JPS606801A - Positioning method of objects to each other - Google Patents

Abstract

PURPOSE:To obtain a simple and precise method by providing a magnetism generating source and magnetic detecting sensors in plural positions to one object and manufacturing the other object of a magnetic material which is not magnetized or providing said object to the positioning center. CONSTITUTION:A magnetic material A is adhered by a suitable means to a film F and the film F is positioned on the inside of a tooth 6 to be irradiated. The center (a) of the magnetic material is positioned to match the center of the film. On the other hand, three or four magnetic detecting sensors S are attached equidistantly to the outside surface at the top end of an X-ray irradiating cylinder 7 around the central axis (b) of said cylinder 6. A magnet M is attached to the central axis (b). The cylinder 7 is moved and is so operated that all the output values from the sensors S coincide, by which the X-ray photographing is accomplished.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a method for positioning two objects forming a pair, such as an X-ray irradiation head and an X-ray film in an X-ray imaging device, on a desired straight line. Regarding the method.

That is, if we explain the above-mentioned X-ray imaging device using a dental X-ray imaging device as an example, instead of performing panoramic X-ray imaging of the entire jaw, X-ray imaging is performed on two or three specified teeth. With the rubbing type, a film is set inside the oral cavity and X-rays are irradiated from the outside to take pictures and diagnoses. In this case, the positioning of the film and the X-ray irradiation tube has traditionally been determined by the operator. Because it relied on visual inspection and intuition, positional deviations tend to occur (either the film comes off from the X-ray irradiation field and exposes the xi for extra quality, or the target tooth is not photographed on the film and the cutting cone cut The problem is that the number of atomic bombs on the human body increases further due to the need for re-imaging, and conversely, in order to suppress this cone cut, the X-ray irradiation field must be expanded and the target area This is causing the problem of unnecessary radiation exposure to local areas.

In addition, when using machine tools to perform cutting on a specific part of a workpiece, precise positioning of the specific part and the cutting tool is required, which requires complex control equipment such as numerical control. Was.

In view of these difficulties, the present invention is not limited to the above-mentioned examples of X-ray imaging equipment and machine tools, but when there are two objects to be positioned, it is possible to accurately position both objects using a simple method and structure. The purpose is to provide

Hereinafter, the details of the present invention will be explained based on the inner side.
In the figures and FIG. 2, an unmagnetized, axially symmetrical (circular) magnetic body (A) is positioned at a point on the coordinates.

Corresponding to this, a movable object (B) is provided, and a magnetic source such as a magnet or an electromagnet is equipped at the central axis [b) of the movable object (B) on the back side of the movable object (B). is,
A rotationally symmetrical magnetic field is formed from this magnetic generation source (b) around the magnetic center axis (in) and the object center axis (b). In addition, the front end of the movable object (B) on the magnetic body side has its center axis (b).
Four magnetic detection sensors (8)... are arranged at equal intervals in the circumferential direction in the plane orthogonal to the central direction, and the distance (
r) so that the magnetically sensitive axes of the sensors (8) are mutually symmetrical with respect to the central axis (b).

In this structure, if the magnetic material (Al is not located inside the magnetic field created by the magnetic source (the pigeon), then any magnetic detection sensor (3) from the magnetic source (threshold) As a result of each sensor being placed in a region with the same magnetic field strength of the axially symmetrical magnetic field formed by the magnetic source (with the same distance to...), the sensor outputs naturally match.

However, as shown in Figure 1, the magnetic material (^) is used as the magnetic source (b).
When placed inside the magnetic field formed by this magnetic material, magnetic polarization occurs. Then, this magnetic body (A) has its central axis (,) as the object central axis (13) and the magnetic field central axis (m).
If the axially symmetrical shape of the magnetic field is not placed in a position coaxial with As a result, the output becomes disjointed. Therefore, after extracting the peak value of the output of each sensor (83-) in the peak hold circuit (1), these output peak values are compared and outputted in the amplifier circuit (2). Display the comparative value on the display means (3) through the display, and move the movable object (B) while looking at the displayed value.
Either move the movable object (Bl) manually or automatically move it by moving the drive means (4) of the movable object (Bl), and find the point where all the outputs of each magnetic detection sensor (S)... coincide. Once the magnetic body (AJ) and the movable object (BJ and the boat are positioned coaxially).

Note that the same effect can be achieved even if the movable object (BJ) is fixed and the 1D body (A) is moved, and the driving direction includes two-dimensional and three-dimensional. For example, when moving the movable object ( By moving BJ forward and backward relative to the magnetic body (AJ), the relative distance between the magnetic source - and the movable object +11 can be controlled by increasing or decreasing the output value of each magnetic detection sensor (3)... (19 is an oscillator, and 0e is a driver for driving the sensor. The power supply is not shown.

In addition, although four magnetic detection sensors (3) are used in Figures 1 and 2, three may be arranged at equal intervals as in Figure 3, or as shown in Figure 4. When the direction of movement of the movable object (B) is regulated by the guide member (5) so that it only moves parallel to the magnetic body (A) in one direction, two objects are placed in the direction of movement. It is also possible to use

In addition, as shown in FIG. 5, the positions shown from the chain line to the solid line with respect to the fixed magnetic body (AJ) can also be used to move a movable object (Bl) to a position by applying a rotational force.

Figure 6 shows two movable objects C relative to a single magnetic body (^).
By positioning B) (B') from the opposite direction, we will show an application example of how to coaxially align both moving objects CB) (B'), and this positioning can be done later by removing the magnetic material fAl. , these objects can be easily mated and connected by linear coaxial movement tp of both objects (B) and (B・).

Furthermore, if the magnetic body (A) is attached to the object (C) as shown in Fig. 7, and this object (0) is configured like a saucer with respect to the movable object (B), the inside of this object (QJ An object (Bl) can be inserted into the object.

As described above, the range of use and application is extremely wide.

As the magnetic detection sensor, a magnetic modulation type sensor, a Hall element, a magnetoresistive element, a SQUID (from SOU), etc. are used.

FIG. 8 shows an example in which the IJI of the present invention is used in a dental
is attached, and this film (p+ is the irradiation target tooth (6)
located inside. At this time, the center of the magnetic body (a) is positioned to match the center of the film. On the other hand, the X-ray irradiation tube (7
3 or 4 magnetic detection sensors (
8) ... is the central axis of the X-ray irradiation tube (6) (X-ray central axis)
(b) Attached to the circumference at equal intervals, and attached to this central axis (
A magnet (threshold) is attached to b).In this way, from the state where the film (F) is positioned inside the patient's irradiation target tooth (6) as described above, the X-ray irradiation tube (7) is moved. If you operate so that the output values of each magnetic detection sensor (8)... all match, when they match, the center of the film, the center of the magnetic body (aJ, and the center axis of the X-ray irradiation tube (7) (bl,
Therefore, when X-ray imaging is performed, the film (FJ) is completely contained within the X-ray irradiation field, and the irradiation target tooth (6 ) can be photographed.

Is the invention in Figure 9 a cutting machine? A workpiece (9) made of a non-ferromagnetic material is placed on a processing table (8), and a magnetic material (Al) is placed under the cutting part (9a) of the workpiece (9). It is pasted. Directly above it is a drill (7)
A cutting tool holder (ID) is provided with a cutting tool holder (ID), and a magnetic detection sensor (8J... The output of the sensor (8) is sent to the comparator flZ.
The comparison value is input to the control device (131), and the direction in which the comparison value becomes zero, that is, the magnetic detection sensor
--(3)... feed the machining table (8) via the servo motor (141) so that the outputs match, and position the cutting part (9a) directly below the drill (to). From this state, the drill aQ is lowered to perform the required cutting process.

Figure 10 is a circuit diagram for digitally processing sensor output, where F171 is a timing control, 081■ is a waveform shaping circuit, (Iω is an analog multiplexer, ■ is an A/D converter, @ is a memory, (to) is Motor driver circuit, ■ is motor, (support) is display driver circuit, (2
) indicates the display means, respectively.

In addition, in the explanation so far, a plurality of sensors 18J have been fixedly provided, but as shown in FIG. It is also possible to extract and compare the outputs of the rotating sensor (B') at the position PC where each sensor (SJ...) is fixed as shown in Figure 2b0 Therefore, in Figure 15, ( Figure 3) shows a circuit for rotationally driving the sensor (B').

As described above, the present invention has a simple combination structure of a magnetic generation source and a magnetic detection sensor, and can accurately and easily position two objects.

In particular, since the present invention uses a magnetic circuit for positioning,
Positioning can be performed even if there is a non-ferromagnetic object (e.g. plastic, aluminum, human body, etc.) between the objects to be located, so it can be applied to processing, transportation, and industrial robots after object recognition. , it is not suitable for application to radiation equipment for diagnosis and treatment, etc.

In addition, it is sufficient that the object that moves relative to the magnetic detection sensor is simply a magnetic material, so if the object to be positioned includes a transformer that is easily affected by magnetic fields, the magnetic material can be attached to the transformer side. This is effective because it eliminates the effect on the transformer.

[Brief explanation of drawings]

Figures 1 and 2 are preliminary diagrams for explaining the principle of the method of the present invention, Figures 3 to 7 are diagrams for explaining applied usage, and Figure 8 is a dental X-ray machine. If the present invention is applied to a radiation imaging device, f? Schematic diagram showing the configuration of one embodiment, No. 9
The figure is a schematic diagram showing the configuration of an embodiment applied to a machine tool.
FIG. 0 shows an example of a circuit configuration, and FIG. 11 is a circuit diagram for explaining an application example. (Explanation of symbols) (A) ... magnetic material, (B) (B') (C) (F) (7
) (9) 1D --- Object, W-- Magnetic source, (8
)(8')...Magnetic detection sensor, ta+ (bl
・−・Positioning is centered. Figure 3 Figure 4 Figure 5 Figure 68 Figure 7

Claims (1)

[Claims] 1. Among two objects that should be positioned mutually, one of the objects is positioned with a magnetic source that forms a symmetrical magnetic field around the central axis, and the above position is on the same plane perpendicular to the central axis. Install magnetic detection sensors at a plurality of equidistant positions within the center so that the magnetic sensitive axes of the sensors are mutually symmetrical with respect to the center, or install - magnetic detection sensors at multiple equidistant positions, or It is provided so as to move sequentially over multiple positions, and the other object is made of a non-magnetized magnetic material, or the magnetic material is positioned in the center. Then, by causing magnetic polarization in the magnetic body by the symmetrical magnetic field, the two objects are moved relative to each other in the direction in which the outputs of the magnetic detection sensor match, and the positions of the two objects are aligned so that their centers are coaxial. How to position objects to be moved.