Forward rotation is clockwise, and reverse rotation is counterclockwise. This point will be explained with reference to FIG.

The output circuit 24 of the detection signal processing section shown in FIG. 5 outputs signals for normal rotation and reverse rotation of the motor 30 based on the outputs of the detection means 8 and 10. Similarly, the output circuit 25 has detection means 9 and 11.
The forward rotation and reverse rotation signals of the motor 31 are outputted by the output of the motor 31.

On the other hand, the output circuit 26 has the same angle of 9°10 as the detecting means 8 and 11.
The forward and reverse rotation signals of the motors 30 and 31 are outputted by the output of the motors 30 and 31. Similarly, it is assumed that the output circuit 27 outputs signals for normal rotation and five reverse rotations of the motor 30.31 based on the outputs of the detection means 8.9 and 10.11.

Note that there are other combinations of rotational direction signals for the motors 30, 31 in the output circuits 26, 27 other than the above example, but these will be omitted here.

In the 7th article, 32 and 33 are control circuits for the motors 30 and 31, respectively, with forward rotation command circuits 32a and 33a and reverse rotation command circuit 32b for the motors 30 and 31, respectively.
and 33b, as well as drive parts 32c and 33e.

With the above configuration, the signals obtained in each of the detection means 8 to 11 in the verticality detector VS of the present invention cause the detector V to
A drive control signal for the motors 30 and 31 for always vertically correcting the turn #I29 including S can be obtained.

As is clear from the above description, in the present invention, the inclination of the reference member with respect to the vertical axis can be quantitatively detected by the detection signals obtained from each of the detection means 8 to 11, so the inclination of the reference member can be determined based on this detection signal. Therefore, it is possible to detect whether or not the pivot axis of a load handling device having a free pivot arm mounted on a vehicle or the pivot axis of a parabolic antenna mounted on a vehicle etc. is tilted and if it is tilted. It is possible to easily obtain a signal for adjusting the amount of advance of an adjuster leg on a surface plate of a measuring device, etc., or an outlier on a cargo truck or work truck.

〔Effect of the invention〕

The present invention is as described above, and the vibration state of a weight suspended and incorporated in a reference member such as a cylindrical body is changed by converting the rocking motion caused by the tilting of the reference member in any direction into vibration. The inclination of the reference member is detected by extracting the detection outputs of at least four detection means and analyzing the detected outputs.

The presence or absence of tilt, its direction, and degree can be detected quickly and accurately.

Therefore, even if the object to which it is attached moves or oscillates, the method and detector of the present invention can easily determine the verticality of the object regardless of the movement or oscillation. Since it can be detected accurately and quickly, it can be applied to a wide range of targets.

[Brief explanation of the drawing]

FIG. 1 is a longitudinal sectional view of a detector main body in an example of the detector of the present invention, and FIG. 2 is a plan view showing an example of the arrangement of the detection means.
FIG. 3(a) is a schematic diagram showing an example of the relationship between the two hanging rod weights and the detection means in a vertical state, and FIG.
FIG. 4(a) is a waveform diagram showing an example of the output waveform of the detection means in the state shown in FIG. is the fourth
A waveform diagram showing an example of the output waveform of the detection means in the state of Figure (a), Figure 5 is a functional block diagram of an example of the detection output processing section, and Figure 6 is a waveform diagram showing an example of the output waveform of the detection means in the state of Figure (a). FIG. 7 is a perspective view of an example incorporated into a correction mechanism, and FIG. 7 is a block diagram showing the relationship between each detection means of the detector of the present invention and a motor in the mechanism of FIG. 6. 1... cylindrical body, 2... canopy member, 3... catch seat,
4... Support member, 5... Suspension rod, 6... Weight, 7...
...Light shielding plate, 8 to 11...Detection means Fig. 1

Claims (1)

[Scope of Claims] 1. A weight is suspended from a reference member oriented along a vertical axis in a state in which it can freely swing in the front-rear, left-right, or cross-direction on a plane, and the weight swings freely. When this happens, this oscillating state can be electrically, magnetically,
A method for detecting verticality, characterized in that the inclination of the reference member with respect to the vertical axis is detected by detecting with an appropriate detection means such as optical and analyzing the detection signal in the swinging direction. 2 Analysis of the detection signal assumes that when the detection means signals in the front and rear or left and right rocking directions are almost the same, there is no tilt of the reference member with respect to the vertical axis in the front and rear or left and right directions, and if there is a deviation in the detection signal, the tilt is determined. A method for detecting verticality according to claim 1. 3. Detection of the inclination of the reference member with respect to the vertical axis is defined in claim 1 or 2, in which the presence or absence of the inclination and/or the direction and degree of the inclination are detected based on the output of the detection means. Detection method described. 4 The analysis of the output obtained from each detection means is performed by comparing the magnitude of each detection output facing each other in the swinging direction of the weight. Method. 5. The verticality detection method according to claims 1 to 4, wherein the detection output of the detection means is a pulse signal. 6 The vertically oriented cylindrical body is used as a reference member, and inside it,
A weight that can freely swing back and forth, left and right, or cross directions on a plane is suspended via a suspension support, and the weight is swung in the direction of the swing of the weight. 1. A verticality detector characterized by being provided with a detection means for detecting electrically, magnetically, or optically. 7. The verticality detector according to claim 6, wherein the swinging of the weight is encouraged or sustained by external force such as the repulsive force of a spring or magnetic force. 8. The verticality detector according to claim 6 or 7, wherein a spring is interposed at the suspension support point of the vertical weight to reduce friction at the support point due to the weight. 9. In order to increase the swing frequency of the weight and adjust the frequency, the hanging weight should be positioned near the hanging support point and its vertical position can be adjusted, and the detection means should be configured to increase the detection sensitivity. The verticality detector according to claims 6 to 8, which is provided at a position near the lower end of the suspension support, away from the suspension support point. 10 When the weight is statically fixed in an almost vertical direction, or when it swings without being biased back and forth or left or right with respect to the vertical axis, there is no output from each detection means, or there is no swing. The verticality detector according to any one of claims 6 to 9, wherein a dead zone is set in which the outputs of the detecting means facing each other in the direction are offset.