JPH0826959B2 - Horizontal maintenance base for mechanisms, devices, etc. - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to various machines, mechanisms, devices, etc., which need to be installed at a predetermined angle with respect to a horizontal plane or a vertical axis, for example, completely horizontal or vertical. There is a certain thing, or even if it is installed in a place or device where the installation surface randomly fluctuates or swings, a horizontal surface or a device that can automatically form a desired inclined surface with respect to the horizontal surface, etc. It is related to the horizontal maintenance base such as the mounting base.

[Conventional technology]

Conventionally, for example, precision machinery and measuring instruments must be installed in a completely horizontal position.
An adjuster for adjusting the levelness thereof is attached to a base member such as a mounting base of the above-mentioned equipment or a surface plate.

This adjuster is based on the bottom of the machine casing. For example, screw-type feet are provided at the four corners of the adjuster, and the legs are moved forward and backward with respect to the bottom of the machine casing by rotating the screws forward and backward to move the adjuster horizontally. I try to give it a try.

On the other hand, there is a technology for constantly maintaining the mechanism and devices provided on the installation surface that constantly swings or angularly displaces regardless of the presence or absence of displacement of the installation surface or following a predetermined tilt angle with respect to the horizontal plane. Although requested, the conventional technology has not been able to adequately meet the demand.

[Problems to be Solved by the Invention]

However, since the adjuster as described above needs to rotate each of the four feet by hand, it takes a lot of time to adjust, and since the adjuster is operated while looking at the level detector, the level, etc., it is quick. There are problems such as not being able to make proper adjustments.

Further, there is no simple means for maintaining the horizontal position with respect to the installation surface that swings or displaces at an angle, or to automatically follow and maintain a desired tilt direction and tilt angle.

In view of the above-mentioned points, the present invention automatically operates, for example, a device for maintaining the levelness of installed devices and equipment,
It is another object of the present invention to provide a horizontal maintenance base for the above-mentioned devices and equipment which can be positioned by following a desired angle with respect to a horizontal plane or a vertical axis.

[Means for solving the problem]

The configuration of the present invention made to solve the above problems is
A first axis parallel to the horizontal plane and a second axis parallel to the horizontal plane, which is orthogonal to the first axis through a bearing, and which has one end side of the horizontal plane included in the base member on which appropriate mechanisms and devices are mounted. And the other end of the horizontal surface of the base member is supported by a third shaft and a fourth shaft which are vertically moved up and down.

[Action]

Both ends of the horizontal plane included in the base member on which the mechanism and the device are mounted are supported by the first to fourth axes, respectively, so that the base member has a tilt angle of zero with respect to the vertical axis or the horizontal plane. The posture can be made to follow an arbitrary angle up to a predetermined tilt angle, or the posture can be maintained at a constant angle.

In the present invention, the horizontal surface included in the base member means that not only the base and the surface plate forming the bottom of the mechanism and the apparatus are uniformly flat but also those having leg members, uneven surfaces or steps. Therefore, it refers to a horizontal surface included in the base member such as the base of the mechanism or the device or the surface plate.

〔Example〕

 Next, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a perspective view showing an example of a horizontal holding base of the present invention with a skeleton.

In this figure, reference numeral 1 is a horizontal first axis, which is arranged here along the depth direction of the figure. Reference numerals 1a and 1b denote bearings for the first shaft that support the first shaft 1 at both ends thereof.

Reference numeral 2 denotes a second shaft which is arranged in a substantially horizontal direction orthogonal to the first shaft 1 in the middle of the first shaft 1.
The rear end (right side in the figure) is rotatably supported on the first shaft 1 by a bearing 2a.

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

The third shaft 3 and the fourth shaft 4 are formed to be vertically movable by stroke actuators 3A and 4A such as a motor cylinder, an air cylinder, and a feed screw mechanism. With this configuration, the support shaft 2'and the second shaft 2, that is, the plane including both the shafts 2 and 2'forms a horizontal plane included in a base member such as a mounting base for a mechanism and devices described later and a surface plate. However, in the present invention, this plane is referred to as a reference horizontal plane H. The horizontal plane can be positioned and held at an arbitrary angle including a tilt angle of zero with respect to the vertical axis or the horizontal plane H orthogonal to this axis by the elevating operation of both or one of the actuators 3A, 4A.

Universal joints are used for the connecting portions 3a and 4a of the upper ends of the two actuators 3A and 4A with the support shaft 2 ', and the grounding portions 3b and 4b of the lower ends.

Regarding the first shaft and the second shaft, a rotary actuator such as a geared motor may be attached to the bearing 2a or the bearings 1a and 1b of the first shaft to give a rotational force.

An example of the horizontal maintaining base of the present invention is formed as described above. A base capable of operating as described above is such that the second shaft 2 and its supporting shaft 2'are supported by the verticality detector VS as described below. Since it is possible to constantly detect the inclination of the reference horizontal plane H including the vertical axis and to operate the actuators 3A and 4A so as to keep the reference horizontal plane H horizontal with respect to the vertical axis, this point will be described below. To do.

First, as an example of the configuration of the detector VS, as shown in FIG. 2 and the like, a vertically oriented cylindrical main body 11 is used as a reference member, and inside thereof, front and rear or right and left on a plane, or a crossing thereof. The weight 12 that can freely swing in any direction
Detecting means S for suspending on the suspension support 13 which is mounted and supported on the above, and for electrically, magnetically or optically detecting the swing of the weight 12 in the swing direction of the weight 12. Is formed.

A piece member 15 having a lower half side formed into a spherical portion 15a is attached in the middle of the hanging support member 13 mounted and supported on the spherical seat 14. Thus, the suspension support member 13 is a rod for suspending and supporting the weight 12, but in order to reduce the influence of the weight of the weight 12 on the swing, the support member 13 and the upper surface of the tubular body 11 are A coil spring 16 is interposed between them.

Here, the lower half side of the suspension support 13 is adjusted to have a length so as to project from the lower end of the cylindrical main body 11, and the weight 12 is attached to the upper part of the middle so that the upper and lower positions can be adjusted. . The position of the weight 12 is fixed after its oscillation or vibration frequency is adjusted. When the weight 12 is positioned on the upper side of the suspension support 13, that is, in the vicinity of the support point, the vibration (swing) frequency increases, so that the inclination detection accuracy increases.

With the configuration of each member 11 to 16 described above, the weight 12 has the contact surface between the spherical seat 14 and the piece member 15 inside the cylindrical main body 11.
By the action of 15a and the spring 16, it is supported so as to be swingable in all directions on a plane.

Since the weight 12 is supported so that it can freely swing,
If the cylindrical main body 11 as the reference member is tilted even a little, rocking occurs, which lasts for a certain period of time, that is, vibrates. Here, if the start of swing is detected, it is possible to detect and specify the occurrence of tilt and the tilt direction.

However, for example, the weight 12 begins to swing in the front-back direction,
When this continues to be in a vibrating state, this vibration is detected by the front and rear detecting means to detect on which side the tubular body 11 is tilted, or how much the tilt is. ， It becomes difficult to distinguish.

Even in such a state, the detector used in the present invention can quickly and accurately detect the presence or absence of inclination, the direction of inclination, or the degree of inclination with a simple structure. Less than,
The configuration of this section will be described.

Reference numeral 17 denotes a flat light-shielding plate attached to the lower end of the suspension support 13 and has a flat rectangular shape here. 18,19,2
Numerals 0 and 21 are attached to the lower end of the cylindrical main body 11 which is a reference member on each side of the shielding plate 17 so as to sandwich the plate from above and below.
21 to 21 form the detecting means S. It is desirable that the light shielding plate 17 and the detecting means 18 to 21 are provided on the lower end side of the support 13 as much as possible. This is because even small inclinations can be detected with high sensitivity.

Thus, each of the photo interrupters 18 to 21 in the detecting means S has a structure in which any one of the photo interrupters is provided when the cylindrical main body 11 is vertical, that is, when the main body 1 and the suspension support body 13 are both in a vertical posture. 18 to 21 also do not generate a signal, but as an example, when the cylindrical main body 11 is tilted to the left, a signal is generated on the light receiving side of the photo interrupter 20. Further, when the cylindrical main body 11 is tilted in the middle of the photo interrupters 18 to 21, that is, when it is tilted, a signal is generated in the two photo interrupters on the corresponding side.

Therefore, assuming that the relationship between the shield plate 17 and the photo interrupters 18 to 21 is positioned as shown in FIG. 3 when viewed from above, the output of the photo interrupter 18 is the right tilt of the cylindrical main body 11 serving as the reference member, and the output of the photo interrupter 18 is The output of 19 is the main body 11
Of the main body 11, the output of the photo interrupter 20 indicates the left tilt of the main body 11, and the output of the photo interrupter 21 indicates the rear tilt of the main body 11 (the tilt toward the front side). . Also, the photointerrupters 18, 19 or 1
The simultaneous outputs of 9, 20 and 21, 18 respectively indicate that the tubular main body 11 is inclined forward and backward or left and right.

As a result, by detecting from which of the photointerrupters 18 to 21 the first output is obtained, it is possible to know in which direction the cylindrical main body 11 is initially inclined with respect to the vertical axis.

Thus, the verticality detector VS described above is a plane H including the second shaft 2 and the support shaft 2'of the horizontal maintenance base of the present invention.
When the second shaft 2 is moved or tilted, the suspension support 13 to which the weight 12 is attached starts to swing, and the swing continues in a vibrating state.

Here, if the tubular body 11 as the reference member has no inclination with respect to the vertical axis (see FIG. 4 (a)), the signals detected by the photointerrupters 18 and 20, respectively, due to the vibration of the weight, are As is clear from FIG. 4 (b), the output values are substantially equivalent.

However, if the swinging of the suspension support body 13 continues when the tubular main body 11 that is the reference member is inclined with respect to the vertical axis (see FIG. 5 (a)), the swinging direction is the direction along the swing. Photointerrupters located at, for example, photointerrupters 18 and 20.
The detection outputs obtained in and are different as is apparent from FIG.

Therefore, in the horizontal maintenance base of the present invention, as an example, the time at which the output is obtained from the photo interrupter 18 or 20 is measured and compared, or the photo interrupter 18, 2 is used.
In the case of the above example, the second axis 2 of the target, that is, the horizontal maintenance base is used to determine which photointerrupter is used.
With respect to 18, 20, the tilt is detected, that is, the direction of the tilt is detected, and the output (waveform area or pulse number) of the photointerrupter 18 per unit time is measured and calculated to detect the tilt degree.

Incidentally, a photo interrupter 18 provided as an example of the detecting means.
In the case of a type in which the light emitting section irradiates the pulsed light to the light receiving side, the detection output is obtained by pulse output. In such detecting means, the detection sensitivity or the detection accuracy can be arbitrarily adjusted by modulating the light emission frequency of the light emitting section.

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

FIG. 6 is a functional block diagram of a control circuit including a processing unit for an output signal of a photo interrupter as a detecting means.

In FIG. 6, 22 to 25 are detection circuits connected to the photointerrupters 18 to 21, for example, a circuit for measuring a certain time of the outputs 18S to 21S with a clock pulse in each photointerrupter, or a photointerrupter. It is formed by a counter circuit that counts the number of output pulses. 26 to 29 are
When two photointerrupters output at the same time in each photointerrupter 18 to 21, an addition detection circuit that adds the outputs of the detection circuits 22 to 25 of both photointerrupters,
It has a gate (not shown) that does not operate without input from the two photo interrupters.

Reference numerals 30 to 33 denote comparison circuits for comparing the detection outputs of the corresponding photointerrupters 18 to 21 in the above detection circuits 22 to 25 and 26 to 29, for example, the detection circuits 22 to 2 respectively.
5, or the difference between the detected values of the addition detection circuits 26 to 29 is calculated. This calculated value is converted into a signal indicating an angle in each of the next output circuits 34 to 37 and then output.

In the detector VS, the method of processing the outputs of the photo interrupters 18 to 21 is not limited to the above example, but any of the methods can be used to output the output circuit in the processing unit.
The output of 34 to 37 is the same.

The verticality detector VS described above moves the stroke actuators 3A, 4A of the third shaft 4 and the fourth shaft 4 in the horizontal maintenance base of the present invention shown in FIG. Since it is applied to a mechanism for always holding the horizontal surface H horizontally with respect to the vertical axis, it will be described below.

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

This inclination is detected by any one or two of the photo interrupters 18 to 21 incorporated in the cylindrical main body 11, and the output circuits 34 to 37 are provided in the detection signal processing section shown in FIG.
The motor of the actuator 3A or 4A as the output of either
It is supplied to the drive control circuit 31, 41 of 40 or 50, and the motor 4
The cylindrical main body 11 is corrected vertically by rotating 0, 50 in the forward or reverse direction. Here, for convenience of explanation, the forward rotation of the motors 40 and 50 is clockwise, and the reverse rotation thereof is counterclockwise. This will be described below.

Output circuit 34 of photointerrupter detection signal processing unit
Is a motor 40 based on the outputs of the photo interrupters 18 and 20.
The forward and reverse rotation signals of are output. Similarly, the output circuit 35 outputs the forward and reverse rotation signals of the motor 50 according to the outputs of the photo interrupters 19 and 21.

On the other hand, the output circuit 36 is the same as the photo interrupters 18 and 21, 19.
With the output of 20, the forward and reverse rotation signals of the motors 40 and 50 are output. Similarly, the output circuit 27 is a photo interrupter 18,
It is assumed that the forward rotation and reverse rotation signals of the motors 40 and 50 are output by the outputs of 19 and 20, 21.

There are other combinations of signals in the rotation directions of the output circuits 36 and 37 with respect to the motors 40 and 50, although there are other combinations than the above example, but they are omitted here.

In FIG. 6, 41 and 51 are control circuits for the motors 40 and 50, respectively, and the forward rotation command circuit 4 for the motors 40 and 50, respectively.
1a and 51a, reverse rotation command circuits 41b and 51b, and drive units 41c and 51
It is formed mainly of c.

With the above configuration, the signals obtained by the photointerrupters 18 to 21 in the verticality detector VS can provide drive control signals for the motors 40 and 50 for always correcting the cylindrical main body 11 of the detector VS vertically. Is.

As is clear from the above description, in the horizontal maintenance base of the present invention, the inclination of the reference member (cylindrical main body) with respect to the vertical axis is quantitatively determined by the detection signals obtained by the photointerrupters 18 to 21 of the verticality detectors VS. Since it can be detected, the inclination of the reference member can be corrected based on this detection signal. Therefore, the reference horizontal plane H including the second axes 2 and 2'of the horizontal maintenance base of the present invention is always corrected and held in a plane horizontal to the vertical axis.

The above has described an example in which the reference horizontal plane H of the base of the present invention can always be maintained horizontally when the installation surface of the horizontal maintenance base of the present invention has an angular displacement. Can be made to follow an arbitrary tilt direction and its tilt angle, and the angle can be maintained.

In this way, the horizontal maintenance base of the present invention is made to follow so as to always maintain the horizontal regardless of the displacement of the installation surface,
Since it is always maintained at a predetermined angle, it is highly convenient for use in the following fields.

For example, the base of the present invention is attached to a bogie of an outdoor working machine equipped with a caterpillar or a wheel, and a crane-like load supporting means to which a pantograph-shaped parallel link is applied is attached to its reference horizontal plane as an example. By using it as a base device for installing a tracking antenna, a work machine horizontal maintenance base device for mobile work vehicles, and a horizontal maintenance base device for various equipment in ships, aircraft, etc., on a reference horizontal plane on this horizontal maintenance base device, It is possible to realize the horizontal plane or the desired tilt angle described in the above embodiment.

〔The invention's effect〕

The present invention is as described above, and the base member to which the mechanisms and devices are attached is made to follow a desired tilt angle including a tilt angle of 0 degree with respect to a vertical axis or a horizontal plane orthogonal thereto, and the angle is maintained. Since it can be changed or changed, it is extremely useful as a horizontal maintenance base for precision instruments and measuring instruments that require strict maintenance of the installation angle (plane), or parabolic antennas for communication. .

Further, in order to follow the desired tilt angle, the stroke actuator supporting the reference horizontal plane H of the horizontal maintenance base of the present invention is driven forward and backward by the detection angle of the angle detection sensor such as the verticality detector, Since the desired tilt angle is made to follow and the desired tilt angle is realized, automatic adjustment that is easy, quick, and labor-saving is possible. Moreover, since the mechanism for realizing such an operation is extremely simple, it is possible to manufacture and provide a horizontal maintenance base capable of realizing an extremely highly accurate operation at a low cost.

[Brief description of drawings]

FIG. 1 is a perspective view showing the structure of the horizontal maintenance base of the present invention in a skeleton, FIG. 2 is a front sectional view of an example of a verticality detector used for the horizontal maintenance base of the present invention, and FIG. II
FIG. 4 (a) is a schematic view showing an example of the relationship between the suspension support body, the weight and the photointerrupter in the vertical state, and FIG. 4 (b) is a view of FIG. 4 (a). Fig. 5 (b) is a waveform diagram showing an example of the output waveform of the photo interrupter in the state, Fig. 5 (a) is a schematic diagram showing an example of the relationship between the suspension support, the weight and the photo interrupter in the inclined state, Fig. 5 (b). 5 is a waveform diagram showing an example of the output waveform of the photo interrupter in the state of FIG. 5 (a), and FIG. 6 is a control block diagram of an example in which the angle detector is incorporated in the mechanism for controlling the inclination of the horizontal maintenance base of the present invention. Is. 1 ... 1st shaft, 1a, 1b ... Bearing, 2 ... 2nd shaft, 2a ... Bearing, 3
... 3rd axis, 4 ... 4th axis, 3A, 4A ... Stroke actuator, H ... Standard horizontal plane

Claims (9)

[Claims] 1. A first axis parallel to the horizontal plane and one side of the horizontal plane included in a base member on which appropriate mechanisms and devices are mounted, and the horizontal plane orthogonal to the first axis via a bearing. A mechanism, a device, etc., characterized in that they are supported by a parallel second shaft, and the other end of the horizontal surface of the base member is supported by a third shaft and a fourth shaft which are vertically movable. Horizontal maintenance base. 2. A horizontal maintenance base for a mechanism, a device, etc. according to claim 1, wherein the third shaft and the fourth shaft are moved up and down respectively by a stroke actuator such as a motor cylinder. 3. An angle detection sensor for detecting verticality or horizontality of a base member or an inclination with respect to the verticality or horizontality is provided as a reference surface, and the stroke actuators for the third axis and the fourth axis are provided for the detection sensor. The horizontal maintenance base of the mechanism, device, etc. according to claim 2 or 3, wherein the detection output is arithmetically processed to control the drive. 4. An angle detection sensor in a horizontal maintenance base of a mechanism, apparatus, etc. according to claim 3, wherein a vertically oriented tubular main body is mounted on a reference horizontal plane as a reference member, and inside the tubular body, front and rear or on a plane. While suspending the weight through the suspension support so that it can freely swing in the left and right or in the crossing direction,
An angle detection sensor comprising detection means for electrically, magnetically or optically detecting the swing of the weight in the swing direction of the weight. 5. The angle detection sensor according to claim 4, wherein the swinging of the weight is biased from the outside by a repellant force of a spring, a magnetic force or the like to promote or connect the swinging. 6. The angle detection sensor according to claim 4, wherein a spring is interposed at a suspension supporting point of the weight to reduce friction at the supporting point by the weight. 7. The suspension of the weight has a oscillating frequency of the weight and adjusts the frequency so that the weight can be positioned near the suspension support point and can be vertically adjusted, and the detecting means can detect the detection sensitivity. The angle detection sensor according to any one of claims 4 to 6, wherein the angle detection sensor is provided at a position near a lower end of the suspension support, which is apart from the suspension support point to raise the height. 8. When the weight is settled in a substantially vertical direction, or when it swings without being biased to the front and rear or to the left and right with respect to the vertical axis, there is no output to each detecting means. The angle detection sensor according to any one of claims 4 to 7, wherein the dead zone is set by canceling the outputs of the detection means facing each other in the swing direction. 9. The angle detecting sensor according to claim 4, wherein the cylindrical main body is mounted with a mounting angle with respect to a reference horizontal plane being inclined in an arbitrary direction by an arbitrary angle.