WO2007068860A2 - Device for automatically positioning an object with respect to an axis of elevation and/or a roll axis. - Google Patents

Device for automatically positioning an object with respect to an axis of elevation and/or a roll axis. Download PDF

Info

Publication number
WO2007068860A2
WO2007068860A2 PCT/FR2006/051358 FR2006051358W WO2007068860A2 WO 2007068860 A2 WO2007068860 A2 WO 2007068860A2 FR 2006051358 W FR2006051358 W FR 2006051358W WO 2007068860 A2 WO2007068860 A2 WO 2007068860A2
Authority
WO
WIPO (PCT)
Prior art keywords
axis
rotation
encoder
positioning device
kinematic chain
Prior art date
Application number
PCT/FR2006/051358
Other languages
French (fr)
Other versions
WO2007068860A3 (en
Inventor
Marc Vincens De Tapol
Original Assignee
Tdm
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Tdm filed Critical Tdm
Publication of WO2007068860A2 publication Critical patent/WO2007068860A2/en
Publication of WO2007068860A3 publication Critical patent/WO2007068860A3/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A42—HEADWEAR
    • A42C—MANUFACTURING OR TRIMMING HEAD COVERINGS, e.g. HATS
    • A42C2/00—Manufacturing helmets by processes not otherwise provided for
    • A42C2/007—Manufacturing custom-sized helmets
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2021—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis
    • F16M11/2028—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis for rolling, i.e. for creating a landscape-portrait rotation
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/017—Head mounted
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/0123—Head-up displays characterised by optical features comprising devices increasing the field of view

Definitions

  • the present invention relates to an automatic positioning device according to the site axis and / or a roll axis of an object capable of evolving in a medium sensitive to disturbances, particularly electromagnetic disturbances.
  • To characterize an object likely to be subject to an individual's head it is necessary to position the latter according to thousands of different positions, in the manner of an individual who would move his head.
  • One solution for carrying out this operation is to manually position the object according to these different positions. This task is long and tedious.
  • a bench has been developed comprising a motorized support for ensuring three translations Tx, Ty, Tz and a vertical rotation Rz.
  • the two other horizontal rotations Rx corresponding to the front / rear movement of the head also called site and Ry corresponding to the right / left movement of the head also called roll are not motorized because the environment close to the object to be tested can be a medium sensitive to electromagnetic disturbances so that the presence of a motorization to automate the rotational movements Rx and Ry is proscribed.
  • the present invention aims to overcome the disadvantages of the devices of the prior art by providing a device for positioning automatic object according to at least one axis of rotation corresponding to the movement of site or roll, without generating particularly electromagnetic disturbances in the environment of the object.
  • the subject of the invention is an automatic positioning device according to at least one axis of rotation of an element capable of evolving in a medium that is sensitive to electromagnetic disturbances, said device comprising at least one mat at the end. which is articulated along an axis of rotation a support which can be subject to said element, characterized in that it comprises at least one motor remote relative to said axis of rotation, capable of causing said axis of rotation by means of a kinematic chain and at least one encoder capable of controlling the actual movement of said axis of rotation to compensate in particular the possible games of the kinematic chain.
  • FIG. 1 is a schematic representation of the device of the invention illustrating the site movement
  • FIG. 2 is a schematic representation of the device of the invention illustrating the roll motion
  • FIG. 3 is a perspective view illustrating the part of the device enabling the automatic movement of the site
  • FIGS. 4 and 5 are respectively a side view and a perspective view illustrating the part of the device enabling the roll movement to be performed automatically
  • FIG. 6 is a perspective view illustrating in detail the upper part of the mat
  • FIG. 7 is a schematic representation illustrating an encoder according to a preferred embodiment of the invention
  • FIG. 8 is a top view of an encoder disc according to one embodiment
  • FIG. 9 is a perspective view of an encoder disc according to another embodiment
  • FIG. 10 is a perspective view illustrating the location of an encoder according to an alternative embodiment.
  • FIGs 1 and 2 there is shown a device for positioning in different positions an element 10 may evolve in a medium sensitive to disturbances including electromagnetic, shown in dashed lines.
  • This device also called bench, comprises a frame 12, a mat support 14, a mat 16 and means 18 for securing the test element to the upper end of said mat.
  • connection between the frame 12 and the mat support 14 makes it possible to automatically produce three translations Tx, Ty, Tz, perpendicular two by two and a rotation about a vertical axis Rz.
  • This connection is not more detailed because it is known to those skilled in the art.
  • the mat 16 has a length sufficient for the elements providing the connection between the frame 12 and the mat support 14 and those at the foot of the mat do not induce electromagnetic interference in the environment of the test item.
  • the means 18 for securing the element comprises a plate 20, of triangular shape with three anchor points may be connected to the element to be tested.
  • the means 18 for securing the element to be tested are not more detailed because many technical solutions can be envisaged.
  • the mat 16 is made of a non-metallic material, in particular a plastic material. It comprises two substantially parallel uprights 22.1 and 22.2, fixed in the lower part to the mat support 14.
  • the two uprights 22.1 and 22.2 comprise, in the upper part, bores in which are pivotable bearing surfaces reported on either side of a housing 24, said housing 24 being able to pivot about an axis of rotation Rx materialized by the spans and corresponding to the movement of the site illustrated by the double arrow 26.
  • the device comprises in the lower part of the mat 16 a first motor 28 secured to the mat support 14, the output shaft 30 is rotatably mounted in a bore provided at level of one of the amounts. Connecting means make it possible to ensure the kinematic connection between the output shaft 30 of the first motorization with one of the bearings of the housing 24 so that said housing 24 is rotated by the first motor.
  • a pinion is attached to the output shaft 30 and a half-disk 32 is fixed to a scope of the housing 24, whose center corresponds to the axis of rotation Rx and comprising notches peripherally capable of meshing with the pinion of the output shaft 30 of the first motorization 28.
  • a first axis of rotation 34 is pivotally mounted in the housing 24, said axis of rotation 34 corresponding to the axis of rotation Ry and being perpendicular to the axis of rotation Rx. This axis of rotation 34 extends on either side of the housing 24 and supports a yoke 36 itself supporting the means 18 for securing the element to be tested.
  • the yoke 36 comprises two uprights whose lower ends are connected to the ends of the first axis 34 and whose upper ends are connected by a cross member on which are reported the means 18 for securing an element to be tested.
  • a second axis of rotation 38 is rotatably mounted in the bearing surfaces of the housing 24, so as to be coaxial with the axis of rotation Rx.
  • This second axis of rotation 38 is perpendicular to the first axis of rotation 34 and comprises a worm 40 capable of meshing with a notched wheel 42 integral with the first axis of rotation 34.
  • Other solutions could be envisaged to ensure the training in rotation of the first axis of rotation 34 by the second axis of rotation 38, for example a friction drive.
  • the device also comprises in the lower part of the mat 16 a second motor 44 secured to the mat support 14, the output shaft 46 is rotatably mounted in a bore formed at one of the uprights.
  • connecting means for example a toothed belt 48, make it possible to ensure the kinematic connection between the output shaft 46 of the second motorization 44 and a pinion geared to one of the ends of the second axis of rotation 38 so that the yoke 36 is rotated by the second motor 44 around the axis Ry corresponding to the rolling motion illustrated by the double arrow 50 in Figure 2.
  • the engines 28 and 44 are not detailed and are chosen by those skilled in the art.
  • all the elements provided between the mat 16 and the means 18 for securing the element to be tested are made of non-metallic materials, in particular plastic materials, so as not to generate electromagnetic disturbances in the environment of the device. the element to be tested.
  • Providing motors 28 and 44 offset relative to the axes of rotation Rx and Ry makes it possible not to generate electromagnetic disturbances in the environment close to the element to be tested.
  • the device comprises a first kinematic chain comprising the first motor 28, the output shaft 30, the half-disk 32 and the housing 24 and a second kinematic comprising the second motor 44, the output shaft 46, the toothed belt 48, the second axis of rotation 38, the worm
  • each kinematic chain comprises an encoder making it possible to control the real movement along each axis of rotation Rx and / or Ry in order to compensate for the clearances caused, in particular because of the elasticity of the elements composing each kinematic chain.
  • a first encoder 52 is attached at a range of the housing 24 to control the evolution of the angular position about the axis of rotation Rx.
  • a second encoder 54 is attached at the first axis of rotation 34 to control the evolution of the angular position about the axis of rotation Ry.
  • Each encoder comprises an encoder disc 56 and means for measuring the angular movement of the disc and determining its direction of rotation.
  • the encoder disc 56 is made of a non-metallic material, and preferably of silicon.
  • the silicon encoding disk 56 comprises on at least one of its faces a plurality of grooves 58 in the form of lines, etched at the surface whose spacing is a function of the desired accuracy.
  • the encoder disc 56 comprises at the periphery a plurality of corrugations whose pitch between two recesses is adapted as a function of the desired precision of the measurement.
  • the depth of the depressions is sufficient to alter the signal when the beam illuminates a hollow, said signal being picked up inside the hollow after a multitude of reflections on the side walls of the hollow.
  • the depth of the trough is independent of the wavelength of the received wave.
  • the means for measuring the angular movement of the disk and for determining its direction of rotation comprise a first pair comprising a transmitter and a receiver for determining the angular displacement and a second pair comprising a transmitter and a receiver, placed to receive a signal out of phase with the first pair, to determine the direction of rotation of the disk.
  • Each pair includes a wave source remote from the encoder so as not to generate electromagnetic disturbances in the environment of the element to be tested.
  • Means are also provided for analyzing the signals received by the receivers, said means being deported with respect to the encoders so as not to generate electromagnetic disturbances in the environment of the element to be tested.
  • the signals are transmitted between the wave sources and the transmitters and between the receivers and the means of analysis by means of optical fibers.
  • the means making it possible to measure the angular movement of the disk and to determine its direction of rotation comprise a single transmitter 60 and a receiver 62 comprising two detection fibers 64.1 and 64.2 placed side by side, a collimation lens 66 and two focusing lenses 68, one per fiber.
  • the other ends of the detection fibers 64.1 and 64.2 are each connected to signal analysis means.
  • a wave source 70 in the form of a laser diode is provided, coupled to a fiber whose other end is coupled to the transmitter 60.
  • Transmitter 60 includes means for collating and focussing the beam to obtain a focal task at the encoder disc equal to or less than
  • This variant makes it possible to reduce the costs since only one wave source is necessary for each encoder.
  • the wave source 70 and the signal analysis means are offset relative to the encoder disk so as not to generate particularly electromagnetic disturbances in the environment of the element to be tested.
  • the signal When the signal does not light a hollow, said signal is reflected and received by the two detection fibers 64.1 and 64.2, each receiving about 50% of the reflected signal.
  • the signal When the signal illuminates a hollow, the signal is not reflected so that the two detection fibers 64.1 and 64.2 do not receive a reflected signal.
  • the reflected signal is received by a fiber 64.1 if the encoder disc rotates clockwise, and by the other fiber 64.2 if the encoder disc rotates counterclockwise.
  • the beam transmitted by the transmitter 60 has an angle of incidence of the order of 60 °.
  • the encoder disk can be connected to one of the axes and the means for measuring the angular movement of the disk and to determine its direction of rotation are connected to one or more fixed elements.
  • the encoder disk of the first encoder 52 corresponding to the axis of rotation Rx, is integral with one of the amounts forming the mat 16.
  • the means 72 for measuring the angular movement of the disk and determine its direction of rotation are reported on the housing 24, as shown in Figure 10.
  • the encoder disk of the second encoder 54 corresponding to the axis of rotation Ry, is integral with the first axis 34 and disposed inside the housing 24, the means for measuring the angular movement of the disk and to determine its direction of rotation being integral with the housing 24.
  • the invention is obviously not limited to the embodiment shown and described above, but covers all variants, particularly with respect to the shapes and dimensions of the various elements.
  • the encoder according to the invention could be used in other areas requiring an encoder that may not generate electromagnetic interference.
  • the automatic positioning device can make it possible to position, according to at least one axis of rotation, any element capable of evolution in a medium sensitive to electromagnetic disturbances.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manufacturing & Machinery (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Control Of Position Or Direction (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The subject of the invention is a device for automatically positioning, with respect to at least one axis of rotation, an element liable to move in a medium in response to disturbances, particularly electromagnetic disturbances, the said device comprising at least one mast (16) to the end of which a support (24, 36) to which the said element can be secured is articulated about an axis of rotation, characterized in that it comprises at least one drive (28, 44) which is offset from the said axis of rotation, capable of driving the said axis of rotation through a drive line, and at least one encoder (52) capable of monitoring the actual movement of the said axis of rotation in order in particular to compensate for any backlash in the drive line.

Description

DISPOSITIF DE POSITIONNEMENT AUTOMATIQUE D'UN OBJET SELON UN AXE DE SITE ET/OU UN AXE DE ROULIS DEVICE FOR AUTOMATIC POSITIONING OF AN OBJECT ACCORDING TO A SITE AXIS AND / OR A ROLL AXIS
La présente invention se rapporte à un dispositif de positionnement automatique selon l'axe de site et/ou un axe de roulis d'un objet susceptible d'évoluer dans un milieu sensible aux perturbations notamment électromagnétiques. Pour caractériser un objet susceptible d'être assujetti à une tête d'un individu, il est nécessaire de positionner ce dernier selon des milliers de positions différentes, à la manière d'un individu qui bougerait sa tête. Une solution pour réaliser cette opération consiste à positionner manuellement l'objet selon ces différentes positions. Cette tache est longue et fastidieuse. Pour accélérer cette opération, un banc a été développé comprenant un support motorisé permettant d'assurer trois translations Tx, Ty, Tz et une rotation verticale Rz. Les deux autres rotations horizontales Rx correspondant au mouvement avant/arrière de la tête appelé également site et Ry correspondant au mouvement droite/gauche de la tête appelé également roulis ne sont pas motorisées car l'environnement proche de l'objet à tester peut être un milieu sensible aux perturbations électromagnétiques si bien que la présence d'une motorisation pour automatiser les mouvements de rotation Rx et Ry est proscrite.The present invention relates to an automatic positioning device according to the site axis and / or a roll axis of an object capable of evolving in a medium sensitive to disturbances, particularly electromagnetic disturbances. To characterize an object likely to be subject to an individual's head, it is necessary to position the latter according to thousands of different positions, in the manner of an individual who would move his head. One solution for carrying out this operation is to manually position the object according to these different positions. This task is long and tedious. To accelerate this operation, a bench has been developed comprising a motorized support for ensuring three translations Tx, Ty, Tz and a vertical rotation Rz. The two other horizontal rotations Rx corresponding to the front / rear movement of the head also called site and Ry corresponding to the right / left movement of the head also called roll are not motorized because the environment close to the object to be tested can be a medium sensitive to electromagnetic disturbances so that the presence of a motorization to automate the rotational movements Rx and Ry is proscribed.
Par conséquent, l'opération de caractérisation d'un objet est relativement longue et fastidieuse car le positionnement nécessitant un changement selon les axes de rotation Rx et Ry est réalisé manuellement.Therefore, the characterization operation of an object is relatively long and tedious because the positioning requiring a change along the axes of rotation Rx and Ry is performed manually.
Aussi, la présente invention vise à pallier les inconvénients des dispositifs de l'art antérieur en proposant un dispositif permettant un positionnement automatique de l'objet selon au moins un axe de rotation correspondant au mouvement de site ou de roulis, sans générer des perturbations notamment électromagnétiques dans l'environnement de l'objet.Also, the present invention aims to overcome the disadvantages of the devices of the prior art by providing a device for positioning automatic object according to at least one axis of rotation corresponding to the movement of site or roll, without generating particularly electromagnetic disturbances in the environment of the object.
A cet effet, l'invention a pour objet un dispositif de positionnement automatique selon au moins un axe de rotation d'un élément susceptible d'évoluer dans un milieu sensible aux perturbations notamment électromagnétiques, ledit dispositif comprenant au moins un mat à l'extrémité duquel est articulé selon un axe de rotation un support auquel peut être assujetti ledit élément, caractérisé en ce qu'il comprend au moins une motorisation déportée par rapport audit axe de rotation, susceptible d'entraîner ledit axe de rotation par le biais d'une chaîne cinématique ainsi qu'au moins un codeur susceptible de contrôler le mouvement réel dudit axe de rotation afin de compenser notamment les éventuels jeux de la chaîne cinématique. D'autres caractéristiques et avantages ressortiront de la description qui va suivre de l'invention, description donnée à titre d'exemple uniquement, en regard des dessins annexés sur lesquels:For this purpose, the subject of the invention is an automatic positioning device according to at least one axis of rotation of an element capable of evolving in a medium that is sensitive to electromagnetic disturbances, said device comprising at least one mat at the end. which is articulated along an axis of rotation a support which can be subject to said element, characterized in that it comprises at least one motor remote relative to said axis of rotation, capable of causing said axis of rotation by means of a kinematic chain and at least one encoder capable of controlling the actual movement of said axis of rotation to compensate in particular the possible games of the kinematic chain. Other features and advantages will become apparent from the following description of the invention, a description given by way of example only, with reference to the appended drawings in which:
- la figure 1 est une représentation schématique du dispositif de l'invention illustrant le mouvement de site,FIG. 1 is a schematic representation of the device of the invention illustrating the site movement,
- la figure 2 est une représentation schématique du dispositif de l'invention illustrant le mouvement de roulis,FIG. 2 is a schematic representation of the device of the invention illustrating the roll motion,
- la figure 3 est une vue en perspective illustrant la partie du dispositif permettant de réaliser de manière automatique le mouvement de site,FIG. 3 is a perspective view illustrating the part of the device enabling the automatic movement of the site,
- les figures 4 et 5 sont respectivement une vue latérale et une vue en perspective illustrant la partie du dispositif permettant de réaliser de manière automatique le mouvement de roulis,FIGS. 4 and 5 are respectively a side view and a perspective view illustrating the part of the device enabling the roll movement to be performed automatically,
- la figure 6 est une vue en perspective illustrant en détails la partie supérieure du mat, - la figure 7 est une représentation schématique illustrant un codeur selon un mode de réalisation préféré de l'invention,FIG. 6 is a perspective view illustrating in detail the upper part of the mat, FIG. 7 is a schematic representation illustrating an encoder according to a preferred embodiment of the invention,
- la figure 8 est une vue de dessus d'un disque codeur selon un mode de réalisation, - la figure 9 est une vue en perspective d'un disque codeur selon un autre mode de réalisation, etFIG. 8 is a top view of an encoder disc according to one embodiment, FIG. 9 is a perspective view of an encoder disc according to another embodiment, and
- la figure 10 est une vue en perspective illustrant l'emplacement d'un codeur selon une variante de réalisation.- Figure 10 is a perspective view illustrating the location of an encoder according to an alternative embodiment.
Sur les figures 1 et 2, on a représenté un dispositif permettant de positionner selon différentes positions un élément 10 susceptible d'évoluer dans un milieu sensible aux perturbations notamment électromagnétiques, représenté en pointillé.In Figures 1 and 2, there is shown a device for positioning in different positions an element 10 may evolve in a medium sensitive to disturbances including electromagnetic, shown in dashed lines.
Ce dispositif, également appelé banc, comprend un bâti 12, un support de mat 14, un mat 16 ainsi que des moyens 18 pour assujettir l'élément à tester à l'extrémité supérieure dudit mat.This device, also called bench, comprises a frame 12, a mat support 14, a mat 16 and means 18 for securing the test element to the upper end of said mat.
La liaison entre le bâti 12 et le support de mat 14 permet de réaliser de manière automatique trois translations Tx, Ty, Tz, perpendiculaires deux à deux et une rotation autour d'un axe vertical Rz. Cette liaison n'est pas plus détaillée car elle est connue de l'homme du métier. Le mat 16 a une longueur suffisante pour que les éléments assurant la liaison entre le bâti 12 et le support de mat 14 et ceux situés au pied du mat n'induisent pas de perturbations électromagnétiques dans l'environnement de l'élément à tester.The connection between the frame 12 and the mat support 14 makes it possible to automatically produce three translations Tx, Ty, Tz, perpendicular two by two and a rotation about a vertical axis Rz. This connection is not more detailed because it is known to those skilled in the art. The mat 16 has a length sufficient for the elements providing the connection between the frame 12 and the mat support 14 and those at the foot of the mat do not induce electromagnetic interference in the environment of the test item.
Comme illustré sur la figure 3, les moyens 18 pour assujettir l'élément comprennent une platine 20, de forme triangulaire avec trois points d'ancrage susceptibles d'être reliés à l'élément à tester. Les moyens 18 pour assujettir l'élément à tester ne sont pas plus détaillés car de nombreuses solutions techniques peuvent être envisagées. Le mat 16 est en un matériau non métallique, notamment en matière plastique. Il comprend deux montants 22.1 et 22.2 sensiblement parallèles, fixés en partie inférieure au support de mat 14.As illustrated in Figure 3, the means 18 for securing the element comprises a plate 20, of triangular shape with three anchor points may be connected to the element to be tested. The means 18 for securing the element to be tested are not more detailed because many technical solutions can be envisaged. The mat 16 is made of a non-metallic material, in particular a plastic material. It comprises two substantially parallel uprights 22.1 and 22.2, fixed in the lower part to the mat support 14.
Les deux montants 22.1 et 22.2 comprennent en partie supérieure des alésages dans lesquels sont susceptibles de pivoter des portées rapportées de part et d'autre d'un boîtier 24, ledit boîtier 24 étant susceptible de pivoter autour d'un axe de rotation Rx matérialisé par les portées et correspondant au mouvement de site illustré par la double flèche 26. Le dispositif comprend en partie inférieure du mat 16 une première motorisation 28 solidaire du support de mat 14 dont l'arbre de sortie 30 est monté en rotation dans un alésage ménagé au niveau d'un des montants. Des moyens de liaison permettent d'assurer la liaison cinématique entre l'arbre de sortie 30 de la première motorisation avec l'une des portées du boîtier 24 de manière à ce que ledit boîtier 24 soit entraîné en rotation par la première motorisation 28. Selon un mode de réalisation illustré en détails sur la figure 3, un pignon est rapporté sur l'arbre de sortie 30 et un demi disque 32 est fixé à une portée du boîtier 24, dont le centre correspond à l'axe de rotation Rx et comportant des crans en périphérie susceptibles d'engrener avec le pignon de l'arbre de sortie 30 de la première motorisation 28. Un premier axe de rotation 34 est monté pivotant dans le boîtier 24, ledit axe de rotation 34 correspondant à l'axe de rotation Ry et étant perpendiculaire à l'axe de rotation Rx. Cet axe de rotation 34 s'étend de part et d'autre du boîtier 24 et supporte une chape 36 elle-même supportant les moyens 18 pour assujettir l'élément à tester. La chape 36 comprend deux montants dont les extrémités inférieures sont reliées aux extrémités du premier axe 34 et dont les extrémités supérieures sont reliées par une traverse sur laquelle sont rapportés les moyens 18 pour assujettir un élément à tester. Comme illustré sur la figure 5, un second axe de rotation 38 est monté en rotation dans les portées du boîtier 24, de manière à être coaxial à l'axe de rotation Rx. Ce second axe de rotation 38 est perpendiculaire au premier axe de rotation 34 et comprend une vis sans fin 40 susceptible d'engrener avec une roue crantée 42 solidaire du premier axe de rotation 34. D'autres solutions pourraient être envisagées pour assurer l'entraînement en rotation du premier axe de rotation 34 par le second axe de rotation 38, par exemple un entraînement par friction. Le dispositif comprend également en partie inférieure du mat 16 une seconde motorisation 44 solidaire du support de mat 14 dont l'arbre de sortie 46 est monté en rotation dans un alésage ménagé au niveau d'un des montants. Comme illustré sur la figure 4, des moyens de liaison, par exemple une courroie crantée 48, permettent d'assurer la liaison cinématique entre l'arbre de sortie 46 de la seconde motorisation 44 et un pignon rapporté à une des extrémités du second axe de rotation 38 de manière à ce que la chape 36 soit entraînée en rotation par la seconde motorisation 44 autour de l'axe Ry correspondant au mouvement de roulis illustré par la double flèche 50 sur la figure 2. Les motorisations 28 et 44 ne sont pas détaillées et sont choisies par l'homme du métier. Selon une caractéristique de l'invention, tous les éléments prévus entre le mat 16 et les moyens 18 pour assujettir l'élément à tester sont en des matériaux non métalliques, notamment en matière plastique afin de pas générer des perturbations électromagnétiques dans l'environnement de l'élément à tester. Le fait de prévoir des motorisations 28 et 44 déportées par rapport aux axes de rotation Rx et Ry permet de ne pas générer dans l'environnement proche de l'élément à tester des perturbations électromagnétiques. Ainsi, le dispositif comprend une première chaîne cinématique comportant la première motorisation 28, l'arbre de sortie 30, le demi disque 32 et le boîtier 24 ainsi qu'une seconde cinématique comportant la seconde motorisation 44, l'arbre de sortie 46, la courroie crantée 48, le second axe de rotation 38, la vis sans finThe two uprights 22.1 and 22.2 comprise, in the upper part, bores in which are pivotable bearing surfaces reported on either side of a housing 24, said housing 24 being able to pivot about an axis of rotation Rx materialized by the spans and corresponding to the movement of the site illustrated by the double arrow 26. The device comprises in the lower part of the mat 16 a first motor 28 secured to the mat support 14, the output shaft 30 is rotatably mounted in a bore provided at level of one of the amounts. Connecting means make it possible to ensure the kinematic connection between the output shaft 30 of the first motorization with one of the bearings of the housing 24 so that said housing 24 is rotated by the first motor. an embodiment illustrated in detail in Figure 3, a pinion is attached to the output shaft 30 and a half-disk 32 is fixed to a scope of the housing 24, whose center corresponds to the axis of rotation Rx and comprising notches peripherally capable of meshing with the pinion of the output shaft 30 of the first motorization 28. A first axis of rotation 34 is pivotally mounted in the housing 24, said axis of rotation 34 corresponding to the axis of rotation Ry and being perpendicular to the axis of rotation Rx. This axis of rotation 34 extends on either side of the housing 24 and supports a yoke 36 itself supporting the means 18 for securing the element to be tested. The yoke 36 comprises two uprights whose lower ends are connected to the ends of the first axis 34 and whose upper ends are connected by a cross member on which are reported the means 18 for securing an element to be tested. As illustrated in Figure 5, a second axis of rotation 38 is rotatably mounted in the bearing surfaces of the housing 24, so as to be coaxial with the axis of rotation Rx. This second axis of rotation 38 is perpendicular to the first axis of rotation 34 and comprises a worm 40 capable of meshing with a notched wheel 42 integral with the first axis of rotation 34. Other solutions could be envisaged to ensure the training in rotation of the first axis of rotation 34 by the second axis of rotation 38, for example a friction drive. The device also comprises in the lower part of the mat 16 a second motor 44 secured to the mat support 14, the output shaft 46 is rotatably mounted in a bore formed at one of the uprights. As illustrated in FIG. 4, connecting means, for example a toothed belt 48, make it possible to ensure the kinematic connection between the output shaft 46 of the second motorization 44 and a pinion geared to one of the ends of the second axis of rotation 38 so that the yoke 36 is rotated by the second motor 44 around the axis Ry corresponding to the rolling motion illustrated by the double arrow 50 in Figure 2. The engines 28 and 44 are not detailed and are chosen by those skilled in the art. According to one characteristic of the invention, all the elements provided between the mat 16 and the means 18 for securing the element to be tested are made of non-metallic materials, in particular plastic materials, so as not to generate electromagnetic disturbances in the environment of the device. the element to be tested. Providing motors 28 and 44 offset relative to the axes of rotation Rx and Ry makes it possible not to generate electromagnetic disturbances in the environment close to the element to be tested. Thus, the device comprises a first kinematic chain comprising the first motor 28, the output shaft 30, the half-disk 32 and the housing 24 and a second kinematic comprising the second motor 44, the output shaft 46, the toothed belt 48, the second axis of rotation 38, the worm
40, la roue crantée 42, le premier axe de rotation 34 et la chape 36.40, the toothed wheel 42, the first axis of rotation 34 and the yoke 36.
Selon une autre caractéristique de l'invention, chaque chaîne cinématique comprend un codeur permettant de contrôler le mouvement réel selon chaque axe de rotation Rx et/ou Ry afin de compenser les jeux induits en raison notamment de l'élasticité des éléments composant chaque chaîne cinématique.According to another characteristic of the invention, each kinematic chain comprises an encoder making it possible to control the real movement along each axis of rotation Rx and / or Ry in order to compensate for the clearances caused, in particular because of the elasticity of the elements composing each kinematic chain. .
Ces codeurs permettent de mesurer l'évolution de la position angulaire de manière précise ainsi qu'éventuellement le sens de rotation. Un premier codeur 52 est rapporté au niveau d'une portée du boîtier 24 afin de contrôler l'évolution de la position angulaire autour de l'axe de rotation Rx.These encoders make it possible to measure the evolution of the angular position precisely as well as possibly the direction of rotation. A first encoder 52 is attached at a range of the housing 24 to control the evolution of the angular position about the axis of rotation Rx.
Un second codeur 54 est rapporté au niveau du premier axe de rotation 34 afin de contrôler l'évolution de la position angulaire autour de l'axe de rotation Ry.A second encoder 54 is attached at the first axis of rotation 34 to control the evolution of the angular position about the axis of rotation Ry.
Chaque codeur comprend un disque codeur 56 ainsi que des moyens permettant de mesurer le mouvement angulaire du disque et de déterminer son sens de rotation.Each encoder comprises an encoder disc 56 and means for measuring the angular movement of the disc and determining its direction of rotation.
Afin de ne pas générer de perturbations notamment électromagnétiques dans l'environnement de l'élément à tester, le disque codeur 56 est en un matériau non métallique, et de préférence en silicium. Selon un premier mode de réalisation illustré sur la figure 8, le disque codeur 56 de silicium comprend sur au moins une de ses faces une pluralité de creux 58 en forme de traits, gravés en surface dont l'espacement est fonction de la précision souhaitée. A titre d'exemple, pour obtenir une précision de l'ordre de 0,03°, on prévoit 6000 traits sur un secteur angulaire de 180°. Selon une autre variante illustrée sur la figure 9, le disque codeur 56 comprend en périphérie une pluralité d'ondulations dont le pas entre deux creux est adapté en fonction de la précision souhaitée de la mesure. De préférence, la profondeur des creux (gravés ou des ondulations) est suffisante pour altérer le signal lorsque le faisceau éclaire un creux, ledit signal étant capté à l'intérieur du creux après une multitude de réflexions sur les parois latérales du creux. Ainsi, la profondeur du creux est indépendante de la longueur d'onde de l'onde reçue.In order not to generate particularly electromagnetic disturbances in the environment of the element to be tested, the encoder disc 56 is made of a non-metallic material, and preferably of silicon. According to a first embodiment illustrated in FIG. 8, the silicon encoding disk 56 comprises on at least one of its faces a plurality of grooves 58 in the form of lines, etched at the surface whose spacing is a function of the desired accuracy. By way of example, to obtain an accuracy of the order of 0.03 °, 6000 lines are provided over an angular sector of 180 °. According to another variant illustrated in FIG. 9, the encoder disc 56 comprises at the periphery a plurality of corrugations whose pitch between two recesses is adapted as a function of the desired precision of the measurement. Preferably, the depth of the depressions (engraved or undulations) is sufficient to alter the signal when the beam illuminates a hollow, said signal being picked up inside the hollow after a multitude of reflections on the side walls of the hollow. Thus, the depth of the trough is independent of the wavelength of the received wave.
Selon un mode de réalisation, les moyens permettant de mesurer le mouvement angulaire du disque et de déterminer son sens de rotation comprennent un premier couple comportant un émetteur et un récepteur pour déterminer le déplacement angulaire et un second couple comportant un émetteur et un récepteur, placé de manière à recevoir un signal déphasé par rapport au premier couple, pour déterminer le sens de rotation du disque. Chaque couple comprend une source d'onde déportée par rapport au codeur de manière à ne pas générer de perturbations électromagnétiques dans l'environnement de l'élément à tester. Des moyens sont également prévus pour analyser les signaux reçus par les récepteurs, lesdits moyens étant déportés par rapport aux codeurs de manière à ne pas générer de perturbations électromagnétiques dans l'environnement de l'élément à tester.According to one embodiment, the means for measuring the angular movement of the disk and for determining its direction of rotation comprise a first pair comprising a transmitter and a receiver for determining the angular displacement and a second pair comprising a transmitter and a receiver, placed to receive a signal out of phase with the first pair, to determine the direction of rotation of the disk. Each pair includes a wave source remote from the encoder so as not to generate electromagnetic disturbances in the environment of the element to be tested. Means are also provided for analyzing the signals received by the receivers, said means being deported with respect to the encoders so as not to generate electromagnetic disturbances in the environment of the element to be tested.
Les signaux sont transmis entre les sources d'onde et les émetteurs et entre les récepteurs et les moyens d'analyse par le biais de fibres optiques. Selon un mode de réalisation préféré et illustré sur la figure 7, pour chaque codeur, les moyens permettant de mesurer le mouvement angulaire du disque et de déterminer son sens de rotation comprennent un seul émetteur 60 et un récepteur 62 comportant deux fibres de détection 64.1 et 64.2 placées côte à côte, une lentille de collimation 66 et deux lentilles de focalisation 68, une par fibre. Les autres extrémités des fibres de détection 64.1 et 64.2 sont chacune reliées à des moyens d'analyse du signal. Selon ce mode de réalisation, une source d'onde 70 sous forme d'une diode laser est prévue, couplée à une fibre dont l'autre extrémité est couplée à l'émetteur 60.The signals are transmitted between the wave sources and the transmitters and between the receivers and the means of analysis by means of optical fibers. According to a preferred embodiment and illustrated in FIG. 7, for each encoder, the means making it possible to measure the angular movement of the disk and to determine its direction of rotation comprise a single transmitter 60 and a receiver 62 comprising two detection fibers 64.1 and 64.2 placed side by side, a collimation lens 66 and two focusing lenses 68, one per fiber. The other ends of the detection fibers 64.1 and 64.2 are each connected to signal analysis means. According to this embodiment, a wave source 70 in the form of a laser diode is provided, coupled to a fiber whose other end is coupled to the transmitter 60.
L'émetteur 60 comprend des moyens de col limât ion et de focalisation du faisceau pour obtenir une tâche focale au niveau du disque codeur égale ou inférieure àTransmitter 60 includes means for collating and focussing the beam to obtain a focal task at the encoder disc equal to or less than
10 μm.10 μm.
Cette variante permet de réduire les coûts puisqu'une seule source d'onde est nécessaire pour chaque codeur.This variant makes it possible to reduce the costs since only one wave source is necessary for each encoder.
Comme précédemment, la source d'onde 70 et les moyens d'analyse du signal sont déportés par rapport au disque codeur de manière à ne pas générer de perturbations notamment électromagnétiques dans l'environnement de l'élément à tester.As before, the wave source 70 and the signal analysis means are offset relative to the encoder disk so as not to generate particularly electromagnetic disturbances in the environment of the element to be tested.
Le fonctionnement du codeur est maintenant expliqué.The operation of the encoder is now explained.
Lorsque le signal n'éclaire pas un creux, ledit signal est réfléchi et reçu par les deux fibres de détection 64.1 et 64.2, chacune recevant environ 50% du signal réfléchi.When the signal does not light a hollow, said signal is reflected and received by the two detection fibers 64.1 and 64.2, each receiving about 50% of the reflected signal.
Lorsque le signal éclaire un creux, le signal n'est pas réfléchi si bien que les deux fibres de détection 64.1 et 64.2 ne reçoivent pas de signal réfléchi.When the signal illuminates a hollow, the signal is not reflected so that the two detection fibers 64.1 and 64.2 do not receive a reflected signal.
Lorsque le signal éclaire pour moitié un creux et une zone entre deux creux, seule une des fibres de détection reçoit le signal réfléchi par le disque codeur.When the signal half illuminates a hollow and a zone between two recesses, only one of the detection fibers receives the signal reflected by the encoder disc.
En fonction du sens de rotation, le signal réfléchi est reçu par une fibre 64.1 si le disque codeur tourne dans le sens horaire, et par l'autre fibre 64.2 si le disque codeur tourne dans le sens anti-horaire.Depending on the direction of rotation, the reflected signal is received by a fiber 64.1 if the encoder disc rotates clockwise, and by the other fiber 64.2 if the encoder disc rotates counterclockwise.
De préférence, le faisceau transmis par l'émetteur 60 a un angle d'incidence de l'ordre de 60°.Preferably, the beam transmitted by the transmitter 60 has an angle of incidence of the order of 60 °.
Selon un mode de réalisation, le disque codeur peut être relié à un des axes et les moyens permettant de mesurer le mouvement angulaire du disque et de déterminer son sens de rotation sont reliés à un ou des éléments fixes. Selon un mode de réalisation préféré, le disque codeur du premier codeur 52, correspondant à l'axe de rotation Rx, est solidaire d'un des montants formant le mat 16. En complément, les moyens 72 permettant de mesurer le mouvement angulaire du disque et de déterminer son sens de rotation sont rapportés sur le boîtier 24, comme illustré sur la figure 10.According to one embodiment, the encoder disk can be connected to one of the axes and the means for measuring the angular movement of the disk and to determine its direction of rotation are connected to one or more fixed elements. According to a preferred embodiment, the encoder disk of the first encoder 52, corresponding to the axis of rotation Rx, is integral with one of the amounts forming the mat 16. In addition, the means 72 for measuring the angular movement of the disk and determine its direction of rotation are reported on the housing 24, as shown in Figure 10.
Selon un mode de réalisation, le disque codeur du second codeur 54, correspondant à l'axe de rotation Ry, est solidaire du premier axe 34 et disposé à l'intérieur du boîtier 24, les moyens permettant de mesurer le mouvement angulaire du disque et de déterminer son sens de rotation étant solidaires du boîtier 24.According to one embodiment, the encoder disk of the second encoder 54, corresponding to the axis of rotation Ry, is integral with the first axis 34 and disposed inside the housing 24, the means for measuring the angular movement of the disk and to determine its direction of rotation being integral with the housing 24.
Bien entendu, l'invention n'est évidemment pas limitée au mode de réalisation représenté et décrit ci-dessus, mais en couvre au contraire toutes les variantes, notamment en ce qui concerne les formes et dimensions des différents éléments. Par ailleurs, bien qu'il soit décrit appliqué à un dispositif de contrôle d'un élément à tester, le codeur selon l'invention pourrait être utilisé dans d'autres domaines nécessitant un codeur susceptible de ne pas générer de perturbations électromagnétiques.Of course, the invention is obviously not limited to the embodiment shown and described above, but covers all variants, particularly with respect to the shapes and dimensions of the various elements. Furthermore, although it is described applied to a control device of an element to be tested, the encoder according to the invention could be used in other areas requiring an encoder that may not generate electromagnetic interference.
Enfin, le dispositif de positionnement automatique selon l'invention peut permettre de positionner selon au moins un axe de rotation, tout élément susceptible d'évolution dans un milieu sensible aux perturbations électromagnétiques. Finally, the automatic positioning device according to the invention can make it possible to position, according to at least one axis of rotation, any element capable of evolution in a medium sensitive to electromagnetic disturbances.

Claims

REVENDICATIONS
1. Dispositif de positionnement automatique selon au moins un axe de rotation d'un élément susceptible d'évoluer dans un milieu sensible aux perturbations notamment électromagnétiques, ledit dispositif comprenant au moins un mat (16) à l'extrémité duquel est articulé selon un axe de rotation un support (24, 36) auquel peut être assujetti ledit élément, caractérisé en ce qu'il comprend au moins une motorisation (28, 44) déportée par rapport audit axe de rotation, susceptible d'entraîner ledit axe de rotation par le biais d'une chaîne cinématique ainsi qu'au moins un codeur (52,54) susceptible de contrôler le mouvement réel dudit axe de rotation afin de compenser notamment les éventuels jeux de la chaîne cinématique.1. Automatic positioning device according to at least one axis of rotation of an element capable of evolving in a medium sensitive to disturbances, especially electromagnetic disturbances, said device comprising at least one mat (16) at the end of which is articulated along an axis rotating a support (24, 36) to which said element may be secured, characterized in that it comprises at least one motor (28, 44) offset relative to said axis of rotation, capable of causing said axis of rotation by the bias of a kinematic chain and at least one encoder (52,54) capable of controlling the actual movement of said axis of rotation to compensate in particular the possible games of the kinematic chain.
2. Dispositif de positionnement automatique selon un premier axe de rotation (Rx) correspondant au mouvement de site et un second axe de rotation (Ry) correspondant au mouvement de roulis d'un élément susceptible d'évoluer dans un milieu sensible aux perturbations notamment électromagnétiques, ledit dispositif comprenant un mat (16) à l'extrémité supérieure duquel est articulé un boîtier (24) selon un axe de rotation correspondant au premier axe de rotation (Rx), une chape (36) à laquelle peut être assujetti ledit élément à tester, solidaire d'un axe de rotation (34) monté pivotant dans ledit boîtier (24), ledit axe de rotation (34) correspondant au second axe de rotation Ry et étant perpendiculaire au premier axe de rotation Rx, caractérisé en ce qu'il comprend une première motorisation (28) déportée par rapport au premier axe de rotation (Rx), susceptible d'entraîner ledit premier axe de rotation par le biais d'une première chaîne cinématique, un premier codeur (52) étant prévu pour contrôler le mouvement réel dudit premier axe de rotation et en ce qu'il comprend une seconde motorisation (44) déportée par rapport au second axe de rotation (Ry), susceptible d'entraîner ledit second axe de rotation par le biais d'une seconde chaîne cinématique, un second codeur (52) étant prévu pour contrôler le mouvement réel dudit second axe de rotation.2. Automatic positioning device according to a first axis of rotation (Rx) corresponding to the movement of the site and a second axis of rotation (Ry) corresponding to the rolling motion of an element capable of evolving in a medium sensitive to disturbances, especially electromagnetic disturbances. , said device comprising a mat (16) at the upper end of which is articulated a housing (24) according to an axis of rotation corresponding to the first axis of rotation (Rx), a yoke (36) to which said element can be secured. test, secured to an axis of rotation (34) pivotally mounted in said housing (24), said axis of rotation (34) corresponding to the second axis of rotation Ry and being perpendicular to the first axis of rotation Rx, characterized in that it comprises a first motor (28) offset relative to the first axis of rotation (Rx), capable of driving said first axis of rotation by means of a first kinematic chain, a first c odor (52) being provided to control the actual movement of said first axis of rotation and in that it comprises a second motor (44) offset relative to the second axis of rotation (Ry), capable of driving said second axis of rotation through a second kinematic chain, a second encoder (52) being provided for controlling the actual motion of said second axis of rotation.
3. Dispositif de positionnement automatique selon la revendication 2, caractérisé en ce que la seconde chaîne cinématique comprend un second axe de rotation (38) coaxial au premier axe de rotation (Rx), des moyens (48) pour entraîner en rotation ledit second axe de rotation (38) par la seconde motorisation (44), ledit second axe de rotation (38) entraînant en rotation l'axe de rotation (34) supportant la chape (36). 3. Automatic positioning device according to claim 2, characterized in that the second kinematic chain comprises a second axis of rotation (38) coaxial with the first axis of rotation (Rx), means (48) for rotating said second axis. rotation (38) by the second motor (44), said second axis of rotation (38) rotating the axis of rotation (34) supporting the yoke (36).
4. Dispositif de positionnement automatique selon la revendication 2 ou 3, caractérisé en ce que la première chaîne cinématique comprend un demi disque (32) fixé au boîtier (24), dont le centre correspond au premier axe de rotation (Rx) et comportant des crans en périphérie susceptibles d'engrener avec un pignon relié à la première motorisation (28). 4. automatic positioning device according to claim 2 or 3, characterized in that the first kinematic chain comprises a half-disk (32) fixed to the housing (24), whose center corresponds to the first axis of rotation (Rx) and comprising notches at the periphery capable of meshing with a pinion connected to the first motor (28).
5. Dispositif de positionnement automatique selon l'une quelconque des revendications précédentes, caractérisé en ce que tous les éléments prévus entre le mat et le support pour assujettir l'élément à tester sont en des matériaux non métalliques, notamment en matière plastique.5. Automatic positioning device according to any one of the preceding claims, characterized in that all the elements provided between the mat and the support for securing the element to be tested are made of non-metallic materials, in particular plastic.
6. Dispositif de positionnement selon l'une quelconque des revendications précédentes, caractérisé en ce que chaque codeur (52, 54) comprend un disque codeur (56) ainsi que des moyens permettant de mesurer le mouvement angulaire du disque et éventuellement de déterminer son sens de rotation, avec au moins une source d'onde (70) et des moyens d'analyse du signal déportés par rapport à l'axe de rotation auxquels ils sont associés. 6. Positioning device according to any one of the preceding claims, characterized in that each encoder (52, 54) comprises an encoder disc (56) and means for measuring the angular movement of the disc and possibly to determine its meaning. rotation, with at least one wave source (70) and remote signal analysis means relative to the axis of rotation with which they are associated.
7. Dispositif de positionnement selon la revendication 6, caractérisé en ce que le disque codeur (56) est en silicium.7. Positioning device according to claim 6, characterized in that the encoder disc (56) is made of silicon.
8. Dispositif de positionnement selon la revendication 7, caractérisé en ce que le disque codeur (56) de silicium comprend sur au moins une de ses faces une pluralité de creux (58) en forme de traits, gravés en surface dont l'espacement est fonction de la précision souhaitée.8. Positioning device according to claim 7, characterized in that the silicon encoding disk (56) comprises on at least one of its faces a a plurality of dash-shaped depressions (58) engraved at the surface whose spacing is a function of the desired accuracy.
9. Dispositif de positionnement selon la revendication 6 ou 7, caractérisé en ce que le disque codeur (56) comprend en périphérie une pluralité d'ondulations dont le pas entre deux creux est adapté en fonction de la précision souhaitée de la mesure.9. Positioning device according to claim 6 or 7, characterized in that the encoder disc (56) comprises at the periphery a plurality of corrugations whose pitch between two recesses is adapted according to the desired accuracy of the measurement.
10. Dispositif selon l'une quelconque des revendications 6 à 9, caractérisé en ce que chaque codeur comprend un seul émetteur (60) relié à une source d'onde (70) ainsi qu'un récepteur (62) comportant deux fibres de détection (64.1, 64.2) placées côte à côte, une lentille de collimation (66) et deux lentilles de focalisation (68), une par fibre, les autres extrémités des fibres de détection (64.1, 64.2) étant chacune reliées à des moyens d'analyse du signal, les fibres de détection étant disposées de telle manière que lorsque le faisceau émis par l'émetteur est réfléchi en partie par une marque apposée sur le disque codeur (56) une seule des deux fibres reçoit l'onde réfléchie. 10. Device according to any one of claims 6 to 9, characterized in that each encoder comprises a single transmitter (60) connected to a wave source (70) and a receiver (62) comprising two detection fibers. (64.1, 64.2) placed side by side, a collimation lens (66) and two focusing lenses (68), one per fiber, the other ends of the detection fibers (64.1, 64.2) being each connected to signal analysis, the detection fibers being arranged such that when the beam emitted by the transmitter is reflected in part by a mark affixed to the encoder disc (56) only one of the two fibers receives the reflected wave.
PCT/FR2006/051358 2005-12-15 2006-12-14 Device for automatically positioning an object with respect to an axis of elevation and/or a roll axis. WO2007068860A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0553897A FR2895083B1 (en) 2005-12-15 2005-12-15 DEVICE FOR AUTOMATIC POSITIONING OF A HELMET
FR0553897 2005-12-15

Publications (2)

Publication Number Publication Date
WO2007068860A2 true WO2007068860A2 (en) 2007-06-21
WO2007068860A3 WO2007068860A3 (en) 2007-08-30

Family

ID=36992786

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FR2006/051358 WO2007068860A2 (en) 2005-12-15 2006-12-14 Device for automatically positioning an object with respect to an axis of elevation and/or a roll axis.

Country Status (2)

Country Link
FR (1) FR2895083B1 (en)
WO (1) WO2007068860A2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014005030A1 (en) * 2014-04-05 2015-10-08 Airbus Defence and Space GmbH Test device for vision systems

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4188090A (en) * 1977-06-01 1980-02-12 Elliott Brothers (London) Limited Retractable head-up displays
US5006703A (en) * 1988-02-22 1991-04-09 Victor Company Of Japan, Ltd. Reflective optical rotary encoder disc
FR2821984A1 (en) * 2001-03-12 2002-09-13 Noureddine Chahed Elevation over azimuth antenna mount has base mounted motors is omnidirectional and accurate
FR2839584A1 (en) * 2002-05-13 2003-11-14 Noureddine Chahed PASSIVE TURRET ANTENNA MOTORIZATION

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4188090A (en) * 1977-06-01 1980-02-12 Elliott Brothers (London) Limited Retractable head-up displays
US5006703A (en) * 1988-02-22 1991-04-09 Victor Company Of Japan, Ltd. Reflective optical rotary encoder disc
FR2821984A1 (en) * 2001-03-12 2002-09-13 Noureddine Chahed Elevation over azimuth antenna mount has base mounted motors is omnidirectional and accurate
FR2839584A1 (en) * 2002-05-13 2003-11-14 Noureddine Chahed PASSIVE TURRET ANTENNA MOTORIZATION

Also Published As

Publication number Publication date
WO2007068860A3 (en) 2007-08-30
FR2895083A1 (en) 2007-06-22
FR2895083B1 (en) 2008-03-21

Similar Documents

Publication Publication Date Title
EP1209441B1 (en) Three-dimensional shape-measuring instrument with laser scanner
EP0765463B1 (en) Method for spatially locating a trihedron
EP1910805B1 (en) Optical refractometer for measuring seawater salinity and corresponding salinity sensor
EP2035904A1 (en) Device for positioning an object in all directions
EP1666833B1 (en) Motorised and orientable measuring head
FR2858680A1 (en) STABILIZED PLATFORM SYSTEM
EP1193468B1 (en) Procedure to optically determine a profile and its application to the interior contour of a spectacleframe
CA2546176C (en) Ultrasonic contact transducer comprising multiple emitting elements and means for pressing said elements
WO2007068860A2 (en) Device for automatically positioning an object with respect to an axis of elevation and/or a roll axis.
EP0967469A1 (en) Procedure and apparatus for measuring internal strains of a transparent material like window glazings
FR2697081A1 (en) Wide range position indicator for movable vehicle accessories - uses two wheels having slightly different numbers of teeth driven by equivalent wheels on common shaft
FR2764992A1 (en) Three dimensional positional location mechanism for car body assembly
FR2534014A1 (en) METHOD AND APPARATUS FOR REALIZING THE POSITIONING OF A TREE ALIGNMENT DETECTION SYSTEM ON A TREE
EP1319921A1 (en) Column for measuring longitudinal dimensions
FR2834784A1 (en) ANGULAR POSITIONING DEVICE, SHIM AND USE OF THE DEVICE
EP0301941B1 (en) Device for positioning a model in space, in particular for studying the retrodiffusion of this model
EP1672309A1 (en) Motorised and orientable measuring head
WO2005095897A1 (en) Optical angular position sensor
FR2469697A1 (en) Optical measurement of printing cylinder dia. - uses electronic probe and micrometer screw to sense position of laser source
FR2798193A1 (en) METHOD FOR MULTIPLE ACQUISITION OF OPTOELECTRONIC SIGNALS AND DEVICE FOR IMPLEMENTING THE METHOD
FR2886193A1 (en) Object e.g. mirror, rotating device for measuring triangulation, has support connected to end of connecting rod using connection, where rod has another end set in movement using motorization unit to which another connection is connected
EP0484310A2 (en) Device for measuring the roughness of a moving metal product
FR2511163A1 (en) DEVICE FOR CONTROLLING THE DIRECTION OF AN OPTICAL RADIATION BEAM
FR2878951A1 (en) Rotor alignment measuring method for electricity production machine, involves measuring lateral spacings between laser beam and inner borders of stator by emitting and measuring range of another laser beam up to inner borders of stator
FR2726658A1 (en) Determining position of object relative to reference point

Legal Events

Date Code Title Description
NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 06842168

Country of ref document: EP

Kind code of ref document: A2