JP7794561B2 - Position adjustment system and method for adjusting the position of an object using the position adjustment system - Google Patents

Description

The present invention relates to a position adjustment system and a method for adjusting the position of an object using the position adjustment system.

Various types of equipment and facilities weigh anywhere from several hundred kilograms to several tons. When installing such heavy objects in a predetermined installation position, adjusting their position is time-consuming due to their weight.
To facilitate the position adjustment of such a heavy load, for example, Patent Document 1 discloses a configuration including two sets of a moving plate mounted on a sliding device, a jack device provided on the moving plate, and a spherical bearing provided on the jack device. With this configuration, the positions of the two moving plates can be adjusted independently, allowing the loaded load to move in parallel and rotate, making position adjustment easy.

However, when actually adjusting the position of a heavy load using the configuration disclosed in Patent Document 1, the position adjustment cannot be performed in one go. For example, as described in Patent Document 1, when an operator moves a movable plate by turning multiple handles, each movable plate must be moved sequentially in the horizontal and vertical directions. That is, for example, the operator must first move the load in one direction in a horizontal plane, then move it in a direction perpendicular to the one direction in the horizontal plane, and finally move it in the vertical direction.
It is desirable to adjust the position of an object more efficiently.

JP 2008-56414 A

The object of the present invention is to provide a position adjustment system and a method for adjusting the position of an object using a position adjustment system that can efficiently adjust the position of an object.

In order to solve the above problems, the present invention employs the following means.
That is, the position adjustment system of the present invention is a position adjustment system for adjusting the installation position of an object on an installation surface, and comprises a plurality of position adjustment devices that support the object from below, and a control device that controls the operation of the position adjustment devices, and each of the position adjustment devices comprises a base frame installed on the installation surface, a first horizontal movement unit having a first table that is provided on the base frame so as to be movable in a first operating axis direction along a horizontal plane, a second horizontal movement unit having a second table that is provided on the base frame so as to be movable in a second operating axis direction perpendicular to the first operating axis direction along the horizontal plane, and a vertical movement unit having a third table that is provided on the base frame so as to be movable in a third operating axis direction along a vertical direction. The apparatus comprises a linear movement unit, a horizontal drive mechanism that drives at least one of the first horizontal movement unit and the second horizontal movement unit, a vertical drive mechanism that drives the vertical movement unit, and an object support unit that is supported via the first table of the first horizontal movement unit, the second table of the second horizontal movement unit, and the third table of the vertical movement unit, and is movable along the first operating axis direction, the second operating axis direction, and the third operating axis direction, and supports the object from below, and the control device controls the multiple position adjustment devices so that they are driven in conjunction with each other, and controls the horizontal drive mechanism and the vertical drive mechanism of each of the multiple position adjustment devices so that they are driven in conjunction with each other.

The method for adjusting the position of an object using the position adjustment system of the present invention is a method for adjusting the position of an object using the position adjustment system described above, and includes the steps of: placing multiple position adjustment devices below the object or a supported member attached to the object; and using the control device to control the multiple position adjustment devices so that they are driven in conjunction with each other, and to control the horizontal drive mechanism and the vertical drive mechanism of each of the multiple position adjustment devices so that they are driven in conjunction with each other, thereby moving the object.

This invention makes it possible to efficiently adjust the position of an object.

1 is a plan view showing a schematic configuration of a position adjustment system according to a first embodiment of the present invention. 2 is a side view showing a state in which a structure is supported by a plurality of position adjustment devices in order to adjust the position of the structure in the position adjustment system shown in FIG. 1 . FIG. 3 is a plan view showing the configuration of a first position adjustment device among the position adjustment devices that make up the position adjustment system shown in FIG. 2. FIG. 4 is a side view of the first position adjustment device shown in FIG. 3 as viewed from a second actuation axis direction. FIG. 3 is a plan view showing the configuration of a second position adjustment device among the position adjustment devices that make up the position adjustment system shown in FIG. 2. FIG. 6 is a front view of the second position adjustment device shown in FIG. 5 as viewed from the first actuation axis direction. FIG. FIG. 2 is a block diagram showing the functional configuration of a control device of the position adjustment system according to the present embodiment. 10 is a flowchart showing the flow of a method for adjusting the position of an object using the position adjustment system according to the present embodiment. FIG. 10 is a plan view showing a schematic configuration of a position adjustment system according to a second embodiment of the present invention. FIG. 10 is a plan view showing a schematic configuration of a position adjustment system according to a third embodiment of the present invention. FIG. 10 is a plan view showing the configuration of a position adjustment device according to a third embodiment of the present invention.

The following describes embodiments of the position adjustment system and method for adjusting the position of an object using the position adjustment system according to the present invention, with reference to the accompanying drawings.

(First embodiment)
A schematic configuration of a position adjustment system according to a first embodiment of the present invention is shown in Fig. 1. Fig. 2 is a side view showing a state in which a structure is supported by a plurality of position adjustment devices in order to adjust the position of the structure using the position adjustment system shown in Fig. 1.
As shown in Figures 1 and 2, the position adjustment system 1 includes a plurality of position adjustment devices 2 and a control device 9 (see Figure 1). The object 100 is a heavy object such as a device or piece of equipment installed in a factory or various facilities. The object 100 is installed on a predetermined installation surface F, such as the floor of the factory or facility. The position adjustment system 1 adjusts the installation position of the object 100 on the installation surface F by using the plurality of position adjustment devices 2.

Figure 3 is a plan view showing the configuration of a first position adjustment device among the position adjustment devices that make up the position adjustment system shown in Figure 2. Figure 4 is a side view of the first position adjustment device shown in Figure 3, viewed from the second operating axis direction. Figure 5 is a plan view showing the configuration of a second position adjustment device among the position adjustment devices that make up the position adjustment system shown in Figure 2. Figure 6 is a front view of the second position adjustment device shown in Figure 5, viewed from the first operating axis direction.

As shown in Figures 3 to 6, each of the multiple position adjustment devices 2 includes a base frame 21, a first horizontal movement unit 3, a second horizontal movement unit 4, a vertical movement unit 5, a horizontal drive mechanism 7, a vertical drive mechanism 8, and an object support unit 22.
The base frame 21 is flat and is placed on a placement surface F.

The first horizontal movement unit 3 is disposed on the base frame 21. The first horizontal movement unit 3 comprises a guide rail 31 and a first table 32. The guide rails 31 are provided in pairs on the base frame 21. Each guide rail 31 extends in a first operating axis direction Dm1 along a horizontal plane. The pair of guide rails 31 are disposed parallel to each other at a distance in a second operating axis direction Dm2 perpendicular to the first operating axis direction Dm1 along the horizontal plane. Each guide rail 31 is, for example, a linear guide. The first table 32 is a rectangular flat plate in a plan view, and is provided on its underside with a slider 33 that can slide along each guide rail 31. The first table 32 is supported so as to be movable in the first operating axis direction Dm1 along the pair of guide rails 31.

The second horizontal movement unit 4 is stacked on the first table 32 of the first horizontal movement unit 3 on the base frame 21. The second horizontal movement unit 4 includes a guide rail 41 and a second table 42. The guide rails 41 are provided in pairs on the first table 32. Each guide rail 41 extends in the second operating axis direction Dm2 along a horizontal plane. The two pairs of guide rails 41 are arranged parallel to each other with a gap in the first operating axis direction Dm1. Each guide rail 41 is, for example, a linear guide. The second table 42 is a rectangular flat plate in plan view, and is provided on its underside with a slider 43 that can slide along each guide rail 41. The second table 42 is supported so as to be movable in the second operating axis direction Dm2 along the pair of guide rails 41.

The vertical movement unit 5 is stacked on the second table 42 of the second horizontal movement unit 4 on the base frame 21. The vertical movement unit 5 includes a support column 51, an upper table 52, a guide sleeve 53, a rod 54, and a third table 55.
When viewed from above, the support columns 51 are arranged at the four corners of the second table 42. Each support column 51 extends upward from the second table 42 along the vertical direction Dv. The upper table 52 is supported on these support columns 51. The guide sleeve 53 is fixed to the underside of the upper table 52. The guide sleeve 53 is cylindrical and extends in the vertical direction Dv. A plurality of guide sleeves 53 (for example, four) are arranged horizontally spaced apart. Each rod 54 extends in the vertical direction Dv, and its upper end is fixed to the underside of the third table 55. The same number of rods 54 as the number of guide sleeves 53 are arranged. The rods 54 are inserted into the guide sleeves 53 through through holes (not shown) formed in the upper table 52. The rods 54 are provided within the guide sleeves 53 so as to be movable in a third operating axis direction Dm3 along the vertical direction Dv. The third table 55 is provided on the plurality of rods 54. The third table 55 is movable together with the rod 54 in the third operating axis direction Dm3.

The object support unit 22 supports the object 100. The object support unit 22 is located at the top of the position adjustment device 2. In this embodiment, the object support unit 22 is configured by the third table 55. The object support unit 22 (third table 55) is a rectangular plate in a plan view, and has a support surface 22f on its upper surface that supports the object 100. The object support unit 22 is supported via the first horizontal movement unit 3, the second horizontal movement unit 4, and the vertical movement unit 5, and is therefore movable on the base frame 21 in the first operating axis direction Dm1, the second operating axis direction Dm2, and the third operating axis direction Dm3.

The horizontal drive mechanism 7 drives the first horizontal movement unit 3 or the second horizontal movement unit 4 of the position adjustment device 2. As shown in Figure 1, in this embodiment, the multiple position adjustment devices 2 (four in the example of Figure 1) include two first position adjustment devices 2A equipped with a first horizontal drive mechanism 7A and two second position adjustment devices 2B equipped with a second horizontal drive mechanism 7B.

As shown in Figures 3 and 4, the first position adjustment device 2A is disposed such that the first operating axis direction Dm1 is aligned with the horizontal first direction Dh1 along the horizontal plane, and the second operating axis direction Dm2 is aligned with the horizontal second direction Dh2 along the horizontal plane. The first horizontal drive mechanism 7A provided in the first position adjustment device 2A drives only the first horizontal movement unit 3 of the first horizontal movement unit 3 and the second horizontal movement unit 4, thereby moving the object support unit 22 (described later) only in the first operating axis direction Dm1 (horizontal first direction Dh1) within the horizontal plane. The first horizontal drive mechanism 7A includes a drive cylinder 71. The drive cylinder 71 is supported by a bracket 72 fixed to the base frame 21. The drive cylinder 71 is an electric cylinder including a cylinder rod 71a that advances and retreats in the first operating axis direction Dm1 and a servo motor 71m for driving the cylinder rod 71a to advance and retreat in the first operating axis direction Dm1. The drive cylinder 71 drives the cylinder rod 71a forward and backward using the servo motor 71m, thereby moving the first table 32 forward and backward along the first actuation axis direction Dm1.

As shown in Figures 5 and 6, the second position adjustment device 2B is disposed such that the second operating axis direction Dm2 is aligned with the horizontal second direction Dh2 along the horizontal plane, and the first operating axis direction Dm1 is aligned with the horizontal first direction Dh1 along the horizontal plane. The second horizontal drive mechanism 7B provided in the second position adjustment device 2B drives only the second horizontal movement unit 4 of the first horizontal movement unit 3 and the second horizontal movement unit 4, thereby moving the object support unit 22 (described later) only in the second operating axis direction Dm2 (horizontal second direction Dh2) within the horizontal plane. The second horizontal drive mechanism 7B includes a drive cylinder 73. The drive cylinder 73 is supported by a bracket 74 fixed to the first table 32. The drive cylinder 73 is an electric cylinder including a cylinder rod 73a that advances and retreats in the second operating axis direction Dm2 and a servo motor 73m for driving the cylinder rod 73a to advance and retreat in the second operating axis direction Dm2. The drive cylinder 73 moves the second table 42 back and forth along the second actuation axis direction Dm2 by driving the cylinder rod 73a back and forth using the servo motor 73m.

As shown in Figures 4 and 6, the first position adjustment device 2A and the second position adjustment device 2B are arranged with the third actuation axis direction Dm3 aligned with the vertical direction Dv. The vertical drive mechanism 8 drives the vertical moving unit 5 to move the third table 55 along the third actuation axis direction Dm3. The vertical drive mechanism 8 includes a drive cylinder 81. The drive cylinder 81 is fixed to the upper table 52. The drive cylinder 81 is an electric cylinder including a cylinder rod 81a that advances and retreats in the third actuation axis direction Dm3 and a servo motor 81m (see Figure 6) for driving the cylinder rod 81a to advance and retreat in the third actuation axis direction Dm3. The drive cylinder 81 moves the third table 55, i.e., the object support unit 22, up and down along the third actuation axis direction Dm3 by driving the cylinder rod 81a forward and backward with the servo motor 81m.

As shown in FIGS. 1 and 2 , such multiple position adjustment devices 2 are disposed below the object 100 or a supported member 101 attached to the object 100. In this embodiment, each position adjustment device 2 is disposed below the supported member 101. Each supported member 101 is provided so as to protrude laterally from the outer surface of the object 100. Each supported member 101 may be attached to the object 100 with a bolt (not shown) or the like when adjusting the position of the object 100, and may be detached from the object 100 after the position adjustment of the object 100 is complete. Furthermore, if the object 100 itself has a portion where each position adjustment device 2 can be disposed, there is no need to provide a supported member 101.
Each position adjustment device 2 supports the supported member 101 from below on the support surface 22f of the object support portion 22, and adjusts the position of the object 100 while lifting the object 100 slightly above the installation surface F.

To adjust the position of the object 100 using multiple position adjustment devices 2, the horizontal drive mechanism 7 of each position adjustment device 2 moves the object support portion 22 in the first operating axis direction Dm1 and the second operating axis direction Dm2, thereby moving the object 100 horizontally.
At this time, when the first table 32 of the first position adjustment device 2A, for example, is moved in the first operating axis direction Dm1 by the first horizontal drive mechanism 7A, the object 100 supported on the object support part 22 moves in the horizontal first direction Dh1. At this time, in the second position adjustment device 2B, the first table 32 is automatically movable in the first operating axis direction Dm1 along the guide rails 31, and therefore the first table 32 moves (follows) in the first operating axis direction Dm1 together with the object 100 moving in the horizontal first direction Dh1.
Furthermore, when the second table 42 of the second position adjustment device 2B, for example, is moved in the second operating axis direction Dm2 by the second horizontal drive mechanism 7B, the object 100 supported on the object support unit 22 moves in the horizontal second direction Dh2. At this time, in the first position adjustment device 2A, the second table 42 is automatically movable in the second operating axis direction Dm2 along the guide rails 41, and therefore the second table 42 moves (follows) in the second operating axis direction Dm2 together with the object 100 moving in the horizontal second direction Dh2.

The multiple position adjustment devices 2 can also adjust the height and horizontal level of the object 100. In this case, in each position adjustment device 2, the object support part 22 is moved in the third operating axis direction Dm3 by the vertical drive mechanism 8, thereby moving the object 100 in the vertical direction Dv.

After adjusting the position and level of the object 100 in the horizontal and vertical directions Dv using multiple position adjustment devices 2 as described above, the object 100 can be placed in the adjusted position by placing the adjuster pads 103 on the underside of the object 100 on the placement surface F.

FIG. 7 is a block diagram showing the functional configuration of the control device of the position adjustment system according to this embodiment.
The control device 9 is composed of a computer device such as a control panel, and executes processing based on a preset computer program to control the operation of the horizontal drive mechanisms 7 and vertical drive mechanisms 8 of the plurality of position adjustment devices 2 described above, and automatically adjusts the position of the target object 100. As shown in Fig. 7, the control device 9 includes an input receiving unit 91, a movement command output unit 92, a movement detection unit 93, and a stop command output unit 94.

The input receiving unit 91 receives a set value of the amount of movement of the target object 100, which is input from the outside via a keyboard, a mouse, or any other input device.
The movement command output unit 92 outputs, for example, simultaneously, movement commands to operate the servo motors 71m, 73m of the horizontal drive mechanism 7 and the servo motor 81m of the vertical drive mechanism 8 to each of the multiple position adjustment devices 2 based on the setting values input to the input receiving unit 91.
As a result, the control device 9 controls the multiple position adjustment devices 2 so that they are driven in conjunction with one another, and also controls the horizontal drive mechanism 7 and the vertical drive mechanism 8 of each of the multiple position adjustment devices 2 so that they are driven in conjunction with one another. More specifically, the control device 9 controls the first horizontal drive mechanism 7A, the second horizontal drive mechanism 7B, and the vertical drive mechanism 8 of each of the multiple position adjustment devices 2 so that they are driven in conjunction with one another.

In particular, in this embodiment, the first position adjustment device 2A is arranged so that the first horizontal drive mechanism 7A of the first position adjustment device 2A moves the object support unit 22 in the first actuation axis direction Dm1, thereby moving the object 100 in the horizontal first direction Dh1. Furthermore, the second position adjustment device 2B is arranged so that the second horizontal drive mechanism 7B of the second position adjustment device 2B moves the object support unit 22 in the second actuation axis direction Dm2, thereby moving the object 100 in the horizontal second direction Dh2. Furthermore, the first position adjustment device 2A and the second position adjustment device 2B are arranged so that the vertical drive mechanisms 8 of the first position adjustment device 2A and the second position adjustment device 2B move the object support unit 22 in the third actuation axis direction Dm3, thereby moving the object 100 in the vertical direction Dv.
Therefore, for example, when the control device 9 controls the first horizontal drive mechanism 7A of the first position adjustment device 2A and the second horizontal drive mechanism 7B of the second position adjustment device 2B so that they are driven in conjunction with each other, the object 100 is moved in a diagonal direction between the horizontal first direction Dh1 and the horizontal second direction Dh2, inclined with respect to each of the horizontal first direction Dh1 and the horizontal second direction Dh2.
Furthermore, for example, when the control device 9 controls the first horizontal drive mechanism 7A of the first position adjustment device 2A and the vertical drive mechanisms 8 of the first position adjustment device 2A and the second position adjustment device 2B so that they are driven in conjunction with each other, the object 100 is moved in an oblique direction between the horizontal first direction Dh1 and the vertical direction Dv, inclined with respect to each of the horizontal first direction Dh1 and the vertical direction Dv.
Furthermore, for example, when the control device 9 controls the second horizontal drive mechanism 7B of the second position adjustment device 2B and the vertical drive mechanisms 8 of the first position adjustment device 2A and the second position adjustment device 2B so that they are driven in conjunction with each other, the object 100 is moved in an oblique direction between the horizontal second direction Dh2 and the vertical direction Dv, inclined with respect to each of the horizontal second direction Dh2 and the vertical direction Dv.
Furthermore, for example, when the control device 9 controls the first horizontal drive mechanism 7A of the first position adjustment device 2A, the second horizontal drive mechanism 7B of the second position adjustment device 2B, and the vertical drive mechanisms 8 of the first position adjustment device 2A and the second position adjustment device 2B so that they are driven in conjunction with each other, the object 100 is moved in an oblique direction between the horizontal first direction Dh1, the horizontal second direction Dh2, and the vertical direction Dv, and inclined with respect to each of the horizontal first direction Dh1, the horizontal second direction Dh2, and the vertical direction Dv.

The movement detection unit 93 detects the amount of movement of the object 100 when the horizontal drive mechanism 7 and vertical drive mechanism 8 are operated in each of the multiple position adjustment devices 2. To this end, the servo motors 71m, 73m, and 81m are each equipped with an encoder (not shown) that detects the amount of motor rotation. Based on the motor rotation detection signals output from each of the servo motors 71m, 73m, and 81m, the movement detection unit 93 detects the amount of movement of the object 100 in the first operating axis direction Dm1 or the second operating axis direction Dm2 caused by the horizontal drive mechanism 7, and the amount of movement of the object 100 in the vertical direction Dv caused by the third operating axis direction Dm3 in each position adjustment device 2.

When the amount of movement of the object 100 detected by the movement detection unit 93 reaches a set value in all of the multiple position adjustment devices 2, the stop command output unit 94 outputs a stop command to each of the multiple position adjustment devices 2 to stop the operation of the horizontal drive mechanism 7 and vertical drive mechanism 8.

Next, a description will be given of a method for adjusting the position of the object 100 using the above-described position adjustment system 1. In this embodiment, the method for adjusting the position of the object 100 using the position adjustment system 1 includes the steps of arranging a plurality of position adjustment devices 2 below the object 100, and controlling the control device 9 to control the plurality of position adjustment devices 2 so that they are driven in conjunction with one another, and also to control the horizontal drive mechanism 7 and vertical drive mechanism 8 of each of the plurality of position adjustment devices 2 so that they are driven in conjunction with one another, thereby moving the object 100.
FIG. 8 is a flowchart showing the flow of a method for adjusting the position of an object using the position adjustment system according to this embodiment.
As shown in Figure 8, the method for adjusting the position of the object 100 using the position adjustment system 1 mainly includes, in more detail, a step S1 of placing multiple position adjustment devices 2 below the object 100, a step S2 of inputting a set value for the amount of movement of the object 100, a step S3 of moving the object 100, a step S4 of detecting the amount of movement of the object 100, a step S5 of stopping the movement of the object 100, a step S6 of installing the object 100 on an installation surface F, and a step S7 of removing the multiple position adjustment devices 2 from below the object 100.

In process S1, which places multiple position adjustment devices 2 below the object 100, the object 100, which has been temporarily placed near a predetermined installation position on the installation surface F, is lifted using a hydraulic jack or similar device (not shown). Next, the multiple position adjustment devices 2 are inserted and placed below the supported members 101 attached to the lifted object 100. After that, the hydraulic jack or similar device is retracted, and the object 100 is supported on the object support portions 22 of the multiple position adjustment devices 2.

In process S2 of inputting the set value for the movement amount of the object 100, first, the amount of positional deviation of the temporarily placed object 100 from the predetermined installation position is measured. Based on the measured amount of positional deviation, the set value for the movement amount of the object 100 for each of the multiple position adjustment devices 2 is calculated. The calculated set value for the movement amount of the object 100 is input by the operator to the control device 9. The input reception unit 91 of the control device 9 receives the set value for the movement amount of the object 100 input from outside.

In step S3 of moving the object 100, the movement command output unit 92 of the control device 9 outputs, for example, simultaneously, movement commands to operate the servo motors 71 m, 73 m of the horizontal drive mechanism 7 and the servo motor 81 m of the vertical drive mechanism 8 to each of the multiple position adjustment devices 2 based on the setting values input to the input receiving unit 91. As a result, in step S3 of moving the object 100, the control device 9 controls the multiple position adjustment devices 2 so that they are driven in conjunction with each other, and controls the horizontal drive mechanism 7 and the vertical drive mechanism 8 of each of the multiple position adjustment devices 2 so that they are driven in conjunction with each other.
In this embodiment, the movement command output to each of the multiple position adjustment devices 2, i.e., the movement amount of the object support unit 22 in each position adjustment device 2, is the same. That is, in this embodiment, the object 100 is moved in parallel while maintaining the posture before the movement.
The plurality of position adjustment devices 2 operate the horizontal drive mechanism 7 and the vertical drive mechanism 8 based on the movement command output from the movement command output unit 92 to move the target object 100 .

In step S4 of detecting the amount of movement of the object 100, the movement detector 93 receives detection signals output from the encoders (not shown) of the servo motors 71m, 73m, and 81m that operated based on the movement command in each of the multiple position adjustment devices 2. Based on the received detection signals, the movement detector 93 detects the amount of movement of the object 100 (object support unit 22) in the first operating axis direction Dm1, the second operating axis direction Dm2, and the third operating axis direction Dm3 in the vertical drive mechanism 8 by the horizontal drive mechanism 7 (first horizontal drive mechanism 7A, second horizontal drive mechanism 7B) in each position adjustment device 2. The movement detector 93 monitors whether the amount of movement of the object 100 in each of the multiple position adjustment devices 2 has reached a set value.

In step S5 of stopping the movement of the object 100, when the amount of movement of the object 100 monitored by the movement detection unit 93 reaches a set value in all of the multiple position adjustment devices 2, the stop command output unit 94 outputs a stop command to each of the multiple position adjustment devices 2 to stop the operation of the horizontal drive mechanism 7 and vertical drive mechanism 8. This stops the movement of the object 100. In this state, the object 100 is moved according to the amount of positional deviation measured in step S2 and placed in the specified installation position.

In step S6 of installing the object 100 on the installation surface F, the height of the adjuster pad 103 is adjusted and other spacers are inserted below the object 100, and the object 100 is then installed on the installation surface F.

In process S7, which removes the multiple position adjustment devices 2 from below the object 100, the drive cylinder 83 of the vertical drive mechanism 8 lowers the object support portion 22 of each of the multiple position adjustment devices 2 and moves it away from the object 100. Then, each position adjustment device 2 is pulled out to the side and removed from below the object 100. In this manner, the position of the object 100 can be adjusted.

The position adjustment system 1 as described above is a position adjustment system 1 for adjusting the installation position of an object 100 on an installation surface F, and includes a plurality of position adjustment devices 2 that support the object 100 from below, and a control device 9 that controls the operation of the position adjustment devices 2. Each of the position adjustment devices 2 comprises a base frame 21 installed on an installation surface F, a first horizontal movement unit 3 having a first table 32 arranged on the base frame 21 so as to be movable in a first operating axis direction Dm1 along a horizontal plane, a second horizontal movement unit 4 having a second table 42 arranged on the base frame 21 so as to be movable in a second operating axis direction Dm2 perpendicular to the first operating axis direction Dm1 along the horizontal plane, a vertical movement unit 5 having a third table 55 arranged on the base frame 21 so as to be movable in a third operating axis direction Dm3 along the vertical direction Dv, a horizontal drive mechanism 7 that drives at least one of the first horizontal movement unit 3 and the second horizontal movement unit 4, a vertical drive mechanism 8 that drives the vertical movement unit 5, and an object support unit 22 that is configured to be movable in the first operating axis direction Dm1, the second operating axis direction Dm2, and the third operating axis direction Dm3 via the first horizontal movement unit 3, the second horizontal movement unit 4, and the vertical movement unit 5, and that supports the object 100 from below. The control device 9 controls the multiple position adjustment devices 2 so that they are driven in conjunction with each other, and also controls the horizontal drive mechanism 7 and the vertical drive mechanism 8 of each of the multiple position adjustment devices 2 so that they are driven in conjunction with each other.
With this configuration, in the multiple position adjustment devices 2, the object support unit 22, which supports the object 100 to be moved from below, can be moved in three directions, the first operating axis direction Dm1, the second operating axis direction Dm2, and the third operating axis direction Dm3, by the first horizontal movement unit 3, the second horizontal movement unit 4, and the vertical movement unit 5, thereby adjusting the position of the object 100. Here, the control device 9 controls the multiple position adjustment devices 2 so that they are driven in conjunction with each other, and also controls the horizontal drive mechanism 7 and the vertical drive mechanism 8 of each of the multiple position adjustment devices 2 so that they are driven in conjunction with each other. As a result, the object support unit 22 is moved in a diagonal direction between the first operating axis direction Dm1, the second operating axis direction Dm2, and the third operating axis direction Dm3. Therefore, the object 100 can be moved more efficiently than, for example, adjusting the installation position of the object 100 by moving the object support part 22 individually and sequentially in each of the directions of the first operating axis direction Dm1, the second operating axis direction Dm2, and the third operating axis direction Dm3.

The control device 9 also includes an input receiving unit 91 to which a set value for the amount of movement by which the object 100 should be moved is input from the outside, a movement command output unit 92 that outputs a movement command to each of the multiple position adjustment devices 2 to operate the horizontal drive mechanism 7 and the vertical drive mechanism 8 based on the set value input to the input receiving unit 91, a movement detection unit 93 that detects the amount of movement of the object 100 when the horizontal drive mechanism 7 and the vertical drive mechanism 8 are operated in each of the multiple position adjustment devices 2, and a stop command output unit 94 that outputs a stop command to each of the multiple position adjustment devices 2 to stop the operation of the horizontal drive mechanism 7 and the vertical drive mechanism 8 when the amount of movement of the object 100 detected by the movement detection unit 93 reaches the set value in all of the multiple position adjustment devices 2.
With this configuration, the amount of movement of the object 100 is detected when the horizontal drive mechanism 7 and the vertical drive mechanism 8 are operated according to a set value input from outside, and when the detected amount of movement of the object 100 reaches the set value in all movement adjustment devices, the operation of the horizontal drive mechanism 7 and the vertical movement unit 5 is stopped, thereby making it possible to move the object 100 accurately in accordance with the set value. Therefore, the position of the object 100 can be adjusted efficiently and with high precision.

In addition, the multiple position adjustment devices 2 include a first position adjustment device 2A equipped with a first horizontal drive mechanism 7A that moves the object support portion 22 only in the first operating axis direction Dm1, and a second position adjustment device 2B equipped with a second horizontal drive mechanism 7B that moves the object support portion 22 only in the second operating axis direction Dm2, and the first position adjustment device 2A is arranged with the first operating axis direction Dm1 aligned with a horizontal first direction Dh1 along the horizontal plane, and the second position adjustment device 2B is arranged with the second operating axis direction Dm2 aligned with a horizontal second direction Dh2 along the horizontal plane that is perpendicular to the horizontal first direction Dh1.
According to this configuration, by using a combination of the first position adjustment device 2A and the second position adjustment device 2B, the position of the object 100 can be adjusted by moving it in the first horizontal direction Dh1 and the second horizontal direction Dh2 using the multiple position adjustment devices 2. The first horizontal drive mechanism 7A moves the object support part 22 only in the first actuation axis direction Dm1, and the second horizontal drive mechanism 7B moves the object support part 22 only in the second actuation axis direction Dm2. This reduces costs compared to a configuration in which the horizontal drive mechanisms 7 of all position adjustment devices 2 move the object support part 22 in both the first actuation axis direction Dm1 and the second actuation axis direction Dm2.

The horizontal drive mechanism 7 and the vertical drive mechanism 8 each include an electric cylinder driven by a servo motor 71m, 73m, or 81m.
With this configuration, the position adjustment system 1 described above can be properly realized.

Furthermore, the method for adjusting the position of the object 100 using the position adjustment system 1 as described above includes a step S1 of placing a plurality of position adjustment devices 2 below the object 100 or a supported member 101 attached to the object 100, and a step S3 of the control device 9 controlling the plurality of position adjustment devices 2 so that they are driven in conjunction with each other, and controlling the horizontal drive mechanism 7 and the vertical drive mechanism 8 of each of the plurality of position adjustment devices 2 so that they are driven in conjunction with each other, thereby moving the object 100.
With this configuration, the position of the target object 100 can be adjusted efficiently and with high precision.

Second Embodiment
Next, a second embodiment of the position adjustment system and the object position adjustment method using the position adjustment system according to the present invention will be described. In the second embodiment described below, components common to the first embodiment will be denoted by the same reference numerals in the drawings, and their description will be omitted.
FIG. 9 is a plan view showing a schematic configuration of a position adjustment system according to the second embodiment of the present invention.
9, the position adjustment system 1B includes a plurality of position adjustment devices 2 and a control device 9. In this embodiment, each of the plurality of position adjustment devices 2 includes, as the horizontal drive mechanism 7, a first horizontal drive mechanism 7A (see FIGS. 3 and 4) configured to move the object support part 22 only in the first actuation axis direction Dm1.
In this embodiment, the multiple position adjustment devices 2 include two third position adjustment devices 2C and two fourth position adjustment devices 2D. The third position adjustment device 2C is disposed with its first actuation axis direction Dm1 aligned with the horizontal first direction Dh1 and its second actuation axis direction Dm2 aligned with the horizontal second direction Dh2. The fourth position adjustment device 2D is disposed with its first actuation axis direction Dm1 aligned with the horizontal second direction Dh2 and its second actuation axis direction Dm2 aligned with the horizontal first direction Dh1.
The fourth position adjustment device 2D is a device having the same configuration as the third position adjustment device 2C, but is arranged in a different orientation so as to be rotated 90° around the vertical axis compared to the third position adjustment device 2C.
In this position adjustment system 1B, when the first horizontal drive mechanism 7A of the third position adjustment device 2C moves the object support part 22 in the first actuation axis direction Dm1, the object 100 moves in the horizontal first direction Dh1. When the first horizontal drive mechanism 7A of the fourth position adjustment device 2D moves the object support part 22 in the first actuation axis direction Dm1, the object 100 moves in the horizontal second direction Dh2.

For example, when the control device 9 controls the first horizontal drive mechanism 7A of the third position adjustment device 2C and the first horizontal drive mechanism 7A of the fourth position adjustment device 2D so that they are driven in conjunction with each other, the object 100 is moved in a diagonal direction between the horizontal first direction Dh1 and the horizontal second direction Dh2, inclined with respect to each of the horizontal first direction Dh1 and the horizontal second direction Dh2.
Furthermore, for example, when the control device 9 controls the first horizontal drive mechanism 7A of the third position adjustment device 2C and the vertical drive mechanisms 8 of the third position adjustment device 2C and the fourth position adjustment device 2D so that they are driven in conjunction with each other, the object 100 is moved in an oblique direction between the horizontal first direction Dh1 and the vertical direction Dv, inclined with respect to each of the horizontal first direction Dh1 and the vertical direction Dv.
Furthermore, for example, when the control device 9 controls the first horizontal drive mechanism 7A of the fourth position adjustment device 2D and the vertical drive mechanisms 8 of the third position adjustment device 2C and the fourth position adjustment device 2D so that they are driven in conjunction with each other, the object 100 is moved in an oblique direction between the horizontal second direction Dh2 and the vertical direction Dv, inclined with respect to each of the horizontal second direction Dh2 and the vertical direction Dv.
Furthermore, for example, when the control device 9 controls the first horizontal drive mechanism 7A of the third position adjustment device 2C and the fourth position adjustment device 2D, and the vertical drive mechanism 8 of the third position adjustment device 2C and the fourth position adjustment device 2D so that they are driven in conjunction with each other, the object 100 is moved in a diagonal direction between the horizontal first direction Dh1, the horizontal second direction Dh2 and the vertical direction Dv, and inclined with respect to each of the horizontal first direction Dh1, the horizontal second direction Dh2 and the vertical direction Dv.

According to such a position adjustment system 1B, the horizontal drive mechanism 7 (first horizontal drive mechanism 7A) of the multiple position adjustment devices 2 is configured to move the object support part 22 only in the first operating axis direction Dm1, and the multiple position adjustment devices 2 include a third position adjustment device 2C arranged with the first operating axis direction Dm1 aligned with a horizontal first direction Dh1 along the horizontal plane, and a fourth position adjustment device 2D arranged with the first operating axis direction Dm1 aligned with a horizontal second direction Dh2 perpendicular to the horizontal first direction Dh1 along the horizontal plane.
With this configuration, a common (identical) device equipped with the first horizontal drive mechanism 7A can be used for all of the multiple position adjustment devices 2. That is, the third position adjustment device 2C and the fourth position adjustment device 2D can be configured by placing the same position adjustment device 2 on the floor surface F with its orientation in the horizontal plane changed by 90°. This allows for cost reduction.

(Third embodiment)
Next, a third embodiment of the position adjustment system and the method for adjusting the position of an object using the position adjustment system according to the present invention will be described. In the third embodiment described below, components common to the first embodiment will be denoted by the same reference numerals in the drawings, and descriptions thereof will be omitted.
Fig. 10 is a plan view showing a schematic configuration of a position adjustment system according to a third embodiment of the present invention, and Fig. 11 is a plan view showing the configuration of a position adjustment device according to the third embodiment.
10 and 11 , the position adjustment system 1C includes a plurality of position adjustment devices 2 and a control device 9 (see FIG. 1 ). In this embodiment, each of the plurality of position adjustment devices 2 includes, as the horizontal drive mechanism 7, both a first horizontal drive mechanism 7A that drives the first horizontal movement unit 3 to move the object support unit 22 in the first actuation axis direction Dm1, and a second horizontal drive mechanism 7B that drives the second horizontal movement unit 4 to move the object support unit 22 in the second actuation axis direction Dm2.
Each position adjustment device 2 is disposed so that the first operating axis direction Dm1 is aligned with the horizontal first direction Dh1 and the second operating axis direction Dm2 is aligned with the horizontal second direction Dh2.

According to such a position adjustment system 1C, each of the multiple position adjustment devices 2 has both the first horizontal movement unit 3 and the second horizontal movement unit 4 driven by a horizontal drive mechanism 7, and is arranged so that the first operating axis direction Dm1 is aligned with a horizontal first direction Dh1 along the horizontal plane, and the second operating axis direction Dm2 is aligned with a horizontal second direction Dh2 along the horizontal plane, perpendicular to the horizontal first direction Dh1.
According to this configuration, by configuring all of the multiple position adjustment devices 2 so that the first horizontal movement unit 3 and the second horizontal movement unit 4 are driven, the number of drive cylinders 71 that drive the first horizontal movement unit 3 and the number of drive cylinders 73 that drive the second horizontal movement unit 4 increase in the multiple position adjustment devices 2. This reduces the load on each of the drive cylinders 71, 73, allowing the drive cylinders 71, 73 to have a smaller capacity and be more compact.

(Other Modifications)
In the above embodiment, the first horizontal movement unit 3, the second horizontal movement unit 4, and the vertical movement unit 5 are stacked in order from bottom to top on the base frame 21, but the stacking order of the first horizontal movement unit 3, the second horizontal movement unit 4, and the vertical movement unit 5 can be changed as appropriate. In this case, the object support unit 22 is made up of the uppermost table among the first table 32, the second table 42, and the third table 55. Furthermore, the object support unit 22 may be provided as a separate component above the uppermost table among the first table 32, the second table 42, and the third table 55.

Furthermore, in the above embodiment, the movement command output to each of the multiple position adjustment devices 2, i.e., the movement amount of the object support portion 22 in each position adjustment device 2, is the same, and the object 100 is moved in parallel while maintaining the posture before the movement, but this is not limited to this.
For example, each position adjustment device 2 can be configured to include both a first horizontal drive mechanism 7A and a second horizontal drive mechanism 7B as shown in Figure 10, and the first horizontal drive mechanism 7A and the second horizontal drive mechanism 7B of each position adjustment device 2 can be controlled to move in the same circumferential direction around the center of the object 100 when viewed in a plane, thereby rotating the object 100.
Alternatively, each position adjustment device 2 can be configured as in any of the above embodiments or modified examples, and the object 100 can be tilted by varying the amount of movement in the vertical direction Dv for each position adjustment device 2.

In addition, in the above embodiment, the amount of movement of the object 100 is detected by the encoders provided on the servo motors 71m, 73m, and 81m, but this is not limited to this. For example, the amount of movement of the object 100 itself may be detected using an appropriate measuring device, such as a laser rangefinder, and the detection result may be transferred to the control device 9.

Furthermore, the number of position adjustment devices 2 used to adjust the position of the object 100 can be changed as appropriate depending on the shape, weight, size, etc. of the object 100 .
Furthermore, the object 100 whose position is adjusted by the position adjustment system 1 does not matter in any way in terms of its specific configuration or use.
In addition, the configurations given in the above embodiments can be selected or changed as appropriate without departing from the spirit of the present invention.

1, 1B, 1C Position adjustment system 2 Position adjustment device 2A First position adjustment device 2B Second position adjustment device 2C Third position adjustment device 2D Fourth position adjustment device 3 First horizontal movement unit 4 Second horizontal movement unit 5 Vertical movement unit 7 Horizontal drive mechanism 7A First horizontal drive mechanism 7B Second horizontal drive mechanism 71m, 73m, 81m Servo motor 8 Vertical drive mechanism 9 Control device 21 Base frame 22 Object support unit 32 First table 42 Second table 55 Third table 91 Input reception unit 92 Movement command output unit 93 Movement detection unit 94 Stop command output unit 100 Object 101 Supported member Dh1 Horizontal first direction Dh2 Horizontal second direction Dm1 First operating axis direction Dm2 Second operating axis direction Dm3 Third operating axis direction Dv Vertical direction F Installation surface

Claims (7)

A position adjustment system for adjusting an installation position of an object on an installation surface, comprising:
a plurality of position adjustment devices that are installed on the installation surface and support the object from below;
a control device for controlling the operation of the position adjustment device,
Each of the position adjustment devices comprises:
a base frame that is installed in a fixed position on the installation surface;
a first horizontal movement unit including a first table movable in a first actuation axis direction along a horizontal plane on the base frame installed at a fixed position on the installation surface ;
a second horizontal movement unit including a second table that is movable along a horizontal plane in a second operating axis direction perpendicular to the first operating axis direction on the base frame that is installed at a fixed position on the installation surface ;
a vertical movement unit including a third table that is movable in a third actuation axis direction along a vertical direction on the base frame that is installed at a fixed position on the installation surface ;
a horizontal drive mechanism that drives at least one of the first horizontal movement unit and the second horizontal movement unit;
a vertical drive mechanism that drives the vertical movement unit;
an object support unit that is supported via the first table of the first horizontal movement unit, the second table of the second horizontal movement unit, and the third table of the vertical movement unit, and is movable along the first actuation axis direction, the second actuation axis direction, and the third actuation axis direction, and supports the object from below,
The control device outputs the same movement command to each of the multiple position adjustment devices, and controls each of the multiple position adjustment devices to be driven in conjunction with each other by the same movement amount based on the movement command, and also controls the horizontal drive mechanism and the vertical drive mechanism of each of the multiple position adjustment devices to be driven in conjunction with each other. The control device
an input receiving unit to which a set value of the movement amount by which the object should be moved is input from outside;
a movement command output unit that outputs the movement command for operating the horizontal drive mechanism and the vertical drive mechanism to each of the plurality of position adjustment devices based on the setting value input to the input receiving unit;
a movement detection unit that detects a movement amount of the object when the horizontal drive mechanism and the vertical drive mechanism are operated in each of the plurality of position adjustment devices;
2. The position adjustment system according to claim 1, further comprising: a stop command output unit that outputs a stop command to each of the plurality of position adjustment devices to stop operation of the horizontal drive mechanism and the vertical drive mechanism when the movement amount of the object detected by the movement detection unit reaches the set value in all of the plurality of position adjustment devices. The plurality of position adjustment devices
a first position adjustment device including a first horizontal drive mechanism that moves the object support unit only in the first actuation axis direction;
a second position adjustment device including a second horizontal drive mechanism that moves the object support part only in the second actuation axis direction,
the first position adjustment device is disposed so that the first actuation axis direction is along a horizontal first direction along a horizontal plane,
The position adjustment system according to claim 1 or 2, wherein the second position adjustment device is arranged along a horizontal plane with the second operating axis direction aligned in a horizontal second direction perpendicular to the horizontal first direction. the horizontal drive mechanisms of the plurality of position adjustment devices are configured to move the object support parts only in the first actuation axis direction;
The plurality of position adjustment devices
a third position adjustment device arranged so that the first actuation axis direction is along a horizontal first direction along a horizontal plane;
The position adjustment system according to claim 1 or 2, further comprising: a fourth position adjustment device arranged along a horizontal plane with the first operating axis direction aligned in a horizontal second direction perpendicular to the horizontal first direction. Each of the plurality of position adjustment devices includes:
the horizontal drive mechanism drives both the first horizontal movement unit and the second horizontal movement unit,
3. The position adjustment system of claim 1, wherein the first operating axis direction is aligned along a horizontal first direction along a horizontal plane, and the second operating axis direction is aligned along a horizontal second direction perpendicular to the horizontal first direction along a horizontal plane. A position adjustment system according to any one of claims 1 to 5, wherein the horizontal drive mechanism and the vertical drive mechanism each include an electric cylinder driven by a servo motor. A method for adjusting the position of an object using the position adjustment system according to any one of claims 1 to 6, comprising:
disposing a plurality of the position adjustment devices below the object or a supported member attached to the object;
a step of the control device outputting the same movement command to each of the plurality of position adjustment devices, and controlling each of the plurality of position adjustment devices based on the movement command so that they are driven in conjunction with each other by the same movement amount , and also controlling the horizontal drive mechanism and the vertical drive mechanism of each of the plurality of position adjustment devices so that they are driven in conjunction with each other, thereby moving the object.