JPH0478398A - Level holding base for mechanism/device etc - Google Patents

Abstract

PURPOSE:To make an automatic operation for level holding possible, by supporting a base member on which devices are mounted by third and forth shafts which moves the member in vertical direction as well as supporting the same by the first and second horizontal shafts. CONSTITUTION:The first horizontal shaft 1 supported by bearings 1a,1b of the first shaft at both ends of the shaft. The second shaft 2 is installed about horizontally at a right angle to the first shaft 1 approximately in the center of the first shaft. The rear end of the shaft 2(right hand in the figure) is rotatably supported by a bearing 2a on th first shaft 1. The front end of the second shaft 2(left hand in the figure) has a support shaft 21 parallel to the first shaft 1 and both ends of the support shaft 2 are supported by the third and forth shafts approximately parallel to a vertical shaft. A slope of a reference horizontal place H formed by a plane including the second shaft 2 and the support shaft 2, is detected continually by a perpendicularity detector VS for the second shaft 2 of attaching base and actuators 3A,4a are operated in order to keep the level of the reference horizontal plane H. Consequently, this base is very useful for precision instruments, measuring apparatuses and so on, requiring exact angle of installation (plane).

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to various mechanical mechanisms, devices, etc. that need to be installed at a predetermined angle with respect to a horizontal plane or a vertical axis, for example, completely horizontally or vertically. This invention relates to a horizontal maintenance base that can always automatically form a horizontal plane or a desired inclined plane with respect to the horizontal plane, even if it is installed in a place or device where the installation surface randomly fluctuates or swings. be.

[Prior Art] Conventionally, for example, precision machines and measuring instruments that must be installed perfectly horizontally have been equipped with an adjuster for adjusting the levelness.

This adjuster has 1 screw-type feet, for example, provided at the four corners of the bottom of the machine casing, and by rotating the screws forward and backward, these feet move forward and backward relative to the bottom of the machine casing, thereby leveling the machine casing. ing.

On the other hand, there is a need for technology that allows mechanisms and devices installed on an installation surface that constantly swings or angularly displaces to remain horizontal regardless of whether or not the installation surface is displaced, or to keep them following a predetermined tilt angle with respect to the horizontal surface. However, conventional technology cannot adequately address this problem.

[Problems to be Solved by the Invention] However, with the above adjuster, it is necessary to rotate each of the four legs one by one, which takes time and effort, and it is difficult to adjust the adjustment using a leveling device or a leveling device. Since the equipment is operated while looking at the equipment, there are problems such as the inability to make quick adjustments.

Further, there is no means with a simple structure that can always maintain horizontality with respect to an installation surface that swings or angularly displaces, or that can automatically follow and maintain a desired inclination direction and angle.

In view of these points, the present invention aims to develop a horizontal maintenance base that automatically operates to maintain horizontality and can be positioned by following a desired angle with respect to a horizontal plane or a vertical axis. The challenge is to

[Means for Solving the Problems] The configuration of the present invention made to solve the above problems is such that one end side of a base member on which appropriate mechanisms and devices are mounted is connected to a horizontal first axis. The base member is supported by a horizontal second shaft perpendicular to the shaft via a bearing, and the other end of the base member is supported by a third shaft and a fourth shaft that move up and down in the vertical direction. It is something to do.

[Function] By supporting both ends of the base member on which mechanisms and devices are mounted by the first to fourth axes, the base member can be tilted from zero to the vertical axis or horizontal plane. The posture can be made to follow an arbitrary angle up to a predetermined inclination angle, or the posture can be maintained at a constant angle.

[Example] Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a perspective view showing, in skeleton form, an example of the mounting base of the present invention.

In this figure, 1 is a horizontal first axis 5, which is arranged along the depth direction of the figure. Ia and Ib are first shaft bearings that support the first shaft 1 at both ends thereof.

2 is a second shaft disposed approximately horizontally orthogonally to the first shaft 1 in the middle of the first shaft 1, and the rear end (right side in the figure) of the second shaft 2 is connected to the first shaft. ] It is rotatably supported at the top by a bearing 2a.

The front end of the second shaft (left side in the figure) has a support shaft 2° that is perpendicular to the shaft 2, that is, parallel to the first shaft 1, and both ends of this support shaft 2' are vertical. It is supported by the third and fourth axes that are approximately parallel to the axis.

The third shaft 3 and the fourth shaft 4 are formed to be movable up and down in the vertical axis direction by stroke actuators 3A and 4A using motor cylinders, air cylinders, feed screw mechanisms, and the like. With this configuration, the support shaft 2 and the second shaft 2, that is,
A plane including both axes 2 and 2' is the actuator 3A.
, 4A, or one of them, it is possible to position and hold it at any angle including a zero inclination angle with respect to the vertical axis or a horizontal plane perpendicular to this axis.

In addition, the support shaft 2 on the upper end side of both actuators 3A and 4A above
', the connecting parts 3a and 4a, and the grounding part 3 on the lower end side.
b.

4b, a universal joint is used.

The above forms an example of the mounting base of the present invention, and the mounting base that can operate as described above has its second axis 2 and its supporting axis 2° adjusted by a verticality detector vS as described below. The actuator 3A constantly detects the inclination of the reference horizontal plane H formed by the included planes with respect to the vertical axis, and, for example, maintains this reference horizontal plane H horizontal with respect to the vertical axis.
, 4A can be operated, so the second point will be explained below.

First, as an example of the configuration of the detector VS, the cylindrical body 1 which is oriented vertically as shown in FIG. A weight 12 that can freely swing in the intersecting direction is suspended from a hanging support 13 supported on a spherical seat 14, and the weight 12 is not allowed to swing in the swinging direction of the weight 12. It is formed by providing a detection means S that detects electrically, magnetically, or optically.

In the middle of the hanging support member 13 mounted and supported on the spherical seat j4, there is a bridge member 1 whose lower half side is formed into a spherical part 15a.
5 is installed. Therefore, the suspension support member 3 is either a rod that suspends and supports the weight 12, or the support member 3 and the cylindrical body 11 are connected to each other in order to reduce the influence of the weight of the weight 12 on the swinging motion. A coil spring 6 is interposed between the upper surfaces.

The lower half of the hanging support 13 is here a cylindrical body 11
A weight 12 is attached above the middle so as to be able to adjust its upper and lower positions. The position of the weight 12 is fixed after its rocking or vibration frequency is adjusted. Note that if the weight 12 is positioned above the hanging support 13, that is, near the support point, it will vibrate (swing).
Since the frequency becomes higher, the accuracy of tilt detection increases.

Due to the configuration of each of the above members 1 to 16, the weight 12 is attached to the spherical seat 14 and the bridge member 1 inside the cylindrical main body 11.
By the action of the contact surface 15a of No. 5 and the spring 16, it is suspended and supported so as to be swingable in all directions on a plane.

Since the weight 12 is supported so as to be freely swingable,
If the cylindrical body 11 serving as a reference member is tilted even slightly, rocking will occur and will continue for a certain period of time, that is, it will vibrate. Here, if the start of rocking is detected, the occurrence of tilt and the direction of the tilt can be detected and specified.

However, for example, the weight 12 begins to swing back and forth,
When this continues to vibrate, the second vibration is detected by the front and rear detection means, and it is possible to determine on which side the cylindrical body 11 is tilted or to what degree. Detection 9 becomes difficult to distinguish.

Even under such conditions, the detector used in the present invention can
To quickly and accurately detect the presence or absence of an inclination, the direction of inclination, or the degree of inclination with a simple structure. The configuration of this section will be explained below.

Reference numeral j7 denotes a flat light shielding plate attached to the lower end of the hanging support J3, and here it is formed into a rectangular plane. 18.
19.20.2] is a cylindrical body 1 which is a reference member on each side of the shielding plate 17 and sandwiching this plate from above and below.
These members 17 to 21 form a detection means S, for example, a photointerrupter attached to the lower end of the detector. It is desirable that the light shielding plate 17 and the detection means 18 to 21 be provided as close to the lower end of the support body 3 as possible. This is to detect even a small tilt with high sensitivity.

Therefore, when the cylindrical main body 11 is vertical, that is, when the main body 1 and the hanging support 13 are both in a vertical posture, each of the photointerrupters 18 to 21 in the detection means S is ~21 also produces no signal, but
- For example, when the cylindrical body] 1 is tilted to the left, a signal is generated on the light receiving side of the photointerrupter 20.

Further, when the cylindrical main body 11 is tilted to the intermediate side of each of the photointerrupters 18 to 21, that is, when it is tilted, a signal is generated in the two photointerrupters on the corresponding side.

Therefore, now the shielding plate 17 and the photointerrupters 18 to 2
] If the relationship is viewed from above and positioned as shown in FIG. The output of the photointerrupter 20 indicates the leftward inclination of the main body 11, and the output of the photointerrupter 21 indicates the backward inclination (inclination toward the front) of the main body j1. Also, photo interrupter +8. ]9, or 19.20, or 2
], 18, the respective simultaneous outputs of the cylindrical body 1
1 becomes 2, which indicates that it is tilted diagonally from front to back or left and right.

As a result, if it is detected from which of the photointerrupters 18 to 21 the first output is obtained,
It can be seen in which direction the cylindrical body 11 was initially inclined with respect to the vertical axis.

Therefore, the verticality detector VS explained above is mounted vertically on the plane H including the second shaft 2 and the support shaft 2 of the mounting base of the present invention, so that the second shaft 2 does not move or tilt. Then,
The hanging support 13 to which the weight 12 is attached begins to swing, and the swing continues in a vibrating state.

Here, if the cylindrical body 11 serving as the reference member is not tilted with respect to the vertical axis (see FIG. 4(a)), the signals detected by each of the photointerrupters 18 and 20 due to the vibration of the weight, for example, will be as follows. As is clear from FIG. 4(b), these are the output values for road gaps, etc.

However, the swinging of the hanging support 13 causes the cylindrical body 11, which is the reference member, to be tilted with respect to the vertical axis (see Fig. 5(a)).
Continuing with (see), a photo interrupter, for example, photo interrupter 18, located in the direction corrected by the oscillation.
As is clear from FIG. 5(b), the detection outputs obtained at and 20 are different.

Therefore, in the mounting base of the present invention, as an example, the time during which an output is obtained from the photointerrupter 18 or 20 is measured and compared.
20 detection outputs are taken out as pulse signals,
By comparing both outputs, in the case of the above example, which photointerrupter 1 is the target, that is, the second axis 2 of the mounting base.
8.20, that is, the direction of the inclination, and the degree of inclination is detected by measuring and calculating the output (waveform area and number of pulses) of the photointerrupter 18 per unit time.

Note that a photointerrupter 18 provided as an example of a detection means
~2J is of the type in which the light emitting section emits pulsed light to the light receiving side, and the detection output is obtained as a pulse output. In such a detection means, detection sensitivity or detection accuracy can be arbitrarily adjusted by modulating the light emission frequency of one light emitting section.

As an example of the detection means for obtaining the above-mentioned output, there is a structure such as a magnetic encoder, and this may be used.

FIG. 6 is a functional block diagram of a control circuit including a processing section for the output signal of the photointerrupter serving as the detection means.

In FIG. 6, 22 to 25 are each photointerrupter 18 to 25.
A detection circuit connected to 21 is formed, for example, by a circuit that measures a certain time of the outputs 185 to 215 in each photointerrupter using a clock pulse, or a counter circuit that counts the number of pulses of the photointerrupter output. 26 to 29 are addition detection circuits that add the outputs of the detection circuits 22 to 25 of both photointerrupters when the two photointerrupters output simultaneously in each of the photointerrupters 18 to 21; It is equipped with a gate (not shown) that would otherwise be inoperable.

30 to 33 are each of the above detection circuits 22 to 25, 26 to 2
9, the photointerrupters 18 to 2 in a corresponding relationship
A comparison circuit that compares one detection output with another calculates, for example, the difference between the detected numerical values of each of the detection circuits 22 to 25 or the addition detection circuits 26 to 29. The second calculated value is converted into a signal indicating the angle in the next output circuits 34 to 37, and then output.

In the detector VS, each photointerrupter 18 to 2
The method of processing the output of 1 is not limited to the above example, but regardless of which method is used, the outputs of the output circuits 34 to 37 in the processing section are the same.

The verticality detector VS described above raises and lowers the stroke actuators 3A and 4A of the third axis 3 and fourth axis 4 on the mounting base of the present invention shown in FIG. Since it is applied to a mechanism for always keeping the horizontal plane H horizontal to the vertical axis, it will be explained below.

Now, if the reference horizontal plane H including the axes 2 and 2' in the mounting base of the present invention is not horizontal to the vertical axis for some reason, that is, it is tilted, then the cylindrical body 11 of the detector VS will also be tilted at the same angle.

This inclination is detected by any one or two of the photointerrupters 18 to 21 built into the cylindrical body 11, and the detection signal processing section shown in FIG.
4 to 37 to the drive control circuit 31.4 of the motor 40 or 50 of the actuator 3A or 4A to rotate the motor 40.50 in the forward or reverse direction,
φ to vertically correct the cylindrical body 1]. In 22, for convenience of explanation, the forward rotation of the motor 40, 50 is assumed to be clockwise, and the reverse rotation is assumed to be counterclockwise. The second point will be explained next.

The output circuit 34 of the photointerrupter detection signal processing section outputs forward and reverse rotation signals for the motor 40 based on the outputs of the photointerrupters 18 and 20. Similarly output circuit 3
5 outputs forward and reverse rotation signals for the motor 50 according to the output of the photointerrupter 19.2.

On the other hand, the output circuit 36 outputs forward and reverse rotation signals for the motor 40.50 based on the outputs of the photointerrupters 18.2 and 19.20. Similarly, it is assumed that the output circuit 27 outputs signals for normal rotation and reverse rotation of the motor 40.50 based on the outputs of the photointerrupters 18.19 and 20.2.

It should be noted that there are other combinations of rotational direction signals for the motors 40, 50 in the output circuits 36, 37 other than the above example, but these will be omitted here.

In Figure 6, 41.5] is the motor 40°5
0 control circuit is mainly formed of forward rotation command circuits 4]a and 51a, reverse rotation command circuits 41b and 51b, and drive units 41c and 5]c for the motors 40 and 50, respectively.

With the above configuration, the signals obtained from each photointerrupter 18 to 2j in the verticality detector vS can be used to obtain a drive control signal for the motor 40.50 for always vertically correcting the cylindrical body 11 of the detector vS. be.

As is clear from the above explanation, in the horizontal maintenance base of the present invention, the photointerrupters 18 to 2 of each verticality detector vs.
Since the inclination of the reference member (cylindrical body) with respect to the vertical axis can be quantitatively detected using the detection signal obtained in step 1, the inclination of the reference member can be corrected based on this detection signal. Therefore, the second shafts 2, 2' of the horizontal maintenance base of the present invention
The reference horizontal plane H including this is always corrected and held in a plane horizontal to the vertical axis.

The above is an example in which when there is an angular displacement on the installation surface of the horizontal maintenance base of the present invention, the reference horizontal plane H of the base can always be maintained horizontally. It is also possible to make it follow an arbitrary inclination direction and its inclination angle and maintain that angle.

In this way, the horizontal maintenance base of the present invention can be used in the following fields because it always follows the horizontal position regardless of the displacement of the installation surface and always maintains a predetermined angle. Highly convenient.

For example, the base of the present invention is attached to the trolley of an outdoor working machine equipped with caterpillars or wheels, and a crane-like load supporting means using pantograph-like parallel links is attached to the reference horizontal plane, or an artificial satellite, etc. Installation base device for tracking antennas, work equipment mounting base device for mobile work vehicles, ships.

By using the present invention as a mounting base device for various types of equipment in an aircraft or the like, it is possible to realize the horizontal plane or the desired inclination angle as explained in the above embodiments on the reference horizontal plane on this mounting base device.

[Effects of the Invention] The present invention is as described above, and the mounting base for mechanisms and devices is tilted at an angle of 0 with respect to a vertical axis or a horizontal plane perpendicular thereto.
Since it is possible to maintain or change the desired tilt angle including degrees, precision instruments and measuring instruments that require strict installation angle (plane) maintenance, etc.
Alternatively, it is extremely useful as a mounting base for parabolic antennas for communications, etc.

Further, in order to follow the above-mentioned desired inclination angle, the stroke actuator supporting the reference horizontal plane H of the mounting base of the present invention is driven forward and backward using the calibration angle of the angle detection sensor such as a verticality detector. Since the desired inclination angle is followed and achieved, automatic adjustment is possible that is easy, quick, and labor-saving. Moreover, since the mechanism for realizing such an operation is extremely simple, it is possible to manufacture and provide a horizontal maintenance base that can realize extremely high-precision operation at a low cost.

[BRIEF DESCRIPTION OF THE DRAWINGS] Fig. 1 is a perspective view of the structure of the mounting base of the present invention expressed in scale, and Fig. 2 is a front sectional view of an example of a verticality detector used in the mounting base of the present invention. FIG. 3 is a view taken along the line mm in FIG. 2, FIG.
Figure (b) is a waveform diagram showing an example of the output waveform of the photointerrupter in the state of Figure 4 (a), and Figure 5 (a) is a waveform diagram showing the relationship between the suspended support quadruple weight and the photointerrupter in the tilted state. A schematic diagram showing an example, Fig. 5(b) is similar to Fig. 5(a)
FIG. 6 is a waveform diagram showing an example of the output waveform of the photointerrupter in the state shown in FIG. 1... First shaft, la, lb... Bearing, 2... Second shaft, 2a... Bearing, 3... Third shaft, 4... Fourth shaft, 3A, 4A・・・Stroke actuator

Claims (1)

[Scope of Claims] 1. One end side of a base member on which appropriate mechanisms and devices are mounted is supported by a horizontal first shaft and a horizontal second shaft perpendicular to the first shaft via a bearing. A horizontal maintenance base for a mechanism, device, etc., characterized in that the other end side of the base member is supported by a third shaft and a fourth shaft that move up and down in the vertical direction. 2. A horizontal maintenance base for a mechanism, device, etc. according to claim 1, wherein the third and fourth axes are respectively movable up and down by stroke actuators such as motor cylinders. 3. The horizontal maintenance base for a mechanism, device, etc. according to claim 1, wherein the first shaft and the second shaft are configured to apply rotational force by a rotary actuator such as a geared motor. 4. An angle detection sensor that detects the verticality or horizontality of the base member or its inclination with respect to these is provided with the base member as a reference plane, and the rotation actuator of the first and second axes of the base member or the third axis 4. The horizontal maintenance base for a mechanism, device, etc. according to claim 2 or 3, wherein the stroke actuator of the fourth axis is driven and controlled by calculating the detection output of the detection sensor. 5. A vertically oriented cylindrical body is attached to a reference horizontal plane as a reference member, and inside the cylindrical body, the front and rear, left and right sides of the plane, or
A weight is suspended via a suspension support so that it can freely swing in the intersecting direction, and the swing of the weight is detected electrically, magnetically, or optically in the swing direction of the weight. 5. The angle detection sensor according to claim 4, further comprising a detection means for detecting the angle. 6. The angle detection sensor according to claim 5, wherein the swinging of the weight is encouraged or sustained by external force such as repulsive force of a spring or magnetic force. 7. The angle detection sensor according to claim 5 or 6, 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. 8. 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. 8. An angle detection sensor according to claim 5, wherein the angle detection sensor is provided at a position near the lower end of the suspension support, away from the suspension support point. 9 When the weight is statically fixed in an almost vertical direction, or
When swinging without biasing back and forth or left and right with respect to the vertical axis, either no output is generated in each detection means, or a dead zone is set in which the output of the detection means facing each other in the swing direction is canceled out. An angle detection sensor according to claims 5 to 8. 10. The angle detection sensor according to claim 5, wherein the cylindrical body is mounted at an arbitrary angle in an arbitrary direction with respect to a reference horizontal plane.