JPH0538521U - Automatic horizontal holding device - Google Patents
Automatic horizontal holding deviceInfo
- Publication number
- JPH0538521U JPH0538521U JP8772091U JP8772091U JPH0538521U JP H0538521 U JPH0538521 U JP H0538521U JP 8772091 U JP8772091 U JP 8772091U JP 8772091 U JP8772091 U JP 8772091U JP H0538521 U JPH0538521 U JP H0538521U
- Authority
- JP
- Japan
- Prior art keywords
- mounting base
- measuring instrument
- instrument mounting
- main shaft
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Details Of Measuring And Other Instruments (AREA)
Abstract
(57)【要約】
【目的】高精度の水平調整を自動的に行わせる。
【構成】計測器取付用ベース２と、計測器取付用ベース
２に固定されるメインシャフト６と、メインシャフト６
に球面軸受部５を介して支持されるベースプレート３
と、メインシャフト６に固定される傾斜計７と、ベース
プレート３上のＸ軸およびＹ軸方向に配設されるサーボ
モータ９、１０と、サーボモータ９、１０の回転を計測
器取付用ベース２に伝達させ、計測器取付用ベース２を
Ｘ軸およびＹ軸方向に回転させる機構１１、１６、１５
とを備える。
(57) [Summary] [Purpose] Automatically perform high-precision horizontal adjustment. [Structure] Measuring instrument mounting base 2, main shaft 6 fixed to measuring instrument mounting base 2, and main shaft 6
The base plate 3 supported on the spherical bearing 5
An inclinometer 7 fixed to the main shaft 6, servomotors 9 and 10 arranged in the X-axis and Y-axis directions on the base plate 3, and rotations of the servomotors 9 and 10 for measuring instrument mounting base 2. Mechanism for rotating the measuring instrument mounting base 2 in the X-axis and Y-axis directions.
With.
Description
【０００１】[0001]
本考案は、測量分野におけるトランシットやレベルの水平調整或いはリモコン 式模型ヘリコプターによる水準測量における水平調整に好適な自動水平保持装置 に関する。 The present invention relates to an automatic horizontal holding device suitable for leveling of a transit or level in a surveying field or leveling for leveling by a remote-control model helicopter.
【０００２】[0002]
従来、測量分野におけるトランシットやレベルの水平調整は、気泡管を見なが ら手動で調整している。 Traditionally, the horizontal adjustment of the transit and level in the field of surveying is done manually considering the bubble tube.
【０００３】[0003]
しかしながら、上記従来の気泡管による水平調整においては、正確な水平調整 に技術を要するという問題がある。また、模型ヘリコプター等の移動体に各種セ ンサを搭載し、地上等までの距離を計測する場合、計測器の傾斜に伴う計測デー タの補正を行う必要があり、移動体の鉛直直下の距離を正確に測定することは困 難であった。 However, in the above-mentioned conventional horizontal adjustment using a bubble tube, there is a problem that a technique is required for accurate horizontal adjustment. In addition, when various sensors are mounted on a moving body such as a model helicopter and the distance to the ground is measured, it is necessary to correct the measurement data due to the inclination of the measuring instrument. It has been difficult to measure accurately.
【０００４】 本考案は、上記問題を解決するものであって、高精度の水平調整を自動的に行 わせることができる自動水平保持装置を提供することを目的とする。The present invention has been made to solve the above problem, and an object of the present invention is to provide an automatic horizontal holding device capable of automatically performing highly accurate horizontal adjustment.
【０００５】[0005]
上記目的を達成するために、本考案の自動水平保持装置は、計測器取付用ベー ス２と、計測器取付用ベース２に固定されるメインシャフト６と、メインシャフ ト６に球面軸受部５を介して支持されるベースプレート３と、メインシャフト６ に固定される傾斜計７と、ベースプレート３上のＸ軸およびＹ軸方向に配設され るサーボモータ９、１０と、サーボモータ９、１０の回転を計測器取付用ベース ２に伝達させ、計測器取付用ベース２をＸ軸およびＹ軸方向に回転させる機構１ １、１６、１５とを備えることを特徴とする。なお、上記構成に付加した番号は 、理解を容易にするために図面と対比させるためのもので、これにより本考案の 構成が何等限定されるものではない。 In order to achieve the above object, the automatic horizontal holding device of the present invention comprises a measuring instrument mounting base 2, a main shaft 6 fixed to the measuring instrument mounting base 2, a main shaft 6 and a spherical bearing portion 5. Of the base plate 3 supported via the inclinometer 7, the inclinometer 7 fixed to the main shaft 6, the servo motors 9 and 10 arranged in the X-axis and Y-axis directions on the base plate 3, and the servo motors 9 and 10. Mechanisms 11, 16 and 15 for transmitting the rotation to the measuring instrument mounting base 2 and rotating the measuring instrument mounting base 2 in the X-axis and Y-axis directions are characterized by being provided. It should be noted that the numbers added to the above configuration are for comparison with the drawings for easy understanding, and the configuration of the present invention is not limited by this.
【０００６】[0006]
本考案においては、例えば図２に示すように、ベースプレート３の傾斜に伴い 計測器取付用ベース２が傾斜すると、傾斜計７から傾斜量に応じてロール角およ びピッチ角信号が出力され、サーボモータ９、１０を回転駆動させ、円形プレー ト１１、ロッド１６を介して計測器取付用ベース２に伝達させることにより、計 測器取付用ベース２をＸ軸およびＹ軸を中心にして回動させ、計測器取付用ベー ス２を水平に保持させる。 In the present invention, for example, as shown in FIG. 2, when the measuring instrument mounting base 2 is tilted as the base plate 3 is tilted, the inclinometer 7 outputs a roll angle signal and a pitch angle signal according to the tilt amount. By rotating the servomotors 9 and 10 and transmitting them to the measuring instrument mounting base 2 via the circular plate 11 and the rod 16, the measuring instrument mounting base 2 is rotated about the X axis and the Y axis. Move it and hold the measuring instrument mounting base 2 horizontally.
【０００７】[0007]
以下、本考案の実施例を図面を参照しつつ説明する。図１および図２は本考案 の自動水平保持装置の１実施例を示し、図１は一部断面を示す側面図、図２Ａは 斜視図、図２Ｂは球面軸受部の断面図である。 Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 show one embodiment of the automatic horizontal holding device of the present invention. FIG. 1 is a side view showing a partial cross section, FIG. 2A is a perspective view, and FIG. 2B is a cross sectional view of a spherical bearing portion.
【０００８】 本考案の自動水平保持装置１は、計測器取付用ベース２と、ベースプレート３ と、傾斜計取付用ベース４とを有し、ベースプレート３に取り付けられた球面軸 受部５を貫通してメインシャフト６が設けられ、メインシャフト６の下側に計測 器取付用ベース２が固定され、メインシャフト６の上側に傾斜計取付用ベース４ が固定される。球面軸受部５は、図２Ｂに示すように、メインシャフト６に固定 された球面軸受５ａに対して回動可能である。傾斜計取付用ベース４には、全方 位傾斜計等の傾斜センサー７が固定される。The automatic horizontal holding device 1 of the present invention has a measuring instrument mounting base 2, a base plate 3 and an inclinometer mounting base 4, and penetrates a spherical bearing 5 mounted on the base plate 3. The main shaft 6 is provided, the measuring instrument mounting base 2 is fixed to the lower side of the main shaft 6, and the inclinometer mounting base 4 is fixed to the upper side of the main shaft 6. The spherical bearing portion 5 is rotatable with respect to the spherical bearing 5a fixed to the main shaft 6, as shown in FIG. 2B. An inclinometer 7 such as an all-direction inclinometer is fixed to the inclinometer mounting base 4.
【０００９】 上記自動水平保持装置１においては、トランシットやレベル或いは模型ヘリコ プター等の測定装置本体にベースプレート３を固定し、計測器取付用ベース２に 各種計測器が取り付けられる。In the automatic horizontal holding device 1, a base plate 3 is fixed to a measuring device body such as a transit, a level, or a model helicopter, and various measuring devices are attached to a measuring device mounting base 2.
【００１０】 ベースプレート３上には、ベースプレート３を仮想平面とし球面軸受部５を中 心を原点とするＸ−Ｙ座標軸（図２）方向に、それぞれロール角調整用サーボモ ータ９とピッチ角調整用サーボモータ１０が互いに直交するように配設される。 各サーボモータ９、１０の出力軸には、円形プレート１１が固定され、円形プレ ート１１の側面外周に接続具１２が回転自在に取り付けられる。On the base plate 3, the roll angle adjusting servo motor 9 and the pitch angle adjusting device are respectively arranged in the XY coordinate axes (FIG. 2) with the base plate 3 as an imaginary plane and the spherical bearing portion 5 as the origin. Servo motors 10 are arranged so as to be orthogonal to each other. A circular plate 11 is fixed to the output shafts of the servomotors 9 and 10, and a connector 12 is rotatably attached to the outer periphery of the side surface of the circular plate 11.
【００１１】 計測器取付用ベース２上には、支持ポスト１３、１４が設けられ、支持ポスト １３、１４上にボール軸受１５が設けられる。このボール軸受１５にロッド１６ の一端が回動自在に支持され、ロッド１６の他端は前記接続具１２に固定される 。このとき、ボール軸受１５の回転中心は前記Ｘ−Ｙ座標軸上に設けられる。上 記構成により、計測器取付用ベース２とベースプレート３とは、メインシャフト ６、球面軸受部５、円形プレート１１、ロッド１６、ボール軸受１５により形成 されるリンク機構により、図２のＸ軸およびＹ軸を中心にして相対的に回転可能 に構成される。Support posts 13 and 14 are provided on the measuring instrument mounting base 2, and a ball bearing 15 is provided on the support posts 13 and 14. One end of a rod 16 is rotatably supported by the ball bearing 15, and the other end of the rod 16 is fixed to the connector 12. At this time, the center of rotation of the ball bearing 15 is provided on the XY coordinate axis. With the above-described configuration, the measuring instrument mounting base 2 and the base plate 3 are connected to the X-axis of FIG. 2 by the link mechanism formed by the main shaft 6, the spherical bearing portion 5, the circular plate 11, the rod 16, and the ball bearing 15. It is configured to be relatively rotatable around the Y axis.
【００１２】 図３は本考案の制御系の構成図を示し、傾斜計７からのロール角およびピッチ 角信号を目標値にフィードバックさせると共に、検出器２０からのサーボモータ ９、１０の回転位置信号をフィードバックさせることにより行う。FIG. 3 is a block diagram of the control system of the present invention, in which the roll angle and pitch angle signals from the inclinometer 7 are fed back to the target values, and the rotational position signals of the servomotors 9 and 10 from the detector 20 are fed back. By feeding back.
【００１３】 上記構成からなる本考案の作用について説明する。ベースプレート３が傾斜す ると、計測器取付用ベース２および傾斜計取付用ベース４も傾斜し、傾斜計７か ら傾斜量に応じてロール角およびピッチ角信号が出力され、サーボモータ９、１ １を回転駆動させる。サーボモータ９、１０の回転は、円形プレート１１、ロッ ド１６を介して計測器取付用ベース２に伝達され、計測器取付用ベース２をＸ軸 およびＹ軸を中心にして回動させ、計測器取付用ベース２を水平に保持させる。The operation of the present invention having the above structure will be described. When the base plate 3 tilts, the measuring instrument mounting base 2 and the inclinometer mounting base 4 also tilt, and the roll angle and pitch angle signals are output from the inclinometer 7 in accordance with the amount of tilt, and the servo motors 9, 1 1 is rotationally driven. The rotations of the servomotors 9 and 10 are transmitted to the measuring instrument mounting base 2 via the circular plate 11 and the rod 16, and the measuring instrument mounting base 2 is rotated about the X axis and the Y axis to perform measurement. The vessel mounting base 2 is held horizontally.
【００１４】[0014]
以上の説明から明らかなように本考案によれば、高精度の水平調整を自動的に 行わせることができ、例えば、ある速度で移動する移動体の傾斜に係わらず、常 に水平を保持する機構が実現できるため、地上に対して鉛直に測量を行う場合な ど計測器の傾斜に伴う計測データの補正を行う必要がなくなる。また、トランシ ットやレベルの取付ベースに適用すれば、高精度の水平調整を自動的に行わせる ことができる。 As is clear from the above description, according to the present invention, it is possible to automatically perform high-accuracy horizontal adjustment, and for example, always maintain the level regardless of the inclination of the moving body that moves at a certain speed. Since the mechanism can be realized, it is not necessary to correct the measurement data due to the inclination of the measuring instrument such as in the case of performing a vertical survey on the ground. Also, when applied to a transit or level mounting base, highly accurate horizontal adjustment can be automatically performed.
【図面の簡単な説明】[Brief description of drawings]
【図１】本考案の自動水平保持装置の１実施例で、一部
断面を示す側面図FIG. 1 is a side view showing a partial cross section of an embodiment of an automatic horizontal holding device of the present invention.
【図２】図Ａは図１の斜視図、図Ｂは球面軸受部の断面
図2 is a perspective view of FIG. 1, and FIG. 2B is a sectional view of a spherical bearing portion.
【図３】本考案の制御系の構成図FIG. 3 is a block diagram of the control system of the present invention.
２…計測器取付用ベース、３…ベースプレート、５…球
面軸受部 ６…メインシャフト、７…傾斜計、９、１０…サーボモ
ータ １１…円形プレート、１５…ボール軸受、１６…ロッド2 ... Measuring instrument mounting base, 3 ... Base plate, 5 ... Spherical bearing part 6 ... Main shaft, 7 ... Inclinometer, 9, 10 ... Servo motor 11 ... Circular plate, 15 ... Ball bearing, 16 ... Rod
───────────────────────────────────────────────────── フロントページの続き (72)考案者 川西廣師 東京都港区芝浦一丁目２番３号 清水建設 株式会社内 (72)考案者 重元智史 東京都港区芝浦一丁目２番３号 清水建設 株式会社内 (72)考案者 中川秀彦 東京都港区芝浦一丁目２番３号 清水建設 株式会社内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Hiroshi Kawanishi, 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Construction Co., Ltd. (72) Satoshi Shigemoto 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Construction Co., Ltd. (72) Hidehiko Nakagawa 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Construction Co., Ltd.
Claims (1)
ースに固定されるメインシャフトと、該メインシャフト
に球面軸受部を介して支持されるベースプレートと、前
記メインシャフトに固定される傾斜計と、前記ベースプ
レート上のＸ軸およびＹ軸方向に配設されるサーボモー
タと、該サーボモータの回転を前記計測器取付用ベース
に伝達させ、計測器取付用ベースをＸ軸およびＹ軸方向
に回転させる機構とを備えることを特徴とする自動水平
保持装置。1. A measuring instrument mounting base, a main shaft fixed to the measuring instrument mounting base, a base plate supported by the main shaft via a spherical bearing portion, and an inclination fixed to the main shaft. Meter, a servomotor arranged in the X-axis and Y-axis directions on the base plate, and the rotation of the servomotor is transmitted to the measuring instrument mounting base, and the measuring instrument mounting base is moved in the X-axis and Y-axis directions. An automatic horizontal holding device comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1991087720U JP2544793Y2 (en) | 1991-10-25 | 1991-10-25 | Automatic leveling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1991087720U JP2544793Y2 (en) | 1991-10-25 | 1991-10-25 | Automatic leveling device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0538521U true JPH0538521U (en) | 1993-05-25 |
| JP2544793Y2 JP2544793Y2 (en) | 1997-08-20 |
Family
ID=13922748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1991087720U Expired - Lifetime JP2544793Y2 (en) | 1991-10-25 | 1991-10-25 | Automatic leveling device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2544793Y2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10139224B2 (en) | 2015-10-20 | 2018-11-27 | Topcon Corporation | Measuring device |
| US10323940B2 (en) | 2015-10-20 | 2019-06-18 | Topcon Corporation | Tilt angle measuring device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02179413A (en) * | 1988-12-29 | 1990-07-12 | Topcon Corp | Surveying instrument, main body of same and base employed for same |
-
1991
- 1991-10-25 JP JP1991087720U patent/JP2544793Y2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02179413A (en) * | 1988-12-29 | 1990-07-12 | Topcon Corp | Surveying instrument, main body of same and base employed for same |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10139224B2 (en) | 2015-10-20 | 2018-11-27 | Topcon Corporation | Measuring device |
| US10323940B2 (en) | 2015-10-20 | 2019-06-18 | Topcon Corporation | Tilt angle measuring device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2544793Y2 (en) | 1997-08-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5784282A (en) | Method and apparatus for identifying the position in three dimensions of a movable object such as a sensor or a tool carried by a robot | |
| JP2788247B2 (en) | Rotating and turning device used for probe head of coordinate measuring device | |
| US4989466A (en) | Gyroscopically stabilized sensor positioning system | |
| US7370427B2 (en) | Tiltable construction laser | |
| US20130255090A1 (en) | Six-direction directing device | |
| WO2003021278B1 (en) | Inertially-stabilized magnetometer measuring apparatus for use in a borehole rotary environment | |
| JP3148900B2 (en) | 3D survey system using model helicopter | |
| US8132334B2 (en) | Rotating construction laser with a dual grade mechanism | |
| JP2019140536A (en) | Gimbal mechanism for unmanned aircraft | |
| CN107102653A (en) | A kind of apparatus and method for the carry equipment angle over the ground for controlling unmanned plane | |
| CN113049002A (en) | Conical motion testing method of tilt sensor | |
| CN109470274B (en) | Vehicle-mounted photoelectric theodolite vehicle-mounted platform deformation measurement system and method | |
| CN108445470A (en) | A kind of method and apparatus of achievable Review for Helicopter laser radar 3 d pose angle compensation | |
| US11940274B2 (en) | Tilt detecting device and surveying instrument | |
| JPH0538521U (en) | Automatic horizontal holding device | |
| US20220317149A1 (en) | Reversing actuation type inertia detecting device and surveying instrument | |
| WO2022249292A1 (en) | Calibration device for orientation sensor | |
| CN114217091A (en) | Wind measuring device | |
| CN112362038A (en) | Three-dimensional laser scanner and total station dual-purpose target ball and coordinate conversion method | |
| JPS62184376A (en) | Antenna directing device | |
| CN116184517B (en) | Gravity meter based on single-axis servo structure and leveling and measuring method thereof | |
| CN216954549U (en) | Calibration device of inertia measurement unit | |
| CN108592878A (en) | The measurement method of ocean and airborne gravitormeter platform quiescent levels inclination angle | |
| CN116224459A (en) | Gravity meter based on double-shaft servo structure and leveling and measuring method thereof | |
| JP2001041747A (en) | Surveying device |